moveit_task_constructor/core/src/container.cpp
2024-05-25 21:30:30 +02:00

1306 lines
48 KiB
C++

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/* Authors: Robert Haschke */
#include <moveit/task_constructor/container_p.h>
#include <moveit/task_constructor/introspection.h>
#include <moveit/task_constructor/merge.h>
#include <moveit/planning_scene/planning_scene.h>
#include <moveit/trajectory_processing/time_optimal_trajectory_generation.h>
#include <ros/console.h>
#include <memory>
#include <iostream>
#include <algorithm>
#include <boost/range/adaptor/reversed.hpp>
#include <fmt/core.h>
#include <functional>
using namespace std::placeholders;
using namespace trajectory_processing;
namespace moveit {
namespace task_constructor {
// for debugging of how children interfaces evolve over time
__attribute__((unused)) // silent unused-function warning
static void
printChildrenInterfaces(const ContainerBasePrivate& container, bool success, const Stage& creator,
std::ostream& os = std::cerr) {
static unsigned int id = 0;
const unsigned int width = 10; // indentation of name
os << std::endl << (success ? '+' : '-') << ' ' << creator.name() << ' ';
if (success)
os << ++id << ' ';
if (const auto conn = dynamic_cast<const ConnectingPrivate*>(creator.pimpl()))
os << conn->pendingPairsPrinter();
os << std::endl;
for (const auto& child : container.children()) {
auto cimpl = child->pimpl();
os << std::setw(width) << std::left << child->name();
if (!cimpl->starts() && !cimpl->ends())
os << "" << std::endl;
if (cimpl->starts())
os << "" << *child->pimpl()->starts() << std::endl;
if (cimpl->starts() && cimpl->ends())
os << std::setw(width) << " ";
if (cimpl->ends())
os << "" << *child->pimpl()->ends() << std::endl;
}
}
ContainerBasePrivate::ContainerBasePrivate(ContainerBase* me, const std::string& name)
: StagePrivate(me, name)
, required_interface_(UNKNOWN)
, pending_backward_(new Interface)
, pending_forward_(new Interface) {}
ContainerBasePrivate& ContainerBasePrivate::operator=(ContainerBasePrivate&& other) {
assert(internal_external_.empty() && other.internal_external_.empty());
// move StagePrivate members
this->StagePrivate::operator=(std::move(other));
// swapping of container members needed to maintain valid pending_* interfaces
// and children (e.g. for TaskPrivate)
required_interface_ = other.required_interface_;
std::swap(pending_backward_, other.pending_backward_);
std::swap(pending_forward_, other.pending_forward_);
std::swap(children_, other.children_);
// redirect all children's parent pointers to the new parent
auto reparent_children = [](ContainerBasePrivate& self) {
for (auto it = self.children_.begin(), end = self.children_.end(); it != end; ++it) {
auto cimpl = (*it)->pimpl();
cimpl->unparent();
cimpl->setParent(static_cast<ContainerBase*>(self.me_));
cimpl->setParentPosition(it);
}
};
reparent_children(*this);
reparent_children(other);
return *this;
}
ContainerBasePrivate::const_iterator ContainerBasePrivate::childByIndex(int index, bool for_insert) const {
if (!for_insert && index < 0)
--index;
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))
return false;
const ContainerBasePrivate* container = dynamic_cast<const ContainerBasePrivate*>(stage->pimpl());
if (container)
container->traverseStages(processor, cur_depth + 1, max_depth);
}
return true;
}
void ContainerBasePrivate::validateConnectivity() const {
// recursively validate all children and accumulate errors
for (const auto& child : children())
child->pimpl()->validateConnectivity();
}
bool ContainerBasePrivate::canCompute() const {
// call the method of the public interface
return static_cast<ContainerBase*>(me_)->canCompute();
}
void ContainerBasePrivate::compute() {
// call the method of the public interface
static_cast<ContainerBase*>(me_)->compute();
}
template <Interface::Direction dir>
void ContainerBasePrivate::setStatus(const Stage* creator, const InterfaceState* source, const InterfaceState* target,
InterfaceState::Status status) {
if (status != InterfaceState::Status::ENABLED && creator) {
if (const auto* conn = dynamic_cast<const Connecting*>(creator)) {
auto cimpl = conn->pimpl();
// if creator is a Connecting stage and target has enabled opposite states (other than source)
if (cimpl->hasPendingOpposites<dir>(source, target))
return; // don't prune
}
}
if (target->priority().status() == status)
return; // nothing changing
// Skip disabling the state, if there are alternative enabled solutions
if (status != InterfaceState::ENABLED) {
auto solution_is_enabled = [](auto&& solution) {
return state<opposite<dir>()>(*solution)->priority().enabled();
};
const auto& alternatives = trajectories<opposite<dir>()>(*target);
auto alternative_path = std::find_if(alternatives.cbegin(), alternatives.cend(), solution_is_enabled);
if (alternative_path != alternatives.cend())
return;
}
// actually enable/disable the state
const_cast<InterfaceState*>(target)->updateStatus(status);
// if possible (i.e. if target has an external counterpart), escalate setStatus to external interface
if (parent() && trajectories<dir>(*target).empty()) {
// TODO: This was coded with SerialContainer in mind. Not sure, it works for ParallelContainers
auto external{ internalToExternalMap().find(target) };
if (external != internalToExternalMap().end()) { // do we have an external state?
