moveit_task_constructor/core/src/introspection.cpp

275 lines
9.4 KiB
C++

/*********************************************************************
* 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 <moveit/task_constructor/stage_p.h>
#include <moveit/task_constructor/task_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 <sstream>
#include <boost/bimap.hpp>
namespace moveit {
namespace task_constructor {
namespace {
std::string getTaskId(const TaskPrivate* task) {
std::ostringstream oss;
char our_hostname[256] = { 0 };
gethostname(our_hostname, sizeof(our_hostname) - 1);
// Hostname could have `-` as a character but this is an invalid character in ROS so we replace it with `_`
std::replace(std::begin(our_hostname), std::end(our_hostname), '-', '_');
oss << our_hostname << "_" << getpid() << "_" << reinterpret_cast<std::size_t>(task);
return oss.str();
}
} // namespace
class IntrospectionPrivate
{
public:
IntrospectionPrivate(const TaskPrivate* task, Introspection* self)
: nh_(std::string("~/") + task->ns()) // topics + services are advertised in private namespace
, task_(task)
, task_id_(getTaskId(task)) {
task_description_publisher_ =
nh_.advertise<moveit_task_constructor_msgs::TaskDescription>(DESCRIPTION_TOPIC, 2, true);
// send reset message as early as possible to give subscribers time to see it
indicateReset();
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);
get_solution_service_ =
nh_.advertiseService(std::string(GET_SOLUTION_SERVICE "_") + task_id_, &Introspection::getSolution, self);
resetMaps();
}
~IntrospectionPrivate() { indicateReset(); }
void indicateReset() {
// send empty task description message to indicate reset
::moveit_task_constructor_msgs::TaskDescription msg;
msg.task_id = task_id_;
task_description_publisher_.publish(msg);
}
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 TaskPrivate* task_;
const std::string task_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 StagePrivate*, moveit_task_constructor_msgs::StageStatistics::_id_type> stage_to_id_map_;
boost::bimap<uint32_t, const SolutionBase*> id_solution_bimap_;
};
Introspection::Introspection(const TaskPrivate* task) : impl(new IntrospectionPrivate(task, 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() {
impl->indicateReset();
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);
s.start()->scene()->getPlanningSceneMsg(msg.start_scene);
msg.task_id = impl->task_id_;
}
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_->stages()->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->pimpl(), 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->pimpl());
if (it == impl->stage_to_id_map_.end())
throw std::runtime_error("unregistered stage: " + s->name());
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) {
// successful 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.total_compute_time = stage.getTotalComputeTime();
s.num_failed = stage.numFailures();
}
moveit_task_constructor_msgs::TaskDescription&
Introspection::fillTaskDescription(moveit_task_constructor_msgs::TaskDescription& msg) {
ContainerBase::StageCallback stage_processor = [this, &msg](const Stage& stage, unsigned int /*depth*/) -> 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()->pimpl());
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(stage_processor);
msg.task_id = impl->task_id_;
return msg;
}
moveit_task_constructor_msgs::TaskStatistics&
Introspection::fillTaskStatistics(moveit_task_constructor_msgs::TaskStatistics& msg) {
ContainerBase::StageCallback stage_processor = [this, &msg](const Stage& stage, unsigned int /*depth*/) -> 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(stage_processor);
msg.task_id = impl->task_id_;
return msg;
}
} // namespace task_constructor
} // namespace moveit