storage.cpp

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/* Authors: Michael Goerner, Robert Haschke */

#include <moveit/task_constructor/stage_p.h>
#include <moveit/task_constructor/storage.h>
#include <moveit/task_constructor/introspection.h>
#include <moveit/robot_trajectory/robot_trajectory.h>
#include <moveit/robot_state/conversions.h>
#include <moveit/planning_scene/planning_scene.h>
#include <assert.h>

namespace moveit {
namespace task_constructor {

static const rclcpp::Logger LOGGER = rclcpp::get_logger("InterfaceState");

planning_scene::PlanningSceneConstPtr ensureUpdated(const planning_scene::PlanningScenePtr& scene) {
	// ensure scene's state is updated
	if (scene->getCurrentState().dirty())
		scene->getCurrentStateNonConst().update();
	return scene;
}

InterfaceState::InterfaceState(const planning_scene::PlanningScenePtr& ps) : InterfaceState(ensureUpdated(ps)) {}

InterfaceState::InterfaceState(const planning_scene::PlanningSceneConstPtr& ps)
  : scene_(ps), priority_(Priority(0, 0.0)) {
	if (scene_->getCurrentState().dirty())
		RCLCPP_ERROR(LOGGER, "Dirty PlanningScene! Please only forward clean ones into InterfaceState.");
}

InterfaceState::InterfaceState(const planning_scene::PlanningSceneConstPtr& ps, const Priority& p)
  : InterfaceState(ps) {
	priority_ = p;
}

InterfaceState::InterfaceState(const InterfaceState& other)
  : scene_(other.scene_), properties_(other.properties_), priority_(other.priority_) {}

bool InterfaceState::Priority::operator<(const InterfaceState::Priority& other) const {
	// first order by status if that differs
	if (status() != other.status())
		return status() < other.status();

	// then by depth if that differs
	if (depth() != other.depth())
		return depth() > other.depth();  // larger depth = smaller prio!

	// finally by cost
	return cost() < other.cost();
}

void InterfaceState::updatePriority(const InterfaceState::Priority& priority) {
	// Never overwrite ARMED with PRUNED
	if (priority.status() == InterfaceState::Status::PRUNED && priority_.status() == InterfaceState::Status::ARMED)
		return;

	if (owner()) {
		owner()->updatePriority(this, priority);
	} else {
		setPriority(priority);
	}
}
void InterfaceState::updateStatus(Status status) {
	updatePriority(InterfaceState::Priority(priority_, status));
}

Interface::Interface(const Interface::NotifyFunction& notify) : notify_(notify) {}

// Announce a new InterfaceState
void Interface::add(InterfaceState& state) {
	// require valid scene
	assert(state.scene());
	// incoming and outgoing must not contain elements both
	assert(state.incomingTrajectories().empty() || state.outgoingTrajectories().empty());
	// if non-empty, incoming or outgoing should have exactly one solution element
	assert(state.incomingTrajectories().empty() || state.incomingTrajectories().size() == 1);
	assert(state.outgoingTrajectories().empty() || state.outgoingTrajectories().size() == 1);
	// state can only be added once to an interface
	assert(state.owner_ == nullptr);

	// move state to a list node
	std::list<InterfaceState*> container;
	Interface::iterator it = container.insert(container.end(), &state);
	it->owner_ = this;

	// if either incoming or outgoing is defined, derive priority from there
	if (!state.incomingTrajectories().empty())
		it->priority_ = InterfaceState::Priority(1, state.incomingTrajectories().front()->cost());
	else if (!state.outgoingTrajectories().empty())
		it->priority_ = InterfaceState::Priority(1, state.outgoingTrajectories().front()->cost());
	else {  // otherwise, assume priority was well defined before
		assert(it->priority_.enabled());
		assert(it->priority_.depth() >= 1u);
	}

	// move list node into interface's state list (sorted by priority)
	moveFrom(it, container);
	// and finally call notify callback
	if (notify_)
		notify_(it, UpdateFlags());
}

Interface::container_type Interface::remove(iterator it) {
	container_type result;
	moveTo(it, result, result.end());
	it->owner_ = nullptr;
	return result;
}

void Interface::updatePriority(InterfaceState* state, const InterfaceState::Priority& priority) {
	const auto old_prio = state->priority();
	if (priority == old_prio)
		return;  // nothing to do

	auto it = std::find(begin(), end(), state);  // find iterator to state
	assert(it != end());  // state should be part of this interface

	state->priority_ = priority;  // update priority
	update(it);  // update position in ordered list

	if (notify_) {
		UpdateFlags updated(Update::ALL);
		if (old_prio.status() == priority.status())
			updated &= ~STATUS;