// only escalate if there is no other *enabled* internal state connected to the same external one
// all internal states linked to external
auto internals{ externalToInternalMap().equal_range(external->get<EXTERNAL>()) };
auto is_enabled = [](const auto& ext_int_pair) { return ext_int_pair.second->priority().enabled(); };
auto other_path{ std::find_if(internals.first, internals.second, is_enabled) };
if (other_path == internals.second)
parent()->pimpl()->setStatus<dir>(nullptr, nullptr, external->get<EXTERNAL>(), status);
return;
}
}
// To break symmetry between both ends of a partial solution sequence that gets disabled,
// we mark the first state with ARMED and all other states down the tree with PRUNED.
// This allows us to re-enable the ARMED state, but not the PRUNED states,
// when new states arrive in a Connecting stage.
// For details, https://github.com/moveit/moveit_task_constructor/pull/309#issuecomment-974636202
if (status == InterfaceState::Status::ARMED)
status = InterfaceState::Status::PRUNED; // only the first state is marked as ARMED
// traverse solution tree
for (const SolutionBase* successor : trajectories<dir>(*target))
setStatus<dir>(successor->creator(), target, state<dir>(*successor), status);
}
// recursively update state priorities along solution path
template <Interface::Direction dir>
inline void updateStatePrios(const InterfaceState& s, const InterfaceState::Priority& prio) {
InterfaceState::Priority priority(prio, s.priority().status());
if (s.priority() == priority)
return;
const_cast<InterfaceState&>(s).updatePriority(priority);
for (const SolutionBase* successor : trajectories<dir>(s))
updateStatePrios<dir>(*state<dir>(*successor), prio);
}
void ContainerBasePrivate::onNewFailure(const Stage& child, const InterfaceState* from, const InterfaceState* to) {
ROS_DEBUG_STREAM_NAMED("Pruning", fmt::format("'{}' generated a failure", child.name()));
switch (child.pimpl()->interfaceFlags()) {
case GENERATE:
// just ignore: the pair of (new) states isn't known to us anyway
// TODO: If child is a container, from and to might have associated solutions already!
break;
case PROPAGATE_FORWARDS: // mark from as failed (backwards)
setStatus<Interface::BACKWARD>(nullptr, nullptr, from, InterfaceState::Status::PRUNED);
break;
case PROPAGATE_BACKWARDS: // mark to as failed (forwards)
setStatus<Interface::FORWARD>(nullptr, nullptr, to, InterfaceState::Status::PRUNED);
break;
case CONNECT:
setStatus<Interface::BACKWARD>(&child, to, from, InterfaceState::Status::ARMED);
setStatus<Interface::FORWARD>(&child, from, to, InterfaceState::Status::ARMED);
break;
}
// printChildrenInterfaces(*this, false, child);
}
template <Interface::Direction dir>
void ContainerBasePrivate::copyState(Interface::iterator external, const InterfacePtr& target,
Interface::UpdateFlags updated) {
if (updated) {
auto prio = external->priority();
auto internals = externalToInternalMap().equal_range(&*external);
if (updated.testFlag(Interface::Update::STATUS)) { // propagate external status updates to internal copies
for (auto& i = internals.first; i != internals.second; ++i)
setStatus<dir>(nullptr, nullptr, i->second, prio.status());
} else if (updated.testFlag(Interface::Update::PRIORITY)) {
for (auto& i = internals.first; i != internals.second; ++i)
updateStatePrios<opposite<dir>()>(*i->second, prio);
} else
assert(false); // Expecting either STATUS or PRIORITY updates, not both!
return;
}
// create a clone of external state within target interface (child's starts() or ends())
auto internal = states_.insert(states_.end(), InterfaceState(*external));
target->add(*internal);
// and remember the mapping between them
internalToExternalMap().insert(std::make_pair(&*internal, &*external));
}
void ContainerBasePrivate::copyState(Interface::Direction dir, Interface::iterator external, const InterfacePtr& target,
Interface::UpdateFlags updated) {
if (dir == Interface::FORWARD)
copyState<Interface::FORWARD>(external, target, updated);
else
copyState<Interface::BACKWARD>(external, target, updated);
}
void ContainerBasePrivate::liftSolution(const SolutionBasePtr& solution, const InterfaceState* internal_from,
const InterfaceState* internal_to) {
computeCost(*internal_from, *internal_to, *solution);
// map internal to external states
auto find_or_create_external = [this](const InterfaceState* internal, bool& created) -> InterfaceState* {
auto it = internalToExternalMap().find(internal);
if (it != internalToExternalMap().end())
return const_cast<InterfaceState*>(it->second);
InterfaceState* external = &*states_.insert(states_.end(), InterfaceState(*internal));
internalToExternalMap().insert(std::make_pair(internal, external));
created = true;
return external;
};
bool created_from = false;
bool created_to = false;
InterfaceState* external_from = find_or_create_external(internal_from, created_from);
InterfaceState* external_to = find_or_create_external(internal_to, created_to);
if (!storeSolution(solution, external_from, external_to))
return;
// connect solution to start/end state
solution->setStartState(*external_from);
solution->setEndState(*external_to);
// spawn created states in external interfaces
if (created_from)
prevEnds()->add(*external_from);
if (created_to)
nextStarts()->add(*external_to);
newSolution(solution);
}
ContainerBase::ContainerBase(ContainerBasePrivate* impl) : Stage(impl) {}
size_t ContainerBase::numChildren() const {
