moveit_task_constructor/core/src/task.cpp
v4hn df8a783239 enforce one-parent policy in StagePrivate
So new containers cannot get this wrong by accident.
2020-04-01 15:05:20 +02:00

367 lines
12 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 <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 moveit {
namespace task_constructor {
TaskPrivate::TaskPrivate(Task* me, const std::string& id)
: WrapperBasePrivate(me, std::string()), id_(rosNormalizeName(id)), preempt_requested_(false) {}
void swap(StagePrivate*& lhs, StagePrivate*& rhs) {
// It only makes sense to swap pimpl instances of a Task!
// However, due to member protection rules, we can only implement it here
assert(typeid(lhs) == typeid(rhs));
// swap instances
::std::swap(lhs, rhs);
// as well as their me_ pointers
::std::swap(lhs->me_, rhs->me_);
// and redirect the parent pointers of children to new parents
auto& lhs_children = static_cast<ContainerBasePrivate*>(lhs)->children_;
for (auto it = lhs_children.begin(), end = lhs_children.end(); it != end; ++it) {
(*it)->pimpl()->unparent();
(*it)->pimpl()->setParent(static_cast<ContainerBase*>(lhs->me_));
(*it)->pimpl()->setParentPosition(it);
}
auto& rhs_children = static_cast<ContainerBasePrivate*>(rhs)->children_;
for (auto it = rhs_children.begin(), end = rhs_children.end(); it != end; ++it) {
(*it)->pimpl()->unparent();
(*it)->pimpl()->setParent(static_cast<ContainerBase*>(rhs->me_));
(*it)->pimpl()->setParentPosition(it);
}
}
const ContainerBase* TaskPrivate::stages() const {
return children().empty() ? nullptr : static_cast<ContainerBase*>(children().front().get());
}
Task::Task(const std::string& id, ContainerBase::pointer&& container)
: WrapperBase(new TaskPrivate(this, id), std::move(container)) {
if (!id.empty())
stages()->setName(id);
// 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())
enableIntrospection(true);
}
Task::Task(Task&& other) : WrapperBase(new TaskPrivate(this, std::string()), std::make_unique<SerialContainer>()) {
*this = std::move(other);
}
Task& Task::operator=(Task&& other) {
clear(); // remove all stages of current task
swap(this->pimpl_, other.pimpl_);
return *this;
}
struct PlannerCache
{
typedef std::tuple<std::string, std::string, std::string> PlannerID;
typedef std::map<PlannerID, std::weak_ptr<planning_pipeline::PlanningPipeline>> PlannerMap;
typedef std::list<std::pair<std::weak_ptr<const robot_model::RobotModel>, PlannerMap>> ModelList;
ModelList cache_;
PlannerMap::mapped_type& retrieve(const robot_model::RobotModelConstPtr& model, PlannerID id) {
// find model in cache_ and remove expired entries while doing so
ModelList::iterator model_it = cache_.begin();
while (model_it != cache_.end()) {
if (model_it->first.expired()) {
model_it = cache_.erase(model_it);
continue;
}
if (model_it->first.lock() == model)
break;
++model_it;
}
if (model_it == cache_.end()) // if not found, create a new PlannerMap for this model
model_it = cache_.insert(cache_.begin(), std::make_pair(model, PlannerMap()));
return model_it->second.insert(std::make_pair(id, PlannerMap::mapped_type())).first->second;
}
};
planning_pipeline::PlanningPipelinePtr Task::createPlanner(const robot_model::RobotModelConstPtr& model,
const std::string& ns,
const std::string& planning_plugin_param_name,
const std::string& adapter_plugins_param_name) {
static PlannerCache cache;
PlannerCache::PlannerID id(ns, planning_plugin_param_name, adapter_plugins_param_name);
std::weak_ptr<planning_pipeline::PlanningPipeline>& entry = cache.retrieve(model, id);
planning_pipeline::PlanningPipelinePtr planner = entry.lock();
if (!planner) {
// create new entry
planner = std::make_shared<planning_pipeline::PlanningPipeline>(
model, ros::NodeHandle(ns), planning_plugin_param_name, adapter_plugins_param_name);
// store in cache
entry = planner;
}
return planner;
}
Task::~Task() {
auto impl = pimpl();
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) {
auto impl = pimpl();
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) {
if (!stage)
throw std::runtime_error("stage insertion failed: invalid stage pointer");
if (!stages()->insert(std::move(stage)))
throw std::runtime_error(std::string("insertion failed for stage: ") + stage->name());
}
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
pimpl()->setIntrospection(nullptr);
pimpl()->traverseStages(
[](Stage& stage, int) {
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::erase(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()->pruneInterface(InterfaceFlags({ GENERATE }));
// and *finally* validate connectivity
stages()->pimpl()->validateConnectivity();
// provide introspection instance to all stages
impl->setIntrospection(impl->introspection_.get());
impl->traverseStages(
[impl](Stage& stage, int) {
stage.pimpl()->setIntrospection(impl->introspection_.get());
return true;
},
1, UINT_MAX);
// first time publish task
if (impl->introspection_)
impl->introspection_->publishTaskDescription();
}
bool Task::canCompute() const {
return stages()->canCompute();
}
void Task::compute() {
stages()->pimpl()->runCompute();
}
bool Task::plan(size_t max_solutions) {
auto impl = pimpl();
reset();
init();
impl->preempt_requested_ = false;
while (ros::ok() && !impl->preempt_requested_ && canCompute() &&
(max_solutions == 0 || numSolutions() < max_solutions)) {
compute();
for (const auto& cb : impl->task_cbs_)
cb(*this);
if (impl->introspection_)
impl->introspection_->publishTaskState();
}
printState();
return numSolutions() > 0;
}
void Task::preempt() {
pimpl()->preempt_requested_ = true;
}
moveit_msgs::MoveItErrorCodes Task::execute(const SolutionBase& s) {
actionlib::SimpleActionClient<moveit_task_constructor_msgs::ExecuteTaskSolutionAction> ac("execute_task_solution");
ac.waitForServer();
moveit_task_constructor_msgs::ExecuteTaskSolutionGoal goal;
s.fillMessage(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 std::string& Task::id() const {
return pimpl()->id();
}
const core::RobotModelConstPtr& Task::getRobotModel() const {
auto impl = pimpl();
return impl->robot_model_;
}
void Task::printState(std::ostream& os) const {
os << *stages();
}
}
}