moveit_task_constructor/core/src/task.cpp
Captain Yoshi fdc06c3b91
Reduce stop time due to preempt (#598)
The preempt_request_ flag was only checked at the top-level task container before each compute iteration.
As a single sweep might take a while, we should check the flag before computing each stage.
2024-07-19 15:46:12 +02:00

342 lines
11 KiB
C++

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/* Authors: Michael Goerner, Robert Haschke */
#include <moveit/task_constructor/container_p.h>
#include <moveit/task_constructor/task_p.h>
#include <moveit/task_constructor/introspection.h>
#include <moveit_task_constructor_msgs/ExecuteTaskSolutionAction.h>
#include <ros/ros.h>
#include <actionlib/client/simple_action_client.h>
#include <moveit/robot_model_loader/robot_model_loader.h>
#include <moveit/planning_pipeline/planning_pipeline.h>
#include <scope_guard/scope_guard.hpp>
#include <functional>
namespace {
std::string rosNormalizeName(const std::string& name) {
std::string n;
n.reserve(name.size());
// drop invalid initial chars
auto read = name.begin(), end = name.end();
while (read != end && !isalpha(*read) && *read != '/' && *read != '~')
++read;
// copy (and correct) remaining chars
while (read != end) {
char c = *read;
n.push_back((isalnum(c) || c == '_') ? c : '_');
++read;
}
return n;
}
} // namespace
namespace moveit {
namespace task_constructor {
TaskPrivate::TaskPrivate(Task* me, const std::string& ns)
: WrapperBasePrivate(me, std::string()), ns_(rosNormalizeName(ns)), preempt_requested_(false) {}
TaskPrivate& TaskPrivate::operator=(TaskPrivate&& other) {
this->WrapperBasePrivate::operator=(std::move(other));
ns_ = std::move(other.ns_);
robot_model_ = std::move(other.robot_model_);
robot_model_loader_ = std::move(other.robot_model_loader_);
task_cbs_ = std::move(other.task_cbs_);
// Ensure same introspection status, but keep the existing introspection instance,
// which stores this task pointer and includes it in its task_id_
static_cast<Task*>(me_)->enableIntrospection(static_cast<bool>(other.introspection_));
return *this;
}
const ContainerBase* TaskPrivate::stages() const {
return children().empty() ? nullptr : static_cast<ContainerBase*>(children().front().get());
}
Task::Task(const std::string& ns, bool introspection, ContainerBase::pointer&& container)
: WrapperBase(new TaskPrivate(this, ns), std::move(container)) {
setPruning(false);
setTimeout(std::numeric_limits<double>::max());
// monitor state on commandline
// addTaskCallback(std::bind(&Task::printState, this, std::ref(std::cout)));
// enable introspection by default, but only if ros::init() was called
if (ros::isInitialized() && introspection)
enableIntrospection(true);
}
Task::Task(Task&& other) // NOLINT(performance-noexcept-move-constructor)
: WrapperBase(new TaskPrivate(this, std::string()), std::make_unique<SerialContainer>()) {
*this = std::move(other);
}
Task& Task::operator=(Task&& other) { // NOLINT(performance-noexcept-move-constructor)
clear(); // remove all stages of current task
*static_cast<TaskPrivate*>(pimpl_) = std::move(*static_cast<TaskPrivate*>(other.pimpl_));
return *this;
}
Task::~Task() {
auto impl = pimpl();
impl->introspection_.reset(); // stop introspection
clear(); // remove all stages
impl->robot_model_.reset();
// only destroy loader after all references to the model are gone!
impl->robot_model_loader_.reset();
}
void Task::setRobotModel(const core::RobotModelConstPtr& robot_model) {
if (!robot_model) {
ROS_ERROR_STREAM(name() << ": received invalid robot model");
return;
}
auto impl = pimpl();
if (impl->robot_model_ && impl->robot_model_ != robot_model)
reset(); // solutions, scenes, etc become invalid
impl->robot_model_ = robot_model;
}
void Task::loadRobotModel(const std::string& robot_description) {
auto impl = pimpl();
impl->robot_model_loader_ = std::make_shared<robot_model_loader::RobotModelLoader>(robot_description);
setRobotModel(impl->robot_model_loader_->getModel());
if (!impl->robot_model_)
throw Exception("Task failed to construct RobotModel");
}
void Task::add(Stage::pointer&& stage) {
stages()->add(std::move(stage));
}
void Task::insert(Stage::pointer&& stage, int before) {
stages()->insert(std::move(stage), before);
}
void Task::clear() {
reset();
stages()->clear();
}
void Task::enableIntrospection(bool enable) {
auto impl = pimpl();
if (enable && !impl->introspection_)
impl->introspection_.reset(new Introspection(impl));
else if (!enable && impl->introspection_) {
// reset introspection instance of all stages
impl->setIntrospection(nullptr);
impl->traverseStages(
[](Stage& stage, int /*depth*/) {
stage.pimpl()->setIntrospection(nullptr);
return true;
},
1, UINT_MAX);