return pimpl()->children().size();
}
Stage* ContainerBase::findChild(const std::string& name) const {
auto pos = name.find('/');
const std::string first = name.substr(0, pos);
for (const Stage::pointer& child : pimpl()->children())
if (child->name() == first) {
if (pos == std::string::npos)
return child.get();
else if (auto* parent = dynamic_cast<const ContainerBase*>(child.get()))
return parent->findChild(name.substr(pos + 1));
}
return nullptr;
}
Stage* ContainerBase::operator[](int index) const {
auto impl = pimpl();
auto it = impl->childByIndex(index, false);
return it != impl->children().end() ? it->get() : nullptr;
}
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);
}
void ContainerBase::add(Stage::pointer&& stage) {
insert(std::move(stage), -1);
}
void ContainerBase::insert(Stage::pointer&& stage, int before) {
if (!stage)
throw std::runtime_error(name() + ": received invalid stage pointer");
StagePrivate* impl = stage->pimpl();
impl->setParent(this);
ContainerBasePrivate::const_iterator where = pimpl()->childByIndex(before, true);
ContainerBasePrivate::iterator it = pimpl()->children_.insert(where, std::move(stage));
impl->setParentPosition(it);
}
Stage::pointer ContainerBasePrivate::remove(ContainerBasePrivate::const_iterator pos) {
if (pos == children_.end())
return Stage::pointer();
(*pos)->pimpl()->unparent();
Stage::pointer result = std::move(*children_.erase(pos, pos)); // stage from non-const iterator to pos
children_.erase(pos); // actually erase stage
return result;
}
Stage::pointer ContainerBase::remove(int pos) {
return pimpl()->remove(pimpl()->childByIndex(pos, false));
}
Stage::pointer ContainerBase::remove(Stage* child) {
auto it = pimpl()->children_.begin(), end = pimpl()->children_.end();
for (; it != end && it->get() != child; ++it)
;
return pimpl()->remove(it);
}
void ContainerBase::clear() {
pimpl()->children_.clear();
}
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->internalToExternalMap().clear();
// interfaces depend on children which might change
impl->required_interface_ = UNKNOWN;
impl->starts_.reset();
impl->ends_.reset();
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 (const Property::error& e) {
std::ostringstream oss;
oss << e.what();
pimpl()->composePropertyErrorMsg(e.name(), oss);
errors.push_back(*child, oss.str());
} catch (InitStageException& e) {
errors.append(e);
}
}
if (errors)
throw errors;
}
void ContainerBase::explainFailure(std::ostream& os) const {
for (const auto& stage : pimpl()->children()) {
if (!stage->solutions().empty())
continue; // skip deeper traversal, this stage produced solutions
if (stage->numFailures()) {
os << stage->name() << " (0/" << stage->numFailures() << ")";
stage->explainFailure(os);
os << std::endl;
break;
}
stage->explainFailure(os); // recursively process children
}
}
std::ostream& operator<<(std::ostream& os, const ContainerBase& container) {
ContainerBase::StageCallback processor = [&os](const Stage& stage, unsigned int depth) -> bool {
os << std::string(2 * depth, ' ') << *stage.pimpl() << std::endl;
return true;
};
container.traverseRecursively(processor);
return os;
}
/** Collect all partial solution sequences originating from start into given direction */
template <Interface::Direction dir>
struct SolutionCollector
{
SolutionCollector(size_t max_depth, const SolutionBase& start) : max_depth(max_depth) {
trace.reserve(max_depth);
traverse(start, InterfaceState::Priority(0, 0.0));
assert(trace.empty());
}
void traverse(const SolutionBase& start, const InterfaceState::Priority& prio) {
const InterfaceState::Solutions& next = trajectories<dir>(*state<dir>(start));
if (next.empty()) { // when reaching the end, add the trace to solutions
assert(prio.depth() == trace.size());
assert(prio.depth() <= max_depth);
solutions.emplace_back(std::make_pair(trace, prio));
} else {
for (SolutionBase* successor : next) {
if (successor->isFailure())
continue; // skip failures
trace.push_back(successor);
traverse(*successor, prio + InterfaceState::Priority(1, successor->cost()));
trace.pop_back();
}
}
}
using SolutionCostPairs = std::list<std::pair<SolutionSequence::container_type, InterfaceState::Priority>>;
SolutionCostPairs solutions;
const size_t max_depth;
SolutionSequence::container_type trace;
};
void SerialContainer::onNewSolution(const SolutionBase& current) {
ROS_DEBUG_STREAM_NAMED("SerialContainer", fmt::format("'{}' received solution of child stage '{}'", this->name(),
current.creator()->name()));
// failures should never trigger this callback
assert(!current.isFailure());
auto impl = pimpl();
const Stage* 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) == creator)
break;
assert(num_before < children.size()); // creator should be one of our children
num_after = children.size() - 1 - num_before;
// find all incoming and outgoing solution paths originating from current solution
SolutionCollector<Interface::BACKWARD> incoming(num_before, current);
SolutionCollector<Interface::FORWARD> outgoing(num_after, current);
// collect (and sort) all solutions spanning from start to end of this container
ordered<SolutionSequencePtr> sorted;
for (auto& in : incoming.solutions) {
for (auto& out : outgoing.solutions) {
InterfaceState::Priority prio = in.second + InterfaceState::Priority(1u, current.cost()) + out.second;
assert(prio.enabled());
// found a complete solution path connecting start to end?
