Consider pruning property in Connect stage

.github/workflows/ci.yaml

@@ -53,7 +53,7 @@ jobs:
     name: "${{ matrix.env.IMAGE }}${{ matrix.env.NAME && ' • ' || ''}}${{ matrix.env.NAME }}${{ matrix.env.CATKIN_LINT && ' • catkin_lint' || ''}}${{ matrix.env.CLANG_TIDY && ' • clang-tidy' || '' }}"
     runs-on: ubuntu-latest
     steps:
-      - uses: actions/checkout@v4
+      - uses: actions/checkout@v6
         with:
           submodules: recursive
 
@@ -80,14 +80,14 @@ jobs:
           subdir: target_ws/install
 
       - name: Upload test artifacts (on failure)
-        uses: actions/upload-artifact@v4
+        uses: actions/upload-artifact@v7
         if: failure() && (steps.ici.outputs.run_target_test || steps.ici.outputs.target_test_results)
         with:
           name: test-results-${{ matrix.env.IMAGE }}${{ matrix.env.NAME && '-' || ''}}${{ matrix.env.NAME }}${{ matrix.env.CLANG_TIDY && '-clang-tidy' || '' }}
           path: ${{ env.BASEDIR }}/target_ws/**/test_results/**/*.xml
 
       - name: Upload clang-tidy fixes (on failure)
-        uses: actions/upload-artifact@v4
+        uses: actions/upload-artifact@v7
         if: failure() && steps.ici.outputs.clang_tidy_checks
         with:
           name: clang-tidy-fixes.yaml
@@ -122,9 +122,9 @@ jobs:
       image: moveit/moveit:jammy-ci
     steps:
       - name: Checkout
-        uses: actions/checkout@v4
+        uses: actions/checkout@v6
       - name: Setup Pages
-        uses: actions/configure-pages@v5
+        uses: actions/configure-pages@v6
 
       - name: Install dependencies
         run: |
@@ -149,7 +149,7 @@ jobs:
           sphinx-build -W -b linkcheck core/doc _site
 
       - name: Upload pages artifact
-        uses: actions/upload-pages-artifact@v3
+        uses: actions/upload-pages-artifact@v4
 
   # Deployment job
   deploy:

.github/workflows/format.yaml

@@ -13,7 +13,7 @@ jobs:
     name: pre-commit
     runs-on: ubuntu-latest
     steps:
-      - uses: actions/checkout@v4
+      - uses: actions/checkout@v6
         with:
           submodules: recursive
       - name: Install clang-format-14

.github/workflows/prerelease.yaml

@@ -34,7 +34,7 @@ jobs:
           # free up a lot of stuff from /usr/local
           sudo rm -rf /usr/local
           df -h
-      - uses: actions/checkout@v4
+      - uses: actions/checkout@v6
         with:
           submodules: recursive
       - name: industrial_ci

.pre-commit-config.yaml

@@ -15,7 +15,7 @@
 repos:
   # Standard hooks
   - repo: https://github.com/pre-commit/pre-commit-hooks
-    rev: v5.0.0
+    rev: v6.0.0
     hooks:
       - id: check-added-large-files
       - id: check-case-conflict
@@ -29,7 +29,7 @@ repos:
       - id: trailing-whitespace
 
   - repo: https://github.com/psf/black
-    rev: 25.1.0
+    rev: 26.3.1
     hooks:
       - id: black
         args: ["--line-length", "100"]

core/src/container.cpp

@@ -327,7 +327,7 @@ void ContainerBasePrivate::liftSolution(const SolutionBasePtr& solution, const I
 
 ContainerBase::ContainerBase(ContainerBasePrivate* impl) : Stage(impl) {
 	auto& p = properties();
-	p.declare<bool>("pruning", std::string("enable pruning?")).configureInitFrom(Stage::PARENT, "pruning");
+	p.declare<bool>("pruning", false, std::string("enable pruning?")).configureInitFrom(Stage::PARENT, "pruning");
 }
 
 size_t ContainerBase::numChildren() const {
@@ -1029,6 +1029,11 @@ bool FallbacksPrivatePropagator::nextJob() {
 	}
 
 	// When arriving here, we have a valid job_ and a current_ child to feed it. Let's do that.
+	if (dir_ == Interface::FORWARD)
+		setStatus<Interface::BACKWARD>(nullptr, nullptr, &*job_, InterfaceState::Status::ENABLED);
+	else
+		setStatus<Interface::FORWARD>(nullptr, nullptr, &*job_, InterfaceState::Status::ENABLED);
+
 	copyState(dir_, job_, (*current_)->pimpl()->pullInterface(dir_), Interface::UpdateFlags());
 	return true;
 }

core/src/stage.cpp

@@ -820,7 +820,7 @@ void ConnectingPrivate::newState(Interface::iterator it, Interface::UpdateFlags
 		for (Interface::iterator oit : oit_to_enable)
 			parent_pimpl->setStatus<opposite<dir>()>(me(), &*it, &*oit, InterfaceState::Status::ENABLED);
 
-		if (!have_enabled_opposites)  // prune new state and associated branch if necessary
+		if (!have_enabled_opposites && parent()->pruning())  // prune new state and associated branch if necessary
 			// pass creator=nullptr to skip hasPendingOpposites() check as we did this here already
 			parent_pimpl->setStatus<dir>(nullptr, nullptr, &*it, InterfaceState::Status::ARMED);
 	}

core/src/task.cpp

@@ -94,7 +94,6 @@ const ContainerBase* TaskPrivate::stages() const {
 
 Task::Task(const std::string& ns, bool introspection, ContainerBase::pointer&& container)
   : WrapperBase(new TaskPrivate(this, ns), std::move(container)) {
-	setPruning(false);
 	setTimeout(std::numeric_limits<double>::max());
 
 	// monitor state on commandline

core/test/test_fallback.cpp

@@ -195,3 +195,19 @@ TEST_F(FallbacksFixtureConnect, connectStageInsideFallbacks) {
 	EXPECT_TRUE(t.plan());
 	EXPECT_COSTS(t.solutions(), testing::ElementsAre(11, 12, 22, 121));
 }
+
+TEST_F(FallbacksFixtureConnect, connectInsideSerialInsideFallbacks) {
+	t.add(std::make_unique<GeneratorMockup>(PredefinedCosts({ 0.0 })));
+	auto fallbacks = std::make_unique<Fallbacks>("Fallbacks");
+	auto serial = std::make_unique<SerialContainer>("Serial1");
+	serial->add(std::make_unique<ForwardMockup>(PredefinedCosts::constant(0.0)));
+	serial->add(std::make_unique<ConnectMockup>(PredefinedCosts::constant(1.0)));
+	serial->add(std::make_unique<BackwardMockup>(PredefinedCosts::constant(INF)));
+	serial->add(std::make_unique<GeneratorMockup>(PredefinedCosts::single(2.0)));
+	fallbacks->add(std::move(serial));
+	fallbacks->add(std::make_unique<ForwardMockup>(PredefinedCosts::constant(4.0)));
+
+	t.add(std::move(fallbacks));
+	EXPECT_TRUE(t.plan());
+	EXPECT_COSTS(t.solutions(), testing::ElementsAre(4.0));
+}