Problem notification lists API

After merging !261 (merged), for some reasons related with the mutex in problem, the old accessors for the notification maps getStateBlockNotificationMap() and getFactorNotificationMap() were removed. The were replaced by the new consumeStateBlockNotificationMap() and consumeFactorNotificationMap() that returns them via copy, so, the map is emptied after calling them.

The tests were adapted to these new functions, but I think it can be misleading, mostly for new tests (notifications emptied before being updated to the solver...).

In this MR I propose to keep Problem::consumeStateBlockNotificationMap() and Problem::consumeFactorNotificationMap() protected. Then, SolverManager has been added as a friend to allow it to call these functions.

For testing, new public functions are provided (that does not alter the maps in Problem):

• SizeStd getStateBlockNotificationMapSize() const: Returns the size of the map of state block notification.
• bool getStateBlockNotification(const StateBlockPtr& sb_ptr, Notification& notif) const: Returns if the state block has been notified, and the notification via parameter.
• SizeStd getFactorNotificationMapSize() const: Returns the size of the map of factor notification.
• bool getFactorNotification(const FactorBasePtr& sb_ptr, Notification& notif) const: Returns if the factor has been notified, and the notification via parameter.

include/base/problem/problem.h

@@ -3,6 +3,7 @@
 
 // Fwd refs
 namespace wolf{
+class SolverManager;
 class HardwareBase;
 class TrajectoryBase;
 class MapBase;
@@ -33,6 +34,7 @@ enum Notification
  */
 class Problem : public std::enable_shared_from_this<Problem>
 {
+    friend SolverManager; // Enable SolverManager to acces protected functions (consumeXXXNotificationMap())
 
     protected:
         HardwareBasePtr     hardware_ptr_;
@@ -271,9 +273,13 @@ class Problem : public std::enable_shared_from_this<Problem>
          */
         void removeStateBlock(StateBlockPtr _state_ptr);
 
-        /** \brief Returns the map of factor notification to be handled by the solver (the map stored in this is emptied)
+        /** \brief Returns the size of the map of state block notification
          */
-        std::map<StateBlockPtr,Notification> consumeStateBlockNotificationMap();
+        SizeStd getStateBlockNotificationMapSize() const;
+
+        /** \brief Returns if the state block has been notified, and the notification via parameter
+         */
+        bool getStateBlockNotification(const StateBlockPtr& sb_ptr, Notification& notif) const;
 
         /** \brief Notifies a new factor to be added to the solver manager
          */
@@ -283,10 +289,24 @@ class Problem : public std::enable_shared_from_this<Problem>
          */
         void removeFactor(FactorBasePtr _factor_ptr);
 
+        /** \brief Returns the size of the map of factor notification
+         */
+        SizeStd getFactorNotificationMapSize() const;
+
+        /** \brief Returns if the factor has been notified, and the notification via parameter
+         */
+        bool getFactorNotification(const FactorBasePtr& fac_ptr, Notification& notif) const;
+
+    protected:
+        /** \brief Returns the map of state block notification to be handled by the solver (the map stored in this is emptied)
+         */
+        std::map<StateBlockPtr,Notification> consumeStateBlockNotificationMap();
+
         /** \brief Returns the map of factor notification to be handled by the solver (the map stored in this is emptied)
          */
         std::map<FactorBasePtr, Notification> consumeFactorNotificationMap();
 
+    public:
         // Print and check ---------------------------------------
         /**
          * \brief print wolf tree
@@ -330,12 +350,25 @@ inline std::map<StateBlockPtr,Notification> Problem::consumeStateBlockNotificati
     return std::move(state_block_notification_map_);
 }
 
+inline SizeStd Problem::getStateBlockNotificationMapSize() const
+{
+    std::lock_guard<std::mutex> lock(mut_state_block_notifications_);
+    return state_block_notification_map_.size();
+}
+
 inline std::map<FactorBasePtr,Notification> Problem::consumeFactorNotificationMap()
 {
     std::lock_guard<std::mutex> lock(mut_factor_notifications_);
     return std::move(factor_notification_map_);
 }
 
+inline wolf::SizeStd Problem::getFactorNotificationMapSize() const
+{
+    std::lock_guard<std::mutex> lock(mut_factor_notifications_);
+    return factor_notification_map_.size();
+}
+
+
 } // namespace wolf
 
 #endif // PROBLEM_H