if (prio.depth() == children.size()) {
SolutionSequence::container_type solution;
solution.reserve(children.size());
// insert incoming solutions in reverse order
solution.insert(solution.end(), in.first.rbegin(), in.first.rend());
// insert current solution
solution.push_back(&current);
// insert outgoing solutions in normal order
solution.insert(solution.end(), out.first.begin(), out.first.end());
// store solution in sorted list
sorted.insert(std::make_shared<SolutionSequence>(std::move(solution), prio.cost(), this));
}
if (prio.depth() > 1) {
// update state priorities along the whole partial solution path
updateStatePrios<Interface::BACKWARD>(*current.start(), prio);
updateStatePrios<Interface::FORWARD>(*current.end(), prio);
}
}
}
// printChildrenInterfaces(*this->pimpl(), true, *current.creator());
// finally, store + announce new solutions to external interface
for (const auto& solution : sorted)
impl->liftSolution(solution, solution->internalStart(), solution->internalEnd());
}
SerialContainer::SerialContainer(SerialContainerPrivate* impl) : ContainerBase(impl) {}
SerialContainer::SerialContainer(const std::string& name) : SerialContainer(new SerialContainerPrivate(this, name)) {}
SerialContainerPrivate::SerialContainerPrivate(SerialContainer* me, const std::string& name)
: ContainerBasePrivate(me, name) {}
void SerialContainerPrivate::connect(StagePrivate& stage1, StagePrivate& stage2) {
InterfaceFlags flags1 = stage1.requiredInterface();
InterfaceFlags flags2 = stage2.requiredInterface();
if ((flags1 & WRITES_NEXT_START) && (flags2 & READS_START))
stage1.setNextStarts(stage2.starts());
else if ((flags1 & READS_END) && (flags2 & WRITES_PREV_END))
stage2.setPrevEnds(stage1.ends());
else {
throw InitStageException(
*me(), fmt::format("cannot connect end interface of '{}' ({}) to start interface of '{}' ({})", //
stage1.name(), flowSymbol<END_IF_MASK>(flags1), //
stage2.name(), flowSymbol<START_IF_MASK>(flags2)));
}
}
template <unsigned int mask>
void SerialContainerPrivate::validateInterface(const StagePrivate& child, InterfaceFlags required) const {
required = required & mask;
if (required == UNKNOWN)
return; // cannot yet validate
InterfaceFlags child_interface = child.interfaceFlags() & mask;
if (required != child_interface)
throw InitStageException(*me_, fmt::format("{0} interface ({2}) of '{1}' does not match mine ({3})",
(mask == START_IF_MASK ? "start" : "end"), child.name(),
flowSymbol<mask>(child_interface), flowSymbol<mask>(required)));
}
// called by parent asking for pruning of this' interface
void SerialContainerPrivate::resolveInterface(InterfaceFlags expected) {
// we need to have some children to do the actual work
if (children().empty())
throw InitStageException(*me(), "no children");
if (!(expected & START_IF_MASK))
throw InitStageException(*me(), "unknown start interface");
Stage& first = *children().front();
Stage& last = *children().back();
InitStageException exceptions;
try { // FIRST child
first.pimpl()->resolveInterface(expected & START_IF_MASK);
// connect first child's (start) push interface
setChildsPushBackwardInterface(first.pimpl());
// validate that first child's and this container's start interfaces match
validateInterface<START_IF_MASK>(*first.pimpl(), expected);
// connect first child's (start) pull interface
if (const InterfacePtr& target = first.pimpl()->starts())
starts_ = std::make_shared<Interface>([this, target](Interface::iterator it, Interface::UpdateFlags updated) {
this->copyState<Interface::FORWARD>(it, target, updated);
});
} catch (InitStageException& e) {
exceptions.append(e);
}
// process all children and connect them
for (auto it = ++children().begin(), previous_it = children().begin(); it != children().end(); ++it, ++previous_it) {
try {
StagePrivate* child_impl = (**it).pimpl();
StagePrivate* previous_impl = (**previous_it).pimpl();
child_impl->resolveInterface(invert(previous_impl->requiredInterface()) & START_IF_MASK);
child_impl = (**it).pimpl(); // re-assign as pimpl_ pointer of a Fallback container will change!
connect(*previous_impl, *child_impl);
} catch (InitStageException& e) {
exceptions.append(e);
}
}
try { // connect last child's (end) push interface
setChildsPushForwardInterface(last.pimpl());
// validate that last child's and this container's end interfaces match
validateInterface<END_IF_MASK>(*last.pimpl(), expected);
// connect last child's (end) pull interface
if (const InterfacePtr& target = last.pimpl()->ends())
ends_ = std::make_shared<Interface>([this, target](Interface::iterator it, Interface::UpdateFlags updated) {
this->copyState<Interface::BACKWARD>(it, target, updated);
});
} catch (InitStageException& e) {
exceptions.append(e);
}
required_interface_ = (first.pimpl()->interfaceFlags() & START_IF_MASK) | //
(last.pimpl()->interfaceFlags() & END_IF_MASK);
if (exceptions)
throw exceptions;
}
void SerialContainerPrivate::validateConnectivity() const {
ContainerBasePrivate::validateConnectivity();
InterfaceFlags mine = interfaceFlags();
// check that input/output interface of first/last child matches this' resp. interface
validateInterface<START_IF_MASK>(*children().front()->pimpl(), mine);
validateInterface<END_IF_MASK>(*children().back()->pimpl(), mine);
// validate connectivity of children between each other
// ContainerBasePrivate::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 has a pull interface - it's indeed feeded.
for (auto cur = children().begin(), end = children().end(); cur != end; ++cur) {
const StagePrivate* const cur_impl = **cur;
InterfaceFlags required = cur_impl->interfaceFlags();
// get iterators to prev/next stage in sequence
auto prev = cur;
--prev;
auto next = cur;
++next;
// start pull interface fed?
