mirror of
https://github.com/moveit/moveit_task_constructor.git
synced 2025-11-04 14:49:57 +08:00
fix fallbacks logic
Setting up a demo for
Fallbacks({CartesianPath,PTP,RRTConnect})
I found the logic did not work as expected yet.
- process last job spec as well
- ignore failures when looking for a solution
- add more debug output
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parent
22809c04a5
commit
887da5b094
@ -835,7 +835,7 @@ bool Fallbacks::canCompute() const {
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return impl->current_generator_ != impl->children().end();
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}
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else
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return !impl->pending_states_.empty();
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return !impl->pending_states_.empty() || impl->current_external_state_.stage != impl->children().cend();
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}
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void Fallbacks::compute() {
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@ -898,7 +898,7 @@ void FallbacksPrivate::onNewExternalState(Interface::iterator external, bool upd
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}
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void FallbacksPrivate::computeFromExternal(){
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assert(!pending_states_.empty());
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assert(!pending_states_.empty() || current_external_state_.stage != children().cend());
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if(current_external_state_.stage == children().cend()) {
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current_external_state_ = pending_states_.pop();
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@ -913,32 +913,40 @@ void FallbacksPrivate::computeFromExternal(){
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auto& stage{ current_external_state_.stage };
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auto& state{ current_external_state_.external_state };
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auto dir { current_external_state_.dir };
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if((*stage)->pimpl()->canCompute())
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if((*stage)->pimpl()->canCompute()) {
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(*stage)->pimpl()->runCompute();
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else {
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auto has_solutions{ [](const InterfaceState& s, Interface::Direction d){
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return d == Interface::FORWARD
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? !s.outgoingTrajectories().empty()
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: !s.incomingTrajectories().empty();
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} };
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if(!has_solutions(*state, dir)){
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if(++stage != children().cend()){
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ROS_DEBUG_STREAM_NAMED("Fallbacks", "Child '" << (*stage)->name() << "' failed to generate a solution, schedule state with next child");
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pending_states_.push(current_external_state_);
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}
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else {
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ROS_DEBUG_STREAM_NAMED("Fallbacks", "State failed to extend through any child, prune path");
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ContainerBasePrivate::onNewFailure(*children().back(),
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dir == Interface::FORWARD ? &*state : nullptr,
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dir == Interface::BACKWARD ? nullptr : &*state);
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}
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}
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current_external_state_.stage = children().cend();
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// if we did not compute a child this call, try again
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if(!pending_states_.empty())
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computeFromExternal();
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return;
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}
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auto has_solutions{ [](const InterfaceState& s, Interface::Direction d){
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const auto& trajectories { d == Interface::FORWARD
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? s.outgoingTrajectories()
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: s.incomingTrajectories() };
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return std::find_if(trajectories.cbegin(), trajectories.cend(), [](const auto& t){ return !t->isFailure();}) != trajectories.cend();
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}};
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if(!has_solutions(*state, dir)){
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auto next_stage = std::next(stage);
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if(next_stage != children().cend()){
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ROS_DEBUG_STREAM_NAMED("Fallbacks", "Child '" << (*stage)->name() << "' failed to generate a solution, schedule state with next child");
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++stage;
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pending_states_.push(current_external_state_);
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}
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else {
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ROS_DEBUG_STREAM_NAMED("Fallbacks", "State failed to extend through any child, prune path");
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ContainerBasePrivate::onNewFailure(*children().back(),
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dir == Interface::FORWARD ? &*state : nullptr,
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dir == Interface::BACKWARD ? nullptr : &*state);
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}
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}
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else {
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ROS_DEBUG_STREAM_NAMED("Fallbacks", "Child '" << (*stage)->name() << "' produced a solution, not invoking further fallbacks");
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}
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// invalidate current_external_state_ after we processed it
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current_external_state_.stage = children().cend();
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// if we did not compute a child this call, try again
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if(!pending_states_.empty())
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computeFromExternal();
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}
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MergerPrivate::MergerPrivate(Merger* me, const std::string& name) : ParallelContainerBasePrivate(me, name) {}
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