planning_scene_monitor.hpp

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/* Author: Peter David Fagan */
 
#pragma once
 
#include <pybind11/pybind11.h>
#include <pybind11/stl.h>
#include <moveit_py/moveit_py_utils/copy_ros_msg.hpp>
#include <moveit_py/moveit_py_utils/ros_msg_typecasters.hpp>
#include <rclcpp/rclcpp.hpp>
#include <moveit_msgs/msg/planning_scene.hpp>
#include <moveit_msgs/srv/apply_planning_scene.hpp>
#include <moveit/planning_scene_monitor/planning_scene_monitor.h>
#include <moveit_py/moveit_py_utils/rclpy_time_typecaster.hpp>
 
namespace py = pybind11;
 
namespace moveit_py
{
namespace bind_planning_scene_monitor
{
class LockedPlanningSceneContextManagerRW
{
public:
  const planning_scene_monitor::PlanningSceneMonitorPtr planning_scene_monitor_;
  std::unique_ptr<const planning_scene_monitor::LockedPlanningSceneRW> ls_rw_;
 
  LockedPlanningSceneContextManagerRW(const planning_scene_monitor::PlanningSceneMonitorPtr& psm)
    : planning_scene_monitor_(psm)
  {
    ls_rw_ = std::make_unique<const planning_scene_monitor::LockedPlanningSceneRW>(planning_scene_monitor_);
  }
 
  const planning_scene::PlanningScenePtr& lockedPlanningSceneRwEnter();
 
  void lockedPlanningSceneRwExit(const py::object& type, const py::object& value, const py::object& traceback);
};
 
class LockedPlanningSceneContextManagerRO
{
public:
  const planning_scene_monitor::PlanningSceneMonitorPtr planning_scene_monitor_;
  std::unique_ptr<const planning_scene_monitor::LockedPlanningSceneRO> ls_ro_;
 
  LockedPlanningSceneContextManagerRO(const planning_scene_monitor::PlanningSceneMonitorPtr& psm)
    : planning_scene_monitor_(psm)
  {
    ls_ro_ = std::make_unique<const planning_scene_monitor::LockedPlanningSceneRO>(planning_scene_monitor_);
  }
 
  const planning_scene::PlanningSceneConstPtr& lockedPlanningSceneRoEnter() const;
 
  void lockedPlanningSceneRoExit(const py::object& type, const py::object& value, const py::object& traceback);
};
 
LockedPlanningSceneContextManagerRW
readWrite(const planning_scene_monitor::PlanningSceneMonitorPtr& planning_scene_monitor);
 
LockedPlanningSceneContextManagerRO
readOnly(const planning_scene_monitor::PlanningSceneMonitorPtr& planning_scene_monitor);
 
void initPlanningSceneMonitor(py::module& m);
 
void initContextManagers(py::module& m);
}  // namespace bind_planning_scene_monitor
}  // namespace moveit_py