if (cur != children().begin() && // first child has not a previous one
(required & READS_START) && !(*prev)->pimpl()->nextStarts())
throw InitStageException(**cur, "start interface is not fed");
// end pull interface fed?
if (next != end && // last child has not a next one
(required & READS_END) && !(*next)->pimpl()->prevEnds())
throw InitStageException(**cur, "end interface is not fed");
}
}
bool SerialContainer::canCompute() const {
for (const auto& stage : pimpl()->children()) {
if (stage->pimpl()->canCompute())
return true;
}
return false;
}
void SerialContainer::compute() {
for (const auto& stage : pimpl()->children()) {
if (stage->pimpl()->canCompute())
stage->pimpl()->runCompute();
}
}
ParallelContainerBasePrivate::ParallelContainerBasePrivate(ParallelContainerBase* me, const std::string& name)
: ContainerBasePrivate(me, name) {}
void ParallelContainerBasePrivate::resolveInterface(InterfaceFlags expected) {
// we need to have some children to do the actual work
if (children().empty())
throw InitStageException(*me(), "no children");
InitStageException exceptions;
bool first = true;
for (const Stage::pointer& child : children()) {
try {
auto child_impl = child->pimpl();
child_impl->resolveInterface(expected);
validateInterfaces(*child_impl, expected, first);
// initialize push connections of children according to their demands
setChildsPushBackwardInterface(child_impl);
setChildsPushForwardInterface(child_impl);
first = false;
} catch (InitStageException& e) {
exceptions.append(e);
continue;
}
}
if (exceptions)
throw exceptions;
required_interface_ = expected;
initializeExternalInterfaces();
}
void ParallelContainerBasePrivate::initializeExternalInterfaces() {
// States received by the container need to be copied to all children's pull interfaces.
if (requiredInterface() & READS_START)
starts() = std::make_shared<Interface>([this](Interface::iterator external, Interface::UpdateFlags updated) {
this->propagateStateToAllChildren<Interface::FORWARD>(external, updated);
});
if (requiredInterface() & READS_END)
ends() = std::make_shared<Interface>([this](Interface::iterator external, Interface::UpdateFlags updated) {
this->propagateStateToAllChildren<Interface::BACKWARD>(external, updated);
});
}
void ParallelContainerBasePrivate::validateInterfaces(const StagePrivate& child, InterfaceFlags& external,
bool first) const {
const InterfaceFlags child_interface = child.requiredInterface();
bool valid = true;
for (InterfaceFlags mask : { START_IF_MASK, END_IF_MASK }) {
if ((external & mask) == UNKNOWN)
external |= child_interface & mask;
valid = valid & ((external & mask) == (child_interface & mask));
}
if (!valid)
throw InitStageException(
*me_, fmt::format("interface of '{0}' ({2} {3}) does not match {1} ({4} {5}).", child.name(),
(first ? "external one" : "other children's"), //
flowSymbol<START_IF_MASK>(child_interface), flowSymbol<END_IF_MASK>(child_interface),
flowSymbol<START_IF_MASK>(external), flowSymbol<END_IF_MASK>(external)));
}
void ParallelContainerBasePrivate::validateConnectivity() const {
InterfaceFlags my_interface = interfaceFlags();
// check that input/output interfaces of all children are handled by my interface
for (const auto& child : children())
validateInterfaces(*child->pimpl(), my_interface);
ContainerBasePrivate::validateConnectivity();
}
template <Interface::Direction dir>
void ParallelContainerBasePrivate::propagateStateToAllChildren(Interface::iterator external,
Interface::UpdateFlags updated) {
for (const Stage::pointer& stage : children())
copyState<dir>(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::liftSolution(const SolutionBase& solution, double cost, std::string comment) {
pimpl()->liftSolution(std::make_shared<WrappedSolution>(this, &solution, cost, std::move(comment)), solution.start(),
solution.end());
}
void ParallelContainerBase::spawn(InterfaceState&& state, SubTrajectory&& t) {
pimpl()->StagePrivate::spawn(std::move(state), std::make_shared<SubTrajectory>(std::move(t)));
}
void ParallelContainerBase::sendForward(const InterfaceState& from, InterfaceState&& to, SubTrajectory&& t) {
pimpl()->StagePrivate::sendForward(from, std::move(to), std::make_shared<SubTrajectory>(std::move(t)));
}
void ParallelContainerBase::sendBackward(InterfaceState&& from, const InterfaceState& to, SubTrajectory&& t) {
pimpl()->StagePrivate::sendBackward(std::move(from), to, std::make_shared<SubTrajectory>(std::move(t)));
}
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)
WrapperBase::insert(std::move(child));
}
void WrapperBase::insert(Stage::pointer&& stage, int before) {
// restrict num of children to one
if (numChildren() > 0)
throw std::runtime_error(name() + ": Wrapper only allows a single child");
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();
}
void WrapperBase::compute() {
wrapped()->pimpl()->runCompute();
}
bool Alternatives::canCompute() const {
for (const auto& stage : pimpl()->children())
if (stage->pimpl()->canCompute())
return true;
return false;
}
void Alternatives::compute() {
for (const auto& stage : pimpl()->children()) {
stage->pimpl()->runCompute();
}
}
void Alternatives::onNewSolution(const SolutionBase& s) {
liftSolution(s);
}
Fallbacks::Fallbacks(const std::string& name) : Fallbacks(new FallbacksPrivate(this, name)) {}
Fallbacks::Fallbacks(FallbacksPrivate* impl) : ParallelContainerBase(impl) {}
void Fallbacks::reset() {
ParallelContainerBase::reset();