impl->introspection_.reset();
}
}
Introspection& Task::introspection() {
auto impl = pimpl();
enableIntrospection(true);
return *impl->introspection_;
}
Task::TaskCallbackList::const_iterator Task::addTaskCallback(TaskCallback&& cb) {
auto impl = pimpl();
impl->task_cbs_.emplace_back(std::move(cb));
return --(impl->task_cbs_.cend());
}
void Task::eraseTaskCallback(TaskCallbackList::const_iterator which) {
pimpl()->task_cbs_.erase(which);
}
void Task::reset() {
auto impl = pimpl();
// signal introspection, that this task was reset
if (impl->introspection_)
impl->introspection_->reset();
WrapperBase::reset();
}
void Task::init() {
auto impl = pimpl();
if (!impl->robot_model_)
loadRobotModel();
// initialize push connections of wrapped child
StagePrivate* child = wrapped()->pimpl();
child->setPrevEnds(impl->pendingBackward());
child->setNextStarts(impl->pendingForward());
// and *afterwards* initialize all children recursively
stages()->init(impl->robot_model_);
// task expects its wrapped child to push to both ends, this triggers interface resolution
stages()->pimpl()->resolveInterface(InterfaceFlags({ GENERATE }));
// provide introspection instance and preempt_requested to all stages
auto* introspection = impl->introspection_.get();
impl->traverseStages(
[introspection, impl](Stage& stage, int /*depth*/) {
stage.pimpl()->setIntrospection(introspection);
stage.pimpl()->setPreemptRequestedMember(&impl->preempt_requested_);
return true;
},
1, UINT_MAX);
// first time publish task
if (introspection)
introspection->publishTaskDescription();
}
bool Task::canCompute() const {
return stages()->canCompute();
}
void Task::compute() {
try {
stages()->pimpl()->runCompute();
} catch (const PreemptStageException& e) {
// do nothing, needed for early stop
}
}
moveit::core::MoveItErrorCode Task::plan(size_t max_solutions) {
// ensure the preempt request is resetted once this method exits
auto guard = sg::make_scope_guard([this]() noexcept { this->resetPreemptRequest(); });
auto impl = pimpl();
init();
// Print state and return success if there are solutions otherwise the input error_code
const auto success_or = [this](const int32_t error_code) -> int32_t {
if (numSolutions() > 0)
return moveit::core::MoveItErrorCode::SUCCESS;
printState();
explainFailure();
return error_code;
};
const double available_time = timeout();
const auto start_time = std::chrono::steady_clock::now();
while (canCompute() && (max_solutions == 0 || numSolutions() < max_solutions)) {
if (impl->preempt_requested_)
return success_or(moveit::core::MoveItErrorCode::PREEMPTED);
if (std::chrono::duration<double>(std::chrono::steady_clock::now() - start_time).count() >= available_time)
return success_or(moveit::core::MoveItErrorCode::TIMED_OUT);
compute();
for (const auto& cb : impl->task_cbs_)
cb(*this);
if (impl->introspection_)
impl->introspection_->publishTaskState();
};
return success_or(moveit::core::MoveItErrorCode::PLANNING_FAILED);
}
void Task::preempt() {
pimpl()->preempt_requested_ = true;
}
void Task::resetPreemptRequest() {
pimpl()->preempt_requested_ = false;
}
moveit::core::MoveItErrorCode Task::execute(const SolutionBase& s) {
actionlib::SimpleActionClient<moveit_task_constructor_msgs::ExecuteTaskSolutionAction> ac("execute_task_solution");
if (!ac.waitForServer(ros::Duration(0.5))) {
ROS_ERROR("Failed to connect to the 'execute_task_solution' action server");
return moveit::core::MoveItErrorCode::FAILURE;
}
moveit_task_constructor_msgs::ExecuteTaskSolutionGoal goal;
s.toMsg(goal.solution, pimpl()->introspection_.get());
ac.sendGoal(goal);
ac.waitForResult();
return ac.getResult()->error_code;
}
void Task::publishAllSolutions(bool wait) {
enableIntrospection(true);
pimpl()->introspection_->publishAllSolutions(wait);
}
void Task::onNewSolution(const SolutionBase& s) {
// no need to call WrapperBase::onNewSolution!
auto impl = pimpl();
for (const auto& cb : impl->solution_cbs_)
cb(s);
}
ContainerBase* Task::stages() {
return static_cast<ContainerBase*>(WrapperBase::wrapped());
}
const ContainerBase* Task::stages() const {
return const_cast<Task*>(this)->stages();
}
PropertyMap& Task::properties() {
// forward to wrapped() stage
return wrapped()->properties();
}
void Task::setProperty(const std::string& name, const boost::any& value) {
// forward to wrapped() stage
wrapped()->setProperty(name, value);
}
const core::RobotModelConstPtr& Task::getRobotModel() const {
auto impl = pimpl();
return impl->robot_model_;
}
void Task::printState(std::ostream& os) const {
os << *stages();
}
void Task::explainFailure(std::ostream& os) const {
os << "Failing stage(s):\n";
stages()->explainFailure(os);
}
} // namespace task_constructor
} // namespace moveit