/********************************************************************* * Software License Agreement (BSD License) * * Copyright (c) 2017, Bielefeld University * All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions * are met: * * * Redistributions of source code must retain the above copyright * notice, this list of conditions and the following disclaimer. * * Redistributions in binary form must reproduce the above * copyright notice, this list of conditions and the following * disclaimer in the documentation and/or other materials provided * with the distribution. * * Neither the name of Bielefeld University nor the names of its * contributors may be used to endorse or promote products derived * from this software without specific prior written permission. * * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE * POSSIBILITY OF SUCH DAMAGE. *********************************************************************/ /* Authors: Robert Haschke */ #include #include #include #include #include #include #include #include using namespace std::placeholders; namespace moveit { namespace task_constructor { ContainerBasePrivate::ContainerBasePrivate(ContainerBase *me, const std::string &name) : StagePrivate(me, name) { pending_backward_.reset(new Interface); pending_forward_.reset(new Interface); } ContainerBasePrivate::const_iterator ContainerBasePrivate::position(int index) const { const_iterator position = children_.begin(); if (index > 0) { for (auto end = children_.end(); index > 0 && position != end; --index) ++position; } else if (++index <= 0) { container_type::const_reverse_iterator from_end = children_.rbegin(); for (auto end = children_.rend(); index < 0 && from_end != end; ++index) ++from_end; position = index < 0 ? children_.end() : from_end.base(); } return position; } bool ContainerBasePrivate::traverseStages(const ContainerBase::StageCallback &processor, unsigned int cur_depth, unsigned int max_depth) const { if (cur_depth >= max_depth) return true; for (auto &stage : children_) { if (!processor(*stage, cur_depth)) continue; const ContainerBasePrivate *container = dynamic_cast(stage->pimpl()); if (container) container->traverseStages(processor, cur_depth+1, max_depth); } return true; } bool ContainerBasePrivate::canCompute() const { // call the method of the public interface return static_cast(me_)->canCompute(); } bool ContainerBasePrivate::compute() { // call the method of the public interface return static_cast(me_)->compute(); } void ContainerBasePrivate::copyState(Interface::iterator external, const InterfacePtr& target, bool updated) { // TODO need to update existing mapping? // create a clone of external state within target interface (child's starts() or ends()) InterfaceState& internal = *target->clone(*external); // and remember the mapping between them internal_to_external_.insert(std::make_pair(&internal, external)); } void ContainerBasePrivate::liftSolution(SolutionBase& solution, const InterfaceState *internal_from, const InterfaceState *internal_to) { // add solution to existing or new start state auto it = internal_to_external_.find(internal_from); if (it != internal_to_external_.end()) { // connect solution to existing start state solution.setStartState(*it->second); } else { // spawn a new state in previous stage Interface::iterator external = prevEnds()->add(InterfaceState(*internal_from), NULL, &solution); internal_to_external_.insert(std::make_pair(internal_from, external)); } // add solution to existing or new end state it = internal_to_external_.find(internal_to); if (it != internal_to_external_.end()) { // connect solution to existing start state solution.setEndState(*it->second); } else { // spawn a new state in next stage Interface::iterator external = nextStarts()->add(InterfaceState(*internal_to), &solution, NULL); internal_to_external_.insert(std::make_pair(internal_to, external)); } } ContainerBase::ContainerBase(ContainerBasePrivate *impl) : Stage(impl) { } size_t ContainerBase::numChildren() const { return pimpl()->children().size(); } bool ContainerBase::traverseChildren(const ContainerBase::StageCallback &processor) const { return pimpl()->traverseStages(processor, 0, 1); } bool ContainerBase::traverseRecursively(const ContainerBase::StageCallback &processor) const { if (!processor(*this, 0)) return false; return pimpl()->traverseStages(processor, 1, UINT_MAX); } bool ContainerBase::insert(Stage::pointer &&stage, int before) { StagePrivate *impl = stage->pimpl(); if (impl->parent() != nullptr || numSolutions() != 0) { ROS_ERROR("cannot re-parent stage"); return false; } ContainerBasePrivate::const_iterator where = pimpl()->position(before); ContainerBasePrivate::iterator it = pimpl()->children_.insert(where, std::move(stage)); impl->setHierarchy(this, it); return true; } bool ContainerBase::remove(int pos) { ContainerBasePrivate::const_iterator it = pimpl()->position(pos); (*it)->pimpl()->setHierarchy(nullptr, ContainerBasePrivate::iterator()); pimpl()->children_.erase(it); return true; } void ContainerBase::clear() { pimpl()->children_.clear(); } void ContainerBase::exposePropertiesOfChild(int child, const std::initializer_list& names) { auto impl = pimpl(); // for negative child index, return last child for -1, next to last for -2, etc ContainerBasePrivate::const_iterator child_it = impl->position(child < 0 ? child-1 : child); if (child_it == impl->children().end()) throw std::runtime_error("invalid child index"); auto &child_props = (*child_it)->properties(); // declare variables child_props.exposeTo(impl->properties_, names); // configure inheritance child_props.configureInitFrom(Stage::PARENT, names); } void ContainerBase::exposePropertyOfChildAs(int child, const std::string& child_property_name, const std::string& parent_property_name) { auto impl = pimpl(); // for negative child index, return last child for -1, next to last for -2, etc ContainerBasePrivate::const_iterator child_it = impl->position(child < 0 ? child-1 : child); if (child_it == impl->children().end()) throw std::runtime_error("invalid child index"); auto &child_props = (*child_it)->properties(); // declare variables child_props.exposeTo(impl->properties_, child_property_name, parent_property_name); // configure inheritance child_props.property(child_property_name).configureInitFrom(Stage::PARENT, parent_property_name); } void ContainerBase::reset() { auto impl = pimpl(); // recursively reset children for (auto& child: impl->children()) child->reset(); // clear buffer interfaces impl->pending_backward_->clear(); impl->pending_forward_->clear(); // ... and state mapping impl->internal_to_external_.clear(); Stage::reset(); } void ContainerBase::init(const moveit::core::RobotModelConstPtr& robot_model) { auto impl = pimpl(); auto& children = impl->children(); Stage::init(robot_model); // we need to have some children to do the actual work if (children.empty()) throw InitStageException(*this, "no children"); // recursively init all children and accumulate errors InitStageException errors; for (auto& child : children) { try { child->init(robot_model); } catch (InitStageException &e) { errors.append(e); } } if (errors) throw errors; } void ContainerBase::validateConnectivity() const { InitStageException errors; for (const auto& child : pimpl()->children()) { // check that child's required interface is provided InterfaceFlags required = child->pimpl()->requiredInterface(); InterfaceFlags actual = child->pimpl()->interfaceFlags(); if ((required & actual) != required) errors.push_back(*child, "required interface is not satisfied"); // recursively validate all children and accumulate errors ContainerBase* child_container = dynamic_cast(child.get()); if (!child_container) continue; // only containers provide validateConnectivity() try { child_container->validateConnectivity(); } catch (InitStageException &e) { errors.append(e); } } if (errors) throw errors; } std::ostream& operator<<(std::ostream& os, const ContainerBase& container) { ContainerBase::StageCallback processor = [&os](const Stage& stage, int depth) -> bool { os << std::string(2*depth, ' ') << *stage.pimpl() << std::endl; return true; }; container.traverseRecursively(processor); return os; } struct SolutionCollector { SolutionCollector(size_t max_depth) : max_depth(max_depth) {} void operator()(const SerialContainer::solution_container& trace, double cost) { // traced path should not extend past container boundaries assert(trace.size() <= max_depth); solutions.emplace_back(std::make_pair(trace, cost)); } typedef std::list> SolutionCostPairs; SolutionCostPairs solutions; const size_t max_depth; }; void updateStateCosts(const SerialContainer::solution_container &partial_solution_path, const InterfaceState::Priority &prio) { for (const SolutionBase* solution : partial_solution_path) { // here it suffices to update the start state, because the end state is the start state // of the next solution (they are all connected) InterfaceState* state = const_cast(solution->start()); if (state->owner()) state->owner()->updatePriority(state, prio); } // finally update the end state of the last solution if (partial_solution_path.empty()) return; InterfaceState* state = const_cast(partial_solution_path.back()->end()); if (state->owner()) state->owner()->updatePriority(state, prio); } void SerialContainer::onNewSolution(const SolutionBase ¤t) { auto impl = pimpl(); const StagePrivate *creator = current.creator(); auto& children = impl->children(); // find number of stages before and after creator stage size_t num_before = 0, num_after = 0; for (auto it = children.begin(), end = children.end(); it != end; ++it, ++num_before) if ((*it)->pimpl() == creator) break; assert(num_before < children.size()); // creator should be one of our children num_after = children.size()-1 - num_before; SerialContainer::solution_container trace; trace.reserve(children.size()); // find all incoming solution paths ending at current solution SolutionCollector incoming(num_before); traverse(current, std::ref(incoming), trace); // find all outgoing solution paths starting at current solution SolutionCollector outgoing(num_after); traverse(current, std::ref(outgoing), trace); // collect (and sort) all solutions spanning from start to end of this container ordered sorted; SerialContainer::solution_container solution; solution.reserve(children.size()); for (auto& in : incoming.solutions) { for (auto& out : outgoing.solutions) { InterfaceState::Priority prio(in.first.size() + 1 + out.first.size(), in.second + current.cost() + out.second); // found a complete solution path connecting start to end? if (prio.depth() == children.size()) { assert(solution.empty()); // insert incoming solutions in reverse order solution.insert(solution.end(), in.first.rbegin(), in.first.rend()); // insert current solution solution.push_back(¤t); // insert outgoing solutions in normal order solution.insert(solution.end(), out.first.begin(), out.first.end()); // store solution in sorted list sorted.insert(SerialSolution(impl, std::move(solution), prio.cost())); } else if (prio.depth() > 1) { // update state priorities along the whole partial solution path updateStateCosts(in.first, prio); updateStateCosts({¤t}, prio); updateStateCosts(out.first, prio); } } } // store new solutions (in sorted) for (auto it = sorted.begin(), end = sorted.end(); it != end; ++it) { auto inserted = impl->solutions_.insert(std::move(*it)); impl->liftSolution(*inserted, inserted->internalStart(), inserted->internalEnd()); impl->newSolution(*inserted); } } SerialContainer::SerialContainer(SerialContainerPrivate *impl) : ContainerBase(impl) {} SerialContainer::SerialContainer(const std::string &name) : SerialContainer(new SerialContainerPrivate(this, name)) {} void SerialContainer::reset() { auto impl = pimpl(); // clear queues impl->solutions_.clear(); // recursively reset children ContainerBase::reset(); } SerialContainerPrivate::SerialContainerPrivate(SerialContainer *me, const std::string &name) : ContainerBasePrivate(me, name) {} // a serial container's required interface is derived from the required input interface // of the first child and the required output interface of the last child InterfaceFlags SerialContainerPrivate::requiredInterface() const { if (children().empty()) return UNKNOWN; return (children().front()->pimpl()->requiredInterface() & INPUT_IF_MASK) | (children().back()->pimpl()->requiredInterface() & OUTPUT_IF_MASK); } // connect cur stage to its predecessor and successor by setting the push interface pointers // return true if cur stage should be scheduled for a second sweep bool SerialContainerPrivate::connect(container_type::const_iterator cur) { StagePrivate* const cur_impl = **cur; InterfaceFlags required = cur_impl->requiredInterface(); // get iterators to prev / next stage in sequence auto prev = cur; --prev; auto next = cur; ++next; // set push forward connection using next's starts if ((required == UNKNOWN || required & WRITES_NEXT_START) && next != children().end()) // last child has not a next one cur_impl->setNextStarts((*next)->pimpl()->starts()); // set push backward connection using prev's ends if ((required == UNKNOWN || required & WRITES_PREV_END) && cur != children().begin()) // first child has not a previous one cur_impl->setPrevEnds((*prev)->pimpl()->ends()); // schedule stage with unknown interface for 2nd sweep return required == UNKNOWN; } /* Establishing the interface connections, we face a chicken-egg-problem: * To establish a connection, a predecessors/successors pull interface is * assigned to the current's stage push interface. * However, propagating stages (in auto-detection mode) can only create * their pull interfaces if the corresponding, opposite-side push interface * is present already (because that's the mechanism to determine the supported * propagation directions). * * Hence, we need to resolve this by performing two sweeps: * - initialization, assuming both propagation directions should be supported, * thus generating both pull interfaces, i.e. providing the egg * - stripping down the interfaces to the actual context * This context is provided by two stages pushing from both ends * into a (potentially long) sequence of propagating stages (tbd). */ void SerialContainer::init(const moveit::core::RobotModelConstPtr& robot_model) { // reset pull interfaces auto impl = pimpl(); impl->starts_.reset(); impl->ends_.reset(); ContainerBase::init(robot_model); // throws if there are no children auto start = impl->children().begin(); auto last = --impl->children().end(); // connect first / last child's push interfaces to our pending_* buffers // if they require pushing impl->setChildsPushBackwardInterface(**start); impl->setChildsPushForwardInterface(**last); // initialize and connect remaining children in two sweeps // to allow interface auto-detection for propagating stages auto first_unknown = start; // pointer to first stage with unknown interface for (auto cur = start, end = impl->children().end(); cur != end; ++cur) { // 1st sweep: connect everything potentially possible, // remembering start of unknown sub sequence if (impl->connect(cur)); else { // reached a stage with known interface // 2nd sweep: prune interfaces from [first_unknown, cur) impl->pruneInterfaces(first_unknown, cur); // restart with first_unknown = ++cur first_unknown = cur; ++first_unknown; } } // prune stages [first_unknown, end()) impl->pruneInterfaces(first_unknown, impl->children().end()); // initialize this' pull interfaces if first/last child pulls if (const InterfacePtr& target = (*start)->pimpl()->starts()) impl->starts_.reset(new Interface(std::bind(&SerialContainerPrivate::copyState, impl, _1, std::cref(target), _2))); if (const InterfacePtr& target = (*last)->pimpl()->ends()) impl->ends_.reset(new Interface(std::bind(&SerialContainerPrivate::copyState, impl, _1, std::cref(target), _2))); } // called by parent asking for pruning of this' interface void SerialContainerPrivate::pruneInterface(InterfaceFlags accepted) { if (children().empty()) return; // We only need to deal with the special case of the whole sequence to be pruned. if (accepted != PROPAGATE_BOTHWAYS && // will interface be restricted at all? children().front()->pimpl()->interfaceFlags() == PROPAGATE_BOTHWAYS) // still undecided? { pruneInterfaces(children().begin(), children().end(), accepted); // reset my pull interfaces, if first/last child don't pull anymore if (!children().front()->pimpl()->starts()) starts_.reset(); if (!children().back()->pimpl()->ends()) ends_.reset(); } if (interfaceFlags() == UNKNOWN) throw InitStageException(*me(), "failed to derive propagation direction"); } // called by init() to prune interfaces for children in range [first, last) // this function determines the feasible propagation directions void SerialContainerPrivate::pruneInterfaces(container_type::const_iterator first, container_type::const_iterator end) { if (first == end) return; // nothing to do in this case // determine accepted interface from available push interfaces InterfaceFlags accepted; // if first stage ... if (first != children().begin()) { auto prev = first; --prev; // pointer to previous stage // ... pushes forward, we accept forward propagation if ((*prev)->pimpl()->requiredInterface() & WRITES_NEXT_START) accepted |= PROPAGATE_FORWARDS; // ... pulls backward, we accept backward propagation if ((*prev)->pimpl()->requiredInterface() & READS_END) accepted |= PROPAGATE_BACKWARDS; } // else: for first child we cannot determine the interface yet // if end stage ... if (end != children().end()) { // ... pushes backward, we accept backward propagation if ((*end)->pimpl()->requiredInterface() & WRITES_PREV_END) accepted |= PROPAGATE_BACKWARDS; // ... pulls forward, we accept forward propagation if ((*end)->pimpl()->requiredInterface() & READS_START) accepted |= PROPAGATE_FORWARDS; } // else: for last child we cannot determine the interface yet // nothing to do if: // - accepted == 0: interface still unknown // - accepted == PROPAGATE_FORWARDS | PROPAGATE_BACKWARDS: no change if (accepted != UNKNOWN && accepted != InterfaceFlags({PROPAGATE_FORWARDS, PROPAGATE_BACKWARDS})) pruneInterfaces(first, end, accepted); } // prune interface for children in range [first, last) to given direction void SerialContainerPrivate::pruneInterfaces(container_type::const_iterator first, container_type::const_iterator end, InterfaceFlags accepted) { // 1st sweep: remove push interfaces for (auto it = first; it != end; ++it) { StagePrivate* impl = (*it)->pimpl(); // range should only contain stages with unknown required interface assert(impl->requiredInterface() == UNKNOWN); // remove push interfaces if (!