pimpl()->reset();
}
void Fallbacks::init(const moveit::core::RobotModelConstPtr& robot_model) {
ParallelContainerBase::init(robot_model);
pimpl()->reset();
}
void Fallbacks::onNewSolution(const SolutionBase& s) {
pimpl()->onNewSolution(s);
}
inline void Fallbacks::replaceImpl() {
FallbacksPrivate* impl = pimpl();
if (pimpl()->interfaceFlags() == pimpl()->requiredInterface())
return;
switch (pimpl()->requiredInterface()) {
case GENERATE:
impl = new FallbacksPrivateGenerator(std::move(*impl));
break;
case PROPAGATE_FORWARDS:
case PROPAGATE_BACKWARDS:
impl = new FallbacksPrivatePropagator(std::move(*impl));
break;
case CONNECT:
// For now, we only support Connecting children
for (const auto& child : impl->children())
if (!dynamic_cast<Connecting*>(child.get()))
throw std::runtime_error("CONNECT-like interface is only supported for Connecting children");
impl = new FallbacksPrivateConnect(std::move(*impl));
break;
}
delete pimpl_;
pimpl_ = impl;
}
FallbacksPrivate::FallbacksPrivate(Fallbacks* me, const std::string& name) : ParallelContainerBasePrivate(me, name) {}
FallbacksPrivate::FallbacksPrivate(FallbacksPrivate&& other)
: ParallelContainerBasePrivate(static_cast<Fallbacks*>(other.me()), "") {
// move contents of other
this->ParallelContainerBasePrivate::operator=(std::move(other));
}
void FallbacksPrivate::initializeExternalInterfaces() {
// Here we know the final interface of the container (and all its children)
// Thus replace, this pimpl() with a new interface-specific one:
static_cast<Fallbacks*>(me())->replaceImpl();
}
void FallbacksPrivate::onNewSolution(const SolutionBase& s) {
// printChildrenInterfaces(*this, true, *s.creator());
static_cast<Fallbacks*>(me())->liftSolution(s);
}
void FallbacksPrivate::onNewFailure(const Stage& child, const InterfaceState* /*from*/, const InterfaceState* /*to*/) {
// This override is deliberately empty.
// The method prunes solution paths when a child failed to find a valid solution for it,
// but in Fallbacks the next child might still yield a successful solution
// Thus pruning must only occur once the last child is exhausted (inside computePropagate)
// printChildrenInterfaces(*this, false, child);
(void)child;
}
void FallbacksPrivateCommon::reset() {
current_ = children().begin();
}
bool FallbacksPrivateCommon::canCompute() const {
while (current_ != children().end() && // not completely exhausted
!(*current_)->pimpl()->canCompute()) // but current child cannot compute
return const_cast<FallbacksPrivateCommon*>(this)->nextJob(); // advance to next job
// return value: current child is well defined and thus can compute?
return current_ != children().end();
}
void FallbacksPrivateCommon::compute() {
(*current_)->pimpl()->runCompute();
}
inline void FallbacksPrivateCommon::nextChild() {
if (std::next(current_) != children().end())
ROS_DEBUG_STREAM_NAMED("Fallbacks", fmt::format("Child '{}' failed, trying next one.", (*current_)->name()));
++current_; // advance to next child
}
FallbacksPrivateGenerator::FallbacksPrivateGenerator(FallbacksPrivate&& old) : FallbacksPrivateCommon(std::move(old)) {
FallbacksPrivateCommon::reset();
}
bool FallbacksPrivateGenerator::nextJob() {
assert(current_ != children().end() && !(*current_)->pimpl()->canCompute());
// don't advance to next child when we already produced solutions
if (!solutions_.empty()) {
current_ = children().end(); // indicate that we are exhausted
return false;
}
do {
nextChild();
} while (current_ != children().end() && !(*current_)->pimpl()->canCompute());
// return value shall indicate current_->canCompute()
return current_ != children().end();
}
FallbacksPrivatePropagator::FallbacksPrivatePropagator(FallbacksPrivate&& old)
: FallbacksPrivateCommon(std::move(old)) {
switch (requiredInterface()) {
case PROPAGATE_FORWARDS:
dir_ = Interface::FORWARD;
starts() = std::make_shared<Interface>();
break;
case PROPAGATE_BACKWARDS:
dir_ = Interface::BACKWARD;
ends() = std::make_shared<Interface>();
break;
default:
assert(false);
}
FallbacksPrivatePropagator::reset();
}
void FallbacksPrivatePropagator::reset() {
FallbacksPrivateCommon::reset();
job_ = pullInterface(dir_)->end(); // indicate fresh start
job_has_solutions_ = false;
}
void FallbacksPrivatePropagator::onNewSolution(const SolutionBase& s) {
job_has_solutions_ = true;
FallbacksPrivateCommon::onNewSolution(s);
}
bool FallbacksPrivatePropagator::nextJob() {
assert(current_ != children().end() && !(*current_)->pimpl()->canCompute());
const auto jobs = pullInterface(dir_);
if (job_ != jobs->end()) { // current job exists, but is exhausted on current child
if (!job_has_solutions_) // job didn't produce solutions -> feed to next child
nextChild();
else
current_ = children().end(); // indicate that this job is exhausted on all children
}
job_has_solutions_ = false;
if (current_ == children().end()) { // all children processed the job_
if (job_ != jobs->end()) {
jobs->remove(job_); // we don't need the job in our interface list anymore
job_ = jobs->end(); // indicate that we need to fetch a new job
}
current_ = children().begin(); // start next job with first child again
}
// pick next job if needed and possible
if (job_ == jobs->end()) { // need to pick next job
if (!jobs->empty() && jobs->front()->priority().enabled())
job_ = jobs->begin();
else
return false; // no more jobs available
}
// When arriving here, we have a valid job_ and a current_ child to feed it. Let's do that.
