From 907014cd571ed9ac974c88bf1c481280a1126300 Mon Sep 17 00:00:00 2001
From: Robert Haschke <rhaschke@techfak.uni-bielefeld.de>
Date: Wed, 3 Jul 2024 21:32:40 +0200
Subject: [PATCH] Disable pruning by default

---
 core/CMakeLists.txt      | 4 ++++
 core/src/container.cpp   | 6 ++++++
 core/test/CMakeLists.txt | 2 ++
 3 files changed, 12 insertions(+)

diff --git a/core/CMakeLists.txt b/core/CMakeLists.txt
index 12af7292b..9d3b4d991 100644
--- a/core/CMakeLists.txt
+++ b/core/CMakeLists.txt
@@ -18,6 +18,7 @@ find_package(catkin REQUIRED COMPONENTS
 )
 
 option(MOVEIT_CI_WARNINGS "Enable all warnings used by CI" OFF) # We use our own set of warnings
+option(ENABLE_PRUNING "Enable pruning on failed solutions" OFF)
 moveit_build_options()
 
 catkin_python_setup()
@@ -39,6 +40,9 @@ catkin_package(
 )
 
 add_compile_options(-fvisibility-inlines-hidden)
+if(ENABLE_PRUNING)
+	add_compile_definitions(ENABLE_PRUNING)
+endif()
 
 set(PROJECT_INCLUDE ${CMAKE_CURRENT_SOURCE_DIR}/include/moveit/task_constructor)
 
diff --git a/core/src/container.cpp b/core/src/container.cpp
index b4840d491..82cf907bf 100644
--- a/core/src/container.cpp
+++ b/core/src/container.cpp
@@ -232,6 +232,7 @@ inline void updateStatePrios(const InterfaceState& s, const InterfaceState::Prio
 }
 
 void ContainerBasePrivate::onNewFailure(const Stage& child, const InterfaceState* from, const InterfaceState* to) {
+#ifdef ENABLE_PRUNING
 	ROS_DEBUG_STREAM_NAMED("Pruning", fmt::format("'{}' generated a failure", child.name()));
 	switch (child.pimpl()->interfaceFlags()) {
 		case GENERATE:
@@ -251,6 +252,11 @@ void ContainerBasePrivate::onNewFailure(const Stage& child, const InterfaceState
 			setStatus<Interface::FORWARD>(&child, from, to, InterfaceState::Status::ARMED);
 			break;
 	}
+#else
+	(void)child;
+	(void)from;
+	(void)to;
+#endif
 	// printChildrenInterfaces(*this, false, child);
 }
 
diff --git a/core/test/CMakeLists.txt b/core/test/CMakeLists.txt
index 09e6d477b..492d84a58 100644
--- a/core/test/CMakeLists.txt
+++ b/core/test/CMakeLists.txt
@@ -38,7 +38,9 @@ if (CATKIN_ENABLE_TESTING)
 	mtc_add_gtest(test_stage.cpp)
 	mtc_add_gtest(test_container.cpp)
 	mtc_add_gmock(test_serial.cpp)
+if(ENABLE_PRUNING)
 	mtc_add_gmock(test_pruning.cpp)
+endif()
 	mtc_add_gtest(test_properties.cpp)
 	mtc_add_gtest(test_cost_terms.cpp)