(accepted & PROPAGATE_BACKWARDS)) impl->setPrevEnds(InterfacePtr()); if (!(accepted & PROPAGATE_FORWARDS)) impl->setNextStarts(InterfacePtr()); } // 2nd sweep: recursively prune children for (auto it = first; it != end; ++it) { StagePrivate* impl = (*it)->pimpl(); impl->pruneInterface(accepted); } } void SerialContainer::validateConnectivity() const { auto impl = pimpl(); InitStageException errors; // check that input / output interface of first / last child matches this' resp. interface if (!impl->children().empty()) { const StagePrivate* start = impl->children().front()->pimpl(); if ((start->interfaceFlags() & INPUT_IF_MASK) != (this->pimpl()->interfaceFlags() & INPUT_IF_MASK)) errors.push_back(*this, "input interface of '" + start->name() + "' doesn't match mine"); const StagePrivate* last = impl->children().back()->pimpl(); if ((last->interfaceFlags() & OUTPUT_IF_MASK) != (this->pimpl()->interfaceFlags() & OUTPUT_IF_MASK)) errors.push_back(*this, "output interface of '" + last->name() + "' doesn't match mine"); } // validate connectivity of children amongst each other // ContainerBase::validateConnectivity() ensures that required push interfaces are present, // that is, neighbouring stages have a corresponding pull interface. // Here, it remains to check that - if a child requires a pull interface - it's indeed feeded. for (auto cur = impl->children().begin(), end = impl->children().end(); cur != end; ++cur) { const StagePrivate* const cur_impl = **cur; InterfaceFlags required = cur_impl->requiredInterface(); // get iterators to prev / next stage in sequence auto prev = cur; --prev; auto next = cur; ++next; // start pull interface fed? if (cur != impl->children().begin() && // first child has not a previous one (required & READS_START) && !(*prev)->pimpl()->nextStarts()) errors.push_back(**cur, "end interface is not fed"); // end pull interface fed? if (next != end && // last child has not a next one (required & READS_END) && !(*next)->pimpl()->prevEnds()) errors.push_back(**cur, "end interface is not fed"); } // recursively validate children try { ContainerBase::validateConnectivity(); } catch (InitStageException& e) { errors.append(e); } if (errors) throw errors; } bool SerialContainer::canCompute() const { return !pimpl()->children().empty(); } bool SerialContainer::compute() { bool computed = false; for(const auto& stage : pimpl()->children()) { try { if(!stage->pimpl()->canCompute()) continue; ROS_INFO("Computing stage '%s'", stage->name().c_str()); bool success = stage->pimpl()->compute(); computed = true; ROS_INFO("Stage '%s': %s", stage->name().c_str(), success ? "succeeded" : "failed"); } catch (const Property::error &e) { stage->reportPropertyError(e); } } return computed; } size_t SerialContainer::numSolutions() const { return pimpl()->solutions_.size(); } void SerialContainer::processSolutions(const ContainerBase::SolutionProcessor &processor) const { for(const SolutionBase& s : pimpl()->solutions_) if (!processor(s)) break; } template void SerialContainer::traverse(const SolutionBase &start, const SolutionProcessor &cb, solution_container &trace, double trace_cost) { const InterfaceState::Solutions& solutions = start.trajectories(); if (solutions.empty()) // if we reached the end, call the callback cb(trace, trace_cost); else for (SolutionBase* successor : solutions) { trace.push_back(successor); trace_cost += successor->cost(); traverse(*successor, cb, trace, trace_cost); trace_cost -= successor->cost(); trace.pop_back(); } } void SerialSolution::fillMessage(moveit_task_constructor_msgs::Solution &msg, Introspection* introspection) const { moveit_task_constructor_msgs::SubSolution sub_msg; sub_msg.id = introspection ? introspection->solutionId(*this) : 0; sub_msg.cost = this->cost(); const Introspection *ci = introspection; sub_msg.stage_id = ci ? ci->stageId(this->creator()->me()) : 