Expose environment init revision

tesseract-robotics · Aug 20, 2024 · dc26b4a · dc26b4a
1 parent 2bf0df3
commit dc26b4a
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Showing 3 changed files with 76 additions and 2 deletions.
diff --git a/tesseract_environment/include/tesseract_environment/environment.h b/tesseract_environment/include/tesseract_environment/environment.h
@@ -146,6 +146,12 @@ class Environment
    */
   int getRevision() const;
 
+  /**
+   * @brief Get the initialization revision number
+   * @return Initialization revision number
+   */
+  int getInitRevision() const;
+
   /**
    * @brief Get Environment command history post initialization
    * @return List of commands

diff --git a/tesseract_environment/src/environment.cpp b/tesseract_environment/src/environment.cpp
@@ -457,7 +457,7 @@ std::unique_ptr<Environment::Implementation> Environment::Implementation::clone(
     return cloned_env;
 
   cloned_env->initialized = initialized;
-  cloned_env->init_revision = revision;
+  cloned_env->init_revision = init_revision;
   cloned_env->revision = revision;
   cloned_env->commands = commands;
   cloned_env->scene_graph = scene_graph->clone();
@@ -2278,6 +2278,12 @@ int Environment::getRevision() const
   return std::as_const<Implementation>(*impl_).revision;
 }
 
+int Environment::getInitRevision() const
+{
+  std::shared_lock<std::shared_mutex> lock(mutex_);
+  return std::as_const<Implementation>(*impl_).init_revision;
+}
+
 std::vector<std::shared_ptr<const Command>> Environment::getCommandHistory() const
 {
   std::shared_lock<std::shared_mutex> lock(mutex_);