planner_logic_interface.h

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/* Author: Sebastian Jahr
   Description: Defines an interface for a planner logic plugin for the hybrid planning manager component node.
 */
 
#pragma once
 
#include <rclcpp/rclcpp.hpp>
#include <moveit_msgs/msg/move_it_error_codes.hpp>
#include <moveit/hybrid_planning_manager/hybrid_planning_events.h>
#include <moveit/hybrid_planning_manager/moveit_error_code_interface.h>
 
namespace moveit::hybrid_planning
{
// Describes the outcome of a reaction to an event in the hybrid planning architecture
struct ReactionResult
{
  ReactionResult(const HybridPlanningEvent& planning_event, const std::string& error_msg, int error_code)
    : error_message(error_msg), error_code(error_code)
  {
    switch (planning_event)
    {
      case HybridPlanningEvent::HYBRID_PLANNING_REQUEST_RECEIVED:
        event = "Hybrid planning request received";
        break;
      case HybridPlanningEvent::GLOBAL_PLANNING_ACTION_SUCCESSFUL:
        event = "Global planning action successful";
        break;
      case HybridPlanningEvent::GLOBAL_PLANNING_ACTION_ABORTED:
        event = "Global planning action aborted";
        break;
      case HybridPlanningEvent::GLOBAL_PLANNING_ACTION_CANCELED:
        event = "Global planning action canceled";
        break;
      case HybridPlanningEvent::GLOBAL_SOLUTION_AVAILABLE:
        event = "Global solution available";
        break;
      case HybridPlanningEvent::LOCAL_PLANNING_ACTION_SUCCESSFUL:
        event = "Local planning action successful";
        break;
      case HybridPlanningEvent::LOCAL_PLANNING_ACTION_ABORTED:
        event = "Local planning action aborted";
        break;
      case HybridPlanningEvent::LOCAL_PLANNING_ACTION_CANCELED:
        event = "Local planning action canceled";
        break;
      case HybridPlanningEvent::UNDEFINED:
        event = "Undefined event";
    }
  };
  ReactionResult(const std::string& event, const std::string& error_msg, int error_code)
    : event(event), error_message(error_msg), error_code(error_code){};
 
  // Event that triggered the reaction
  std::string event;
 
  // Additional error description
  std::string error_message;
 
  // Error code
  MoveItErrorCode error_code;
};
 
class HybridPlanningManager;  // Forward declaration
 
class PlannerLogicInterface
{
public:
  PlannerLogicInterface() = default;
  PlannerLogicInterface(const PlannerLogicInterface&) = default;
  PlannerLogicInterface(PlannerLogicInterface&&) = default;
  PlannerLogicInterface& operator=(const PlannerLogicInterface&) = default;
  PlannerLogicInterface& operator=(PlannerLogicInterface&&) = default;
  virtual ~PlannerLogicInterface() = default;
 
  virtual bool initialize(const std::shared_ptr<HybridPlanningManager>& hybrid_planning_manager) = 0;
 
  virtual ReactionResult react(const HybridPlanningEvent& event) = 0;
 
  virtual ReactionResult react(const std::string& event) = 0;
 
protected:
  // The hybrid planning manager instance that runs this logic plugin
  std::shared_ptr<HybridPlanningManager> hybrid_planning_manager_ = nullptr;
};
}  // namespace moveit::hybrid_planning