0; sub_msg.sub_solution_id.reserve(subsolutions_.size()); if (introspection) { for (const SolutionBase* s : subsolutions_) sub_msg.sub_solution_id.push_back(introspection->solutionId(*s)); msg.sub_solution.push_back(sub_msg); } msg.sub_trajectory.reserve(msg.sub_trajectory.size() + subsolutions_.size()); for (const SolutionBase* s : subsolutions_) s->fillMessage(msg, introspection); } void WrappedSolution::fillMessage(moveit_task_constructor_msgs::Solution &solution, Introspection *introspection) const { wrapped_->fillMessage(solution, introspection); } ParallelContainerBasePrivate::ParallelContainerBasePrivate(ParallelContainerBase *me, const std::string &name) : ContainerBasePrivate(me, name) { } // A parallel container's required interface is derived from the required interfaces of all of its children. // They must not conflict to each other. Otherwise an InitStageException is thrown. InterfaceFlags ParallelContainerBasePrivate::requiredInterface() const { if (children().empty()) return UNKNOWN; /* The interfaces of all children need to be consistent with each other. Allowed combinations are: * ❘ ❘ = ❘ (connecting stages) * ↑ ↑ = ↑ (backward propagating) * ↓ ↓ = ↓ (forward propagating) * ↑ ↓ = ⇅ = ⇅ ↑ = ⇅ ↓ (propagating in both directions) * ↕ ↕ = ↕ (generating) */ InterfaceFlags accumulated = children().front()->pimpl()->requiredInterface(); for (const Stage::pointer& stage : children()) { InterfaceFlags current = stage->pimpl()->requiredInterface(); if (accumulated != PROPAGATE_BOTHWAYS && (accumulated & current) == current) // all flags of current are already available in accumulated continue; bool current_is_propagating = (current == PROPAGATE_BOTHWAYS || current == PROPAGATE_FORWARDS || current == PROPAGATE_BACKWARDS); if (current_is_propagating && accumulated != CONNECT && accumulated != GENERATE) accumulated |= current; // propagating is compatible to all except CONNECT and GENERATE else throw InitStageException(*me(), "child '" + stage->name() + "' has conflicting interface to previous children"); } return accumulated; } void ParallelContainerBasePrivate::pruneInterface(InterfaceFlags accepted) { // forward pruning to all children with UNKNOWN required interface for (const Stage::pointer& stage : children()) { if (stage->pimpl()->requiredInterface() == UNKNOWN) stage->pimpl()->pruneInterface(accepted); } } void ParallelContainerBasePrivate::onNewExternalState(Interface::Direction dir, Interface::iterator external, bool updated) { for (const Stage::pointer& stage : children()) copyState(external, stage->pimpl()->pullInterface(dir), updated); } ParallelContainerBase::ParallelContainerBase(ParallelContainerBasePrivate *impl) : ContainerBase(impl) {} ParallelContainerBase::ParallelContainerBase(const std::string &name) : ParallelContainerBase(new ParallelContainerBasePrivate(this, name)) {} void ParallelContainerBase::reset() { // recursively reset children ContainerBase::reset(); // clear buffers auto impl = pimpl(); impl->solutions_.clear(); impl->failures_.clear(); impl->wrapped_solutions_.clear(); impl->created_solutions_.clear(); impl->states_.clear(); } /* States received by the container need to be copied to all children's pull interfaces. * States generated by children can be directly forwarded into the container's push interfaces. */ void ParallelContainerBase::init(const moveit::core::RobotModelConstPtr& robot_model) { // recursively init children ContainerBase::init(robot_model); auto impl = pimpl(); // determine the union of interfaces required by children // TODO: should we better use the least common interface? InterfaceFlags required; for (const Stage::pointer& stage : impl->children()) required |= stage->pimpl()->requiredInterface(); // initialize this' pull connections impl->starts().reset(required & READS_START ? new Interface(std::bind(&ParallelContainerBasePrivate::onNewExternalState, impl, Interface::FORWARD, _1, _2)) : nullptr); impl->ends().reset(required & READS_END ? new Interface(std::bind(&ParallelContainerBasePrivate::onNewExternalState, impl, Interface::BACKWARD, _1, _2)) : nullptr); // initialize push connections of children according to their demands for (const Stage::pointer& stage : impl->children()) { impl->setChildsPushForwardInterface(*stage); impl->setChildsPushBackwardInterface(*stage); } } void ParallelContainerBase::validateConnectivity() const { InitStageException errors; auto impl = pimpl(); InterfaceFlags my_interface = impl->interfaceFlags(); // check that input / output interfaces of all children match my_interface