incorporate suggestions

core/include/moveit/task_constructor/stage_p.h

@@ -62,10 +62,7 @@ class PreemptStageException : public std::exception
 {
 public:
 	explicit PreemptStageException() {}
-	const char* what() const noexcept override {
-		static const char* msg = "";
-		return msg;
-	}
+	const char* what() const noexcept override { return ""; }
 };
 
 class ContainerBase;
@@ -174,9 +171,8 @@ class StagePrivate
 	/** compute cost for solution through configured CostTerm */
 	void computeCost(const InterfaceState& from, const InterfaceState& to, SolutionBase& solution);
 
-	void setPreemptedCheck(const std::atomic<bool>* preempt_requested);
-	/// is the stage preempted ? defaults to false
-	bool preempted() const;
+	void setPreemptRequestedMember(const std::atomic<bool>* preempt_requested);
+	bool preempted() const { return preempt_requested_ != nullptr && *preempt_requested_; }
 
 protected:
 	StagePrivate& operator=(StagePrivate&& other);

core/include/moveit/task_constructor/task.h

@@ -130,7 +130,6 @@ class Task : protected WrapperBase
 	/// interrupt current planning
 	void preempt();
 	void resetPreemptRequest();
-	bool isPreempted();
 	/// execute solution, return the result
 	moveit::core::MoveItErrorCode execute(const SolutionBase& s);
 

core/src/stage.cpp

@@ -306,17 +306,10 @@ void StagePrivate::computeCost(const InterfaceState& from, const InterfaceState&
 	}
 }
 
-void StagePrivate::setPreemptedCheck(const std::atomic<bool>* preempt_requested) {
+void StagePrivate::setPreemptRequestedMember(const std::atomic<bool>* preempt_requested) {
 	preempt_requested_ = preempt_requested;
 }
 
-bool StagePrivate::preempted() const {
-	if (preempt_requested_)
-		return *preempt_requested_;
-
-	return false;
-}
-
 Stage::Stage(StagePrivate* impl) : pimpl_(impl) {
 	assert(impl);
 	auto& p = properties();

core/src/task.cpp

@@ -218,7 +218,7 @@ void Task::init() {
 	impl->traverseStages(
 	    [introspection, impl](Stage& stage, int /*depth*/) {
 		    stage.pimpl()->setIntrospection(introspection);
-		    stage.pimpl()->setPreemptedCheck(&impl->preempt_requested_);
+		    stage.pimpl()->setPreemptRequestedMember(&impl->preempt_requested_);
 		    return true;
 	    },
 	    1, UINT_MAX);
@@ -279,10 +279,6 @@ void Task::resetPreemptRequest() {
 	pimpl()->preempt_requested_ = false;
 }
 
-bool Task::isPreempted() {
-	return pimpl()->preempt_requested_;
-}
-
 moveit::core::MoveItErrorCode Task::execute(const SolutionBase& s) {
 	actionlib::SimpleActionClient<moveit_task_constructor_msgs::ExecuteTaskSolutionAction> ac("execute_task_solution");
 	if (!ac.waitForServer(ros::Duration(0.5))) {

core/test/test_container.cpp

@@ -702,17 +702,10 @@ TEST_F(TaskTestBase, preempt) {
 	EXPECT_EQ(fwd2->runs_, 0u);
 	EXPECT_TRUE(t.plan(1));  // make sure the preempt request has been resetted on the previous call to plan()
 
-	// prempt in between stage computation
-	// Failing stage(s):
-	// 0  - ←   0 →   -  0 / task pipeline
-	//    1  - ←   1 →   -  0 / GEN1
-	//    -  0 →   1 →   -  1 / FWD1
-	//    -  1 →   0 →   -  0 / FWD2
 	t.reset();
-	resetMockupIds();
 	{
 		std::thread thread{ [&ec, this] { ec = t.plan(1); } };
-		std::this_thread::sleep_for(timeout);
+		std::this_thread::sleep_for(timeout / 2.0);
 		t.preempt();
 		thread.join();
 	}