copyState(dir_, job_, (*current_)->pimpl()->pullInterface(dir_), Interface::UpdateFlags());
return true;
}
FallbacksPrivateConnect::FallbacksPrivateConnect(FallbacksPrivate&& old) : FallbacksPrivate(std::move(old)) {
starts_ = std::make_shared<Interface>(std::bind(&FallbacksPrivateConnect::propagateStateUpdate<Interface::FORWARD>,
this, std::placeholders::_1, std::placeholders::_2));
ends_ = std::make_shared<Interface>(std::bind(&FallbacksPrivateConnect::propagateStateUpdate<Interface::BACKWARD>,
this, std::placeholders::_1, std::placeholders::_2));
FallbacksPrivateConnect::reset();
}
void FallbacksPrivateConnect::reset() {
active_ = children().end();
}
template <Interface::Direction dir>
void FallbacksPrivateConnect::propagateStateUpdate(Interface::iterator external, Interface::UpdateFlags updated) {
copyState<dir>(external, children().front()->pimpl()->pullInterface(dir), updated);
// As we use the Interface* from the first child for all children (we just populate their pending lists)
// there is no need to explicitly propagate state updates to other children.
}
bool FallbacksPrivateConnect::canCompute() const {
for (auto it = children().begin(), end = children().end(); it != end; ++it)
if ((*it)->pimpl()->canCompute()) {
active_ = it;
return true;
}
active_ = children().end();
return false;
}
void FallbacksPrivateConnect::compute() {
// Alternatively, we could also compute() all children that canCompute()
assert(active_ != children().end());
(*active_)->pimpl()->runCompute();
}
void FallbacksPrivateConnect::onNewFailure(const Stage& child, const InterfaceState* from, const InterfaceState* to) {
// expect failure to be reported from active child
assert(active_ != children().end() && active_->get() == &child);
(void)child;
// ... thus we can use std::next(active_) to find the next child
auto next = std::next(active_);
// NOLINTNEXTLINE(readability-identifier-naming)
auto findIteratorFor = [](const InterfaceState* state, const Interface& interface) {
auto it = std::find(interface.begin(), interface.end(), state);
assert(it != interface.end());
return it;
};
if (next != children().end()) { // pass job to next child
auto next_con = static_cast<ConnectingPrivate*>(const_cast<StagePrivate*>((*next)->pimpl()));
auto first_con = static_cast<const ConnectingPrivate*>(children().front()->pimpl());
auto from_it = findIteratorFor(from, *first_con->starts());
auto to_it = findIteratorFor(to, *first_con->ends());
next_con->pending.insert(std::make_pair(from_it, to_it));
} else // or report failure to parent
parent()->pimpl()->onNewFailure(*me(), from, to);
}
MergerPrivate::MergerPrivate(Merger* me, const std::string& name) : ParallelContainerBasePrivate(me, name) {}
void MergerPrivate::resolveInterface(InterfaceFlags expected) {
ParallelContainerBasePrivate::resolveInterface(expected);
switch (requiredInterface()) {
case PROPAGATE_FORWARDS:
case PROPAGATE_BACKWARDS:
case UNKNOWN:
break; // these are supported
case GENERATE:
throw InitStageException(*me_, "Generator stages not yet supported.");
case CONNECT:
throw InitStageException(*me_, "Cannot merge connecting stages. Use Connect.");
default:
throw InitStageException(*me_, "Children's interface not supported.");
}
}
Merger::Merger(const std::string& name) : Merger(new MergerPrivate(this, name)) {
properties().declare<TimeParameterizationPtr>("time_parameterization",
std::make_shared<TimeOptimalTrajectoryGeneration>());
}
void Merger::reset() {
ParallelContainerBase::reset();
auto impl = pimpl();
impl->jmg_merged_.reset();
impl->source_state_to_solutions_.clear();
}
void Merger::init(const core::RobotModelConstPtr& robot_model) {
ParallelContainerBase::init(robot_model);
}
Merger::Merger(MergerPrivate* impl) : ParallelContainerBase(impl) {}
bool Merger::canCompute() const {
for (const auto& stage : pimpl()->children())
if (stage->pimpl()->canCompute())
return true;
return false;
}
void Merger::compute() {
for (const auto& stage : pimpl()->children()) {
stage->pimpl()->runCompute();
}
}
void Merger::onNewSolution(const SolutionBase& s) {
if (s.isFailure()) // ignore failure solutions
return;
auto impl = pimpl();
switch (impl->interfaceFlags()) {
case PROPAGATE_FORWARDS:
case PROPAGATE_BACKWARDS:
impl->onNewPropagateSolution(s);
break;
case GENERATE:
impl->onNewGeneratorSolution(s);
break;
default:
assert(false);
}
}
void MergerPrivate::onNewPropagateSolution(const SolutionBase& s) {
const SubTrajectory* trajectory = dynamic_cast<const SubTrajectory*>(&s);
if (!trajectory || !trajectory->trajectory()) {
ROS_ERROR_NAMED("Merger", "Only simple, valid trajectories are supported");
return;
}
InterfaceFlags dir = interfaceFlags();
assert(dir == PROPAGATE_FORWARDS || dir == PROPAGATE_BACKWARDS);
// internal source state
const InterfaceState* source_state = (dir == PROPAGATE_FORWARDS) ? s.start() : s.end();
// map to external source state that is shared by all children
auto source_it = internalToExternalMap().find(source_state);
// internal->external mapping for source state should have been created
assert(source_it != internalToExternalMap().end());
const InterfaceState* external_source_state = &*source_it->second;
// retrieve (or create if necessary) the ChildSolutionMap for the given external source state
ChildSolutionMap& all_solutions =
source_state_to_solutions_.insert(std::make_pair(external_source_state, ChildSolutionMap())).first->second;
// retrieve (or create if necessary) the ChildSolutionList corresponding to the child
ChildSolutionList& child_solutions =
all_solutions.insert(std::make_pair(s.creator(), ChildSolutionList())).first->second;
// insert the new child solution into the list
child_solutions.push_back(trajectory);
// do we have solutions for all children?