		notify_(it, updated);  // notify callback
	}
}

std::ostream& operator<<(std::ostream& os, const Interface& interface) {
	if (interface.empty())
		os << "---";
	for (const auto& istate : interface)
		os << istate->priority() << "  ";
	return os;
}
const char* InterfaceState::STATUS_COLOR_[] = {
	"\033[32m",  // ENABLED - green
	"\033[33m",  // ARMED - yellow
	"\033[31m",  // PRUNED - red
	"\033[m"  // reset
};
std::ostream& operator<<(std::ostream& os, const InterfaceState::Priority& prio) {
	// maps InterfaceState::Status values to output (color-changing) prefix
	os << InterfaceState::colorForStatus(prio.status()) << prio.depth() << ":" << prio.cost()
	   << InterfaceState::colorForStatus(3);
	return os;
}
std::ostream& operator<<(std::ostream& os, Interface::Direction dir) {
	os << (dir == Interface::FORWARD ? "↓" : "↑");
	return os;
}

void SolutionBase::setCreator(Stage* creator) {
	assert(creator_ == nullptr || creator_ == creator);  // creator must only set once
	creator_ = creator;
}

void SolutionBase::setCost(double cost) {
	cost_ = cost;
}

void SolutionBase::markAsFailure(const std::string& msg) {
	setCost(std::numeric_limits<double>::infinity());
	if (!msg.empty()) {
		std::stringstream ss;
		ss << msg;
		if (!comment().empty())
			ss << "\n" << comment();
		setComment(ss.str());
	}
}

void SolutionBase::toMsg(moveit_task_constructor_msgs::msg::Solution& msg, Introspection* introspection) const {
	appendTo(msg, introspection);
	start()->scene()->getPlanningSceneMsg(msg.start_scene);
}

void SolutionBase::fillInfo(moveit_task_constructor_msgs::msg::SolutionInfo& info, Introspection* introspection) const {
	info.id = introspection ? introspection->solutionId(*this) : 0;
	info.cost = this->cost();
	info.comment = this->comment();
	info.planner_id = this->plannerId();
	const Introspection* ci = introspection;
	info.stage_id = ci ? ci->stageId(this->creator()) : 0;

	const auto& markers = this->markers();
	info.markers.resize(markers.size());
	std::copy(markers.begin(), markers.end(), info.markers.begin());
}

void SubTrajectory::appendTo(moveit_task_constructor_msgs::msg::Solution& msg, Introspection* introspection) const {
	msg.sub_trajectory.emplace_back();
	moveit_task_constructor_msgs::msg::SubTrajectory& t = msg.sub_trajectory.back();
	SolutionBase::fillInfo(t.info, introspection);

	if (trajectory())
		trajectory()->getRobotTrajectoryMsg(t.trajectory);

	this->end()->scene()->getPlanningSceneDiffMsg(t.scene_diff);
}

double SubTrajectory::computeCost(const CostTerm& f, std::string& comment) const {
	return f(*this, comment);
}

void SolutionSequence::push_back(const SolutionBase& solution) {
	subsolutions_.push_back(&solution);
}

void SolutionSequence::appendTo(moveit_task_constructor_msgs::msg::Solution& msg, Introspection* introspection) const {
	moveit_task_constructor_msgs::msg::SubSolution sub_msg;
	SolutionBase::fillInfo(sub_msg.info, introspection);

	// Usually subsolutions originate from another stage than this solution.
	// However, the Connect stage will announce sub solutions created by itself
	// (only in case of merge failure). To not confuse the display's SolutionModel
	// we do not publish own IDs for them, but set those IDs to zero.
	sub_msg.sub_solution_id.reserve(subsolutions_.size());
	if (introspection) {
		for (const SolutionBase* s : subsolutions_) {
			// skip sub solutions with same creator as this
			if (s->creator() == this->creator())
				continue;
			sub_msg.sub_solution_id.push_back(introspection->solutionId(*s));
		}
		msg.sub_solution.push_back(sub_msg);
	}

	msg.sub_trajectory.reserve(msg.sub_trajectory.size() + subsolutions_.size());
	for (const SolutionBase* s : subsolutions_) {
		size_t current = msg.sub_trajectory.size();
		s->appendTo(msg, introspection);

		// zero IDs of sub solutions with same creator as this
		if (s->creator() == this->creator()) {
			auto it = msg.sub_trajectory.begin();
			auto end = msg.sub_trajectory.end();
			std::advance(it, current);
			for (; it != end; ++it)
				it->info.id = 0;
		}
	}
}

double SolutionSequence::computeCost(const CostTerm& f, std::string& comment) const {
	return f(*this, comment);
}

void WrappedSolution::appendTo(moveit_task_constructor_msgs::msg::Solution& solution,
                               Introspection* introspection) const {
	wrapped_->appendTo(solution, introspection);

	// prepend this solutions info as a SubSolution msg
	moveit_task_constructor_msgs::msg::SubSolution sub_msg;
	SolutionBase::fillInfo(sub_msg.info, introspection);
	sub_msg.sub_solution_id.push_back(introspection ? introspection->solutionId(*wrapped_) : 0);
	solution.sub_solution.insert(solution.sub_solution.begin(), std::move(sub_msg));
}

double WrappedSolution::computeCost(const CostTerm& f, std::string& comment) const {
	return f(*this, comment);
}

}  // namespace task_constructor
}  // namespace moveit