moveit_task_constructor/core/src/introspection.cpp

275 lines
8.7 KiB
C++

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/* Authors: Robert Haschke */
#include <moveit/task_constructor/stage_p.h>
#include <moveit/task_constructor/introspection.h>
#include <moveit/task_constructor/task.h>
#include <moveit/task_constructor/storage.h>
#include <moveit_task_constructor_msgs/Property.h>
#include <ros/node_handle.h>
#include <ros/publisher.h>
#include <ros/service.h>
#include <moveit/planning_scene/planning_scene.h>
#include <boost/bimap.hpp>
namespace moveit { namespace task_constructor {
namespace {
std::string getProcessId() {
char our_hostname[256] = {0};
gethostname(our_hostname, sizeof(our_hostname)-1);
return std::to_string(getpid()) + "@" + our_hostname;
}
}
class IntrospectionPrivate {
public:
IntrospectionPrivate(const Task &task)
: nh_(std::string("~/") + task.id()) // topics + services are advertised in private namespace
, task_(task)
, process_id_(getProcessId())
{
resetMaps();
task_description_publisher_ = nh_.advertise<moveit_task_constructor_msgs::TaskDescription>(DESCRIPTION_TOPIC, 1, true);
task_statistics_publisher_ = nh_.advertise<moveit_task_constructor_msgs::TaskStatistics>(STATISTICS_TOPIC, 1, true);
solution_publisher_ = nh_.advertise<moveit_task_constructor_msgs::Solution>(SOLUTION_TOPIC, 1, true);
}
void resetMaps () {
// reset maps
stage_to_id_map_.clear();
stage_to_id_map_[&task_] = 0; // root is task having ID = 0
id_solution_bimap_.clear();
}
ros::NodeHandle nh_;
/// associated task
const Task &task_;
const std::string process_id_;
/// publish task detailed description and current state
ros::Publisher task_description_publisher_;
ros::Publisher task_statistics_publisher_;
/// publish new solutions
ros::Publisher solution_publisher_;
/// services to provide an individual Solution
ros::ServiceServer get_solution_service_;
/// mapping from stages to their id
std::map<const void*, moveit_task_constructor_msgs::StageStatistics::_id_type> stage_to_id_map_;
boost::bimap<uint32_t, const SolutionBase*> id_solution_bimap_;
};
Introspection::Introspection(const Task &task)
: impl(new IntrospectionPrivate(task))
{
impl->get_solution_service_ = impl->nh_.advertiseService(GET_SOLUTION_SERVICE, &Introspection::getSolution, this);
}
Introspection::~Introspection()
{
delete impl;
}
void Introspection::publishTaskDescription()
{
::moveit_task_constructor_msgs::TaskDescription msg;
impl->task_description_publisher_.publish(fillTaskDescription(msg));
}
void Introspection::publishTaskState()
{
::moveit_task_constructor_msgs::TaskStatistics msg;
impl->task_statistics_publisher_.publish(fillTaskStatistics(msg));
}
void Introspection::reset()
{
// send empty task description message to indicate reset
::moveit_task_constructor_msgs::TaskDescription msg;
msg.process_id = impl->process_id_;
msg.id = impl->task_.id();
impl->task_description_publisher_.publish(msg);
impl->resetMaps();
}
void Introspection::registerSolution(const SolutionBase &s)
{
solutionId(s);
}
void Introspection::fillSolution(moveit_task_constructor_msgs::Solution &msg,
const SolutionBase &s)
{
s.fillMessage(msg, this);
msg.process_id = impl->process_id_;
msg.task_id = impl->task_.id();
s.start()->scene()->getPlanningSceneMsg(msg.start_scene);
}
void Introspection::publishSolution(const SolutionBase &s)
{
moveit_task_constructor_msgs::Solution msg;
fillSolution(msg, s);
impl->solution_publisher_.publish(msg);
}
void Introspection::publishAllSolutions(bool wait)
{
for (const auto& solution : impl->task_.solutions()) {
publishSolution(*solution);
if (wait) {
std::cout << "Press <Enter> to continue ..." << std::endl;
int ch = getchar();
if (ch == 'q' || ch == 'Q')
break;
}
};
}
const SolutionBase* Introspection::solutionFromId(uint id) const {
auto it = impl->id_solution_bimap_.left.find(id);
if (it == impl->id_solution_bimap_.left.end())
return nullptr;
return it->second;
}
bool Introspection::getSolution(moveit_task_constructor_msgs::GetSolution::Request &req,
moveit_task_constructor_msgs::GetSolution::Response &res)
{
const SolutionBase* solution = solutionFromId(req.solution_id);
if (!solution) return false;
fillSolution(res.solution, *solution);
return true;
}
uint32_t Introspection::stageId(const Stage* const s)
{
return impl->stage_to_id_map_.insert(std::make_pair(s, impl->stage_to_id_map_.size())).first->second;
}
uint32_t Introspection::stageId(const Stage* const s) const
{
auto it = impl->stage_to_id_map_.find(s);
if (it == impl->stage_to_id_map_.end())
throw std::runtime_error("unknown stage");
return it->second;
}
uint32_t Introspection::solutionId(const SolutionBase& s)
{
auto result = impl->id_solution_bimap_.left.insert(std::make_pair(1 + impl->id_solution_bimap_.size(), &s));
return result.first->first;
}
void Introspection::fillStageStatistics(const Stage& stage, moveit_task_constructor_msgs::StageStatistics& s)
{
// successfull solutions
for (const auto& solution : stage.solutions())
s.solved.push_back(solutionId(*solution));
// failed solution attempts
for (const auto& solution : stage.failures())
s.failed.push_back(solutionId(*solution));
s.num_failed = stage.numFailures();
}
moveit_task_constructor_msgs::TaskDescription& Introspection::fillTaskDescription(moveit_task_constructor_msgs::TaskDescription &msg)
{
ContainerBase::StageCallback stageProcessor =
[this, &msg](const Stage& stage, int) -> bool {
// this method is called for each child stage of a given parent
moveit_task_constructor_msgs::StageDescription desc;
desc.id = stageId(&stage);
desc.name = stage.name();
desc.flags = stage.pimpl()->interfaceFlags();
// fill stage properties
for (const auto& pair : stage.properties()) {
moveit_task_constructor_msgs::Property p;
p.name = pair.first;
p.description = pair.second.description();
p.type = pair.second.typeName();
p.value = pair.second.serialize();
desc.properties.push_back(p);
}
auto it = impl->stage_to_id_map_.find(stage.pimpl()->parent());
assert (it != impl->stage_to_id_map_.cend());
desc.parent_id = it->second;
// finally store in msg
msg.stages.push_back(std::move(desc));
return true;
};
msg.stages.clear();
impl->task_.stages()->traverseRecursively(stageProcessor);
msg.id = impl->task_.id();
msg.process_id = impl->process_id_;
return msg;
}
moveit_task_constructor_msgs::TaskStatistics& Introspection::fillTaskStatistics(moveit_task_constructor_msgs::TaskStatistics &msg)
{
ContainerBase::StageCallback stageProcessor =
[this, &msg](const Stage& stage, int) -> bool {
// this method is called for each child stage of a given parent
moveit_task_constructor_msgs::StageStatistics stat; // create new Stage msg
stat.id = stageId(&stage);
fillStageStatistics(stage, stat);
// finally store in msg.stages
msg.stages.push_back(std::move(stat));
return true;
};
msg.stages.clear();
impl->task_.stages()->traverseRecursively(stageProcessor);
msg.id = impl->task_.id();
msg.process_id = impl->process_id_;
return msg;
}
} }