if (all_solutions.size() < children().size())
return;
assert(all_solutions.size() == children().size());
// combine the new solution with all solutions from other children
auto spawner = dir == PROPAGATE_FORWARDS ? &MergerPrivate::sendForward : &MergerPrivate::sendBackward;
mergeAnyCombination(all_solutions, s, external_source_state->scene(),
std::bind(spawner, this, std::placeholders::_1, external_source_state));
}
void MergerPrivate::sendForward(SubTrajectory&& t, const InterfaceState* from) {
// generate target state
planning_scene::PlanningScenePtr to = from->scene()->diff();
if (t.trajectory() && !t.trajectory()->empty())
to->setCurrentState(t.trajectory()->getLastWayPoint());
StagePrivate::sendForward(*from, InterfaceState(to), std::make_shared<SubTrajectory>(std::move(t)));
}
void MergerPrivate::sendBackward(SubTrajectory&& t, const InterfaceState* to) {
// generate target state
planning_scene::PlanningScenePtr from = to->scene()->diff();
if (t.trajectory() && !t.trajectory()->empty())
from->setCurrentState(t.trajectory()->getFirstWayPoint());
StagePrivate::sendBackward(InterfaceState(from), *to, std::make_shared<SubTrajectory>(std::move(t)));
}
void MergerPrivate::onNewGeneratorSolution(const SolutionBase& /* s */) {
// TODO: implement in similar fashion as onNewPropagateSolution(), but also merge start/end states
}
void MergerPrivate::mergeAnyCombination(const ChildSolutionMap& all_solutions, const SolutionBase& current,
const planning_scene::PlanningSceneConstPtr& start_scene,
const Spawner& spawner) {
std::vector<size_t> indices; // which solution index was considered last for i-th child?
indices.reserve(children().size());
ChildSolutionList sub_solutions;
sub_solutions.reserve(children().size());
// initialize vector of sub solutions
for (const auto& pair : all_solutions) {
// all children, except current solution's creator, start with zero index
indices.push_back(pair.first != current.creator() ? 0 : pair.second.size() - 1);
sub_solutions.push_back(pair.second[indices.back()]);
}
while (true) {
merge(sub_solutions, start_scene, spawner);
// compose next combination
size_t child = 0;
for (auto it = all_solutions.cbegin(), end = all_solutions.cend(); it != end; ++it, ++child) {
if (it->first == current.creator())
continue; // skip current solution's child
if (++indices[child] >= it->second.size()) {
indices[child] = 0; // start over with zero
sub_solutions[child] = it->second[indices[child]];
continue; // and continue with next child
}
// otherwise, a new solution combination is available
sub_solutions[child] = it->second[indices[child]];
break;
}
if (child == children().size()) // all combinations exhausted?
break;
}
}
void MergerPrivate::merge(const ChildSolutionList& sub_solutions,
const planning_scene::PlanningSceneConstPtr& start_scene, const Spawner& spawner) {
// transform vector of SubTrajectories into vector of RobotTrajectories
std::vector<robot_trajectory::RobotTrajectoryConstPtr> sub_trajectories;
sub_trajectories.reserve(sub_solutions.size());
for (const auto& sub : sub_solutions)
sub_trajectories.push_back(sub->trajectory());
moveit::core::JointModelGroup* jmg = jmg_merged_.get();
robot_trajectory::RobotTrajectoryPtr merged;
try {
auto timing = me_->properties().get<TimeParameterizationPtr>("time_parameterization");
merged = task_constructor::merge(sub_trajectories, start_scene->getCurrentState(), jmg, *timing);
} catch (const std::runtime_error& e) {
SubTrajectory t;
t.markAsFailure();
t.setComment(e.what());
spawner(std::move(t));
return;
}
if (jmg_merged_.get() != jmg)
jmg_merged_.reset(jmg);
assert(merged);
SubTrajectory t(merged);
// check merged trajectory for collisions
std::vector<std::size_t> invalid_index;
if (!start_scene->isPathValid(*merged, "", true, &invalid_index)) {
t.markAsFailure();
std::ostringstream oss;
oss << "Invalid waypoint(s): ";
if (invalid_index.size() == merged->getWayPointCount())
oss << "all";
else
for (size_t i : invalid_index)
oss << i << ", ";
t.setComment(oss.str());
} else {
// accumulate costs and markers
double costs = 0.0;
for (const auto& sub : sub_solutions) {
costs += sub->cost();
t.markers().insert(t.markers().end(), sub->markers().begin(), sub->markers().end());
}
t.setCost(costs);
}
spawner(std::move(t));
}
} // namespace task_constructor
} // namespace moveit