Commit Graph

157 Commits

Author SHA1 Message Date
Robert Haschke
67b5a99d8d receive task solutions
- remove parent_id from StageStatistics message
2017-11-12 21:42:48 +01:00
Robert Haschke
df074b48a5 cleanup TODO 2017-11-12 21:42:48 +01:00
Robert Haschke
9c5ddd3f6d split repo into different ROS packages: msgs, core, visualization 2017-11-12 21:42:48 +01:00
Robert Haschke
3f93d6c9c3 Merge branches 'wip-solution' and 'wip-interaction' into wip-refactor 2017-11-12 11:44:17 +01:00
Robert Haschke
c1d676589a display scene corresponding to SubTrajectory 2017-11-12 11:42:29 +01:00
Robert Haschke
8129caa614 TaskSolutionVisualization: added scene, renamed vars 2017-11-12 10:35:59 +01:00
Robert Haschke
c516a537f5 TaskListModel: expand view's item when dropping onto it 2017-11-12 07:01:17 +01:00
Robert Haschke
fc9ca1b624 LocalTaskModel: allow removing of stages 2017-11-12 06:59:34 +01:00
Robert Haschke
953224eba1 LocalTaskModel: populate via drag-n-drop 2017-11-12 06:59:34 +01:00
Robert Haschke
1ae3793a9d TaskModel / TaskDisplay: keep names in sync 2017-11-12 06:59:34 +01:00
Robert Haschke
2bc1b08a00 TaskDisplay: show tasks 2017-11-12 06:59:34 +01:00
Robert Haschke
81126f5ef6 DisplaySolution class 2017-11-11 19:47:43 +01:00
Robert Haschke
eb9753271a removed extra variant of Task::SolutionProcessor 2017-11-11 19:47:43 +01:00
Robert Haschke
9aba70fd59 Introspection: private implementation to speedup compilation 2017-11-11 19:47:43 +01:00
Robert Haschke
9dae631a1d reworked handling of ids for stages + solutions
- moved fillTaskDescription() + fillTaskStatistics to Introspection class
- replaced global InterfaceState + Solution repositories
  with local maps stored in Introspection class
- ids are set on demand when filling ROS messages
2017-11-11 19:47:43 +01:00
Robert Haschke
622603268f move solution callbacks from task to stage
... allowing for solution callbacks to be registered at each stage
Using Introspection::publishSolution(), the individual solutions in some
stages could be replace by a general one.
2017-11-11 19:47:43 +01:00
Robert Haschke
cb85e1b864 publish task info in private namespace: ~/taskid
- default task id is empty
- introspection becomes member of task, created with Task::enableIntrospection(true)
2017-11-11 19:47:31 +01:00
Robert Haschke
af2009c19b cleanup 2017-11-11 19:46:33 +01:00
Robert Haschke
a43692fc25 renamed Task, Stage msgs
- Stage -> StageStatistics + StageDescription
- Task -> TaskStatistics + TaskDescription
- removed GetInterfaceState.srv
2017-11-11 19:46:33 +01:00
Robert Haschke
924051c511 handle IS_DESTROYED flag for RemoteTask
- turn task red in models
- if a task with same ID is received again, create a new RemoteTask anyway
2017-11-11 19:46:09 +01:00
Robert Haschke
0f9c8cc8ea implemented TaskListModel::removeRows 2017-11-11 19:46:09 +01:00
Robert Haschke
18119a7985 cleanup cmake 2017-11-03 19:19:33 +01:00
Robert Haschke
1327e27475 fixup: run unittest in correct ROS context 2017-11-03 19:19:32 +01:00
Robert Haschke
6ba66b51a7 reworked TaskModels
- separate RemoteTaskModel / LocalTaskModel, reusing existing storage
- TaskListModel collects several TaskModels
- TaskListModelCache: global singleton,
  maintaining TaskListModel of all tasks in system (used by panels)
- create LocalTask from stages available via pluglinlib
2017-11-03 19:16:04 +01:00
Robert Haschke
022e29caa5 merged task_panel + task_solution_display into motion_planning_tasks folder 2017-11-02 09:53:43 +01:00
Robert Haschke
82758abc65 cleanup TaskSolutionDisplay 2017-11-02 09:53:43 +01:00
eirtech
042d33f331 adaptions for TaskSolutionDisplay 2017-11-02 09:53:43 +01:00
Robert Haschke
18cc780407 copied trajectory visualization stuff from moveit 2017-11-02 09:53:43 +01:00
Robert Haschke
8a461af97c TaskPanel: listen to task_monitoring topic 2017-11-02 09:53:28 +01:00
Robert Haschke
abe61ef9eb fixup 2017-10-29 01:14:48 +02:00
eirtech
3fa87be8ef introspection service generators are added 2017-10-29 01:14:48 +02:00
Robert Haschke
f6c3c7b27f replaced debug.cpp with introspection.cpp
providing all services to publish current task state, new solutions, etc.
2017-10-29 01:06:51 +02:00
Robert Haschke
7a1fc21f2e reworked introspection messages 2017-10-29 01:06:51 +02:00
Robert Haschke
e686f49d3e publish introspection data
- use Repository<T>'s for InterfaceState and SolutionBase to store
  mappings from ID to actual T*
- task state only publishes IDs
- services allow to request contents
2017-10-29 01:06:51 +02:00
Robert Haschke
cfe8086f29 introspection message definitions 2017-10-29 01:06:51 +02:00
Robert Haschke
aa37ee7cee cleanup test/container.cpp 2017-10-29 01:06:51 +02:00
Robert Haschke
9bb566b3fc fix compiler warnings for -Wall
- initialization order
- unsigned/signed comparison
- unused variables
- missing override for virtual functions
2017-10-29 01:06:51 +02:00
Robert Haschke
ca99e24742 fixup virtual destructor for Stage, StagePrivate 2017-10-29 01:06:51 +02:00
Robert Haschke
26cf2bc2bb moved PIMPL_FUNCTIONS(...) into private header 2017-10-21 23:09:59 +02:00
Robert Haschke
9e3b723399 correctly consider constness 2017-10-21 23:09:59 +02:00
Robert Haschke
bc3a077d59 refactor containers
- basic ParallelContainer
- WrapperBase as ParallelContainer
- move StagePrivate::append() -> SolutionBase::flattenTo()
- move ContainerBasePrivate::onNewSolution() -> ContainerBase::onNewSolution()
- StagePrivate::parent() returns ContainerBase*

