planning_scene_storage.cpp

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/* Author: Ioan Sucan */
 
#include <moveit/warehouse/planning_scene_storage.h>
#include <utility>
#include <rclcpp/serialization.hpp>
#include <regex>
 
const std::string moveit_warehouse::PlanningSceneStorage::DATABASE_NAME = "moveit_planning_scenes";
 
const std::string moveit_warehouse::PlanningSceneStorage::PLANNING_SCENE_ID_NAME = "planning_scene_id";
const std::string moveit_warehouse::PlanningSceneStorage::MOTION_PLAN_REQUEST_ID_NAME