for (const auto& child : pimpl()->children()) { if (child->pimpl()->interfaceFlags() != my_interface) errors.push_back(*this, "interface of child '" + child->name() + "' doesn't match mine"); } // recursively validate children try { ContainerBase::validateConnectivity(); } catch (InitStageException& e) { errors.append(e); } if (errors) throw errors; } size_t ParallelContainerBase::numSolutions() const { return pimpl()->solutions_.size(); } void ParallelContainerBase::processSolutions(const Stage::SolutionProcessor &processor) const { for(const SolutionBase* s : pimpl()->solutions_) if (!processor(*s)) break; } size_t ParallelContainerBase::numFailures() const { return pimpl()->failures_.size(); } void ParallelContainerBase::processFailures(const Stage::SolutionProcessor &processor) const { for(const SolutionBase* f : pimpl()->failures_) if (!processor(*f)) break; } void ParallelContainerBase::onNewSolution(const SolutionBase& s) { liftSolution(&s); } void ParallelContainerBase::liftSolution(const SolutionBase* solution, double cost) { auto impl = pimpl(); // create new WrappedSolution instance auto wit = impl->wrapped_solutions_.insert(impl->wrapped_solutions_.end(), WrappedSolution(impl, solution, cost)); if (wit->isFailure()) { wit->setStartState(*solution->start()); wit->setEndState(*solution->end()); impl->failures_.push_back(&*wit); } else { impl->solutions_.insert(&*wit); impl->liftSolution(*wit, solution->start(), solution->end()); } impl->newSolution(*wit); } void ParallelContainerBase::spawn(InterfaceState &&state, SubTrajectory&& t) { auto impl = pimpl(); assert(impl->prevEnds() && impl->nextStarts()); t.setCreator(impl); // store newly created solution (otherwise it's lost) auto it = impl->created_solutions_.insert(impl->created_solutions_.end(), std::move(t)); if (it->isFailure()) { // attach state (different for start / end) to trajectory auto state_it = impl->states_.insert(impl->states_.end(), InterfaceState(state)); it->setStartState(*state_it); state_it = impl->states_.insert(impl->states_.end(), std::move(state)); it->setEndState(*state_it); impl->failures_.push_back(&*it); } else { // directly spawn states in push interfaces impl->prevEnds()->add(InterfaceState(state), NULL, &*it); impl->nextStarts()->add(std::move(state), &*it, NULL); impl->solutions_.insert(&*it); } impl->newSolution(*it); } WrapperBasePrivate::WrapperBasePrivate(WrapperBase *me, const std::string &name) : ParallelContainerBasePrivate(me, name) {} WrapperBase::WrapperBase(const std::string &name, Stage::pointer &&child) : WrapperBase(new WrapperBasePrivate(this, name), std::move(child)) {} WrapperBase::WrapperBase(WrapperBasePrivate *impl, Stage::pointer &&child) : ParallelContainerBase(impl) { if (child) insert(std::move(child)); } bool WrapperBase::insert(Stage::pointer &&stage, int before) { // restrict num of children to one if (numChildren() > 0) return false; return ParallelContainerBase::insert(std::move(stage), before); } Stage* WrapperBase::wrapped() { return pimpl()->children().empty() ? nullptr : pimpl()->children().front().get(); } bool WrapperBase::canCompute() const { return wrapped()->pimpl()->canCompute(); } bool WrapperBase::compute() { try { size_t num_before = numSolutions(); wrapped()->pimpl()->compute(); return numSolutions() > num_before; } catch (const Property::error &e) { wrapped()->reportPropertyError(e); } return false; } bool Alternatives::canCompute() const { for (const auto& stage : pimpl()->children()) if (stage->pimpl()->canCompute()) return true; return false; } bool Alternatives::compute() { bool success = false; for (const auto& stage : pimpl()->children()) { try { success |= stage->pimpl()->compute(); } catch (const Property::error &e) { stage->reportPropertyError(e); } } return success; } void Fallbacks::reset() { active_child_ = nullptr; ParallelContainerBase::reset(); } void Fallbacks::init(const moveit::core::RobotModelConstPtr& robot_model) { ParallelContainerBase::init(robot_model); active_child_ = pimpl()->children().front().get(); } bool Fallbacks::canCompute() const { while (active_child_) { StagePrivate* child = active_child_->pimpl(); if (child->canCompute()) return true; // active child failed, continue with next auto next = child->it(); ++next; active_child_ = next->get(); } return false; } bool Fallbacks::compute() { if (!active_child_) return false; try { return active_child_->pimpl()->compute(); } catch (const Property::error &e) { active_child_->reportPropertyError(e); } return false; } } }