fixup! refactor containers

fixup! refactor containers
2017-10-21 23:09:59 +02:00
Robert Haschke
ef1f387f19 fixup! simplified API of SubTask specializations
moved isConnected() to PropagateEitherWay
2017-10-21 23:09:59 +02:00
Robert Haschke
8e1dfc6768 typedef SerialContainer::solution_container = std::vector<const SolutionBase*> 2017-10-20 16:40:11 +02:00
Robert Haschke
47e074ce7d typedef SolutionTrajectory = std::vector<const SubTrajectory*> 2017-10-20 16:40:11 +02:00
Robert Haschke
4b56770d50 Task wraps a container 2017-10-20 16:40:11 +02:00
Robert Haschke
b944450736 Task: allow multiple solution callbacks 2017-10-20 16:40:11 +02:00
Robert Haschke
97bed73a9a weak_ptrs for prev_ends_ and next_starts_ 2017-10-20 16:40:11 +02:00
Robert Haschke
f103341356 separate reset() + init()
deducedFlags() -> interfaceFlags()
removed announcedFlags()
2017-10-20 16:40:11 +02:00
Robert Haschke
43bcf99222 init() throws InitStageException 2017-10-20 16:40:11 +02:00
Robert Haschke
68ff79f464 setup SerialContainer interface 2017-10-20 16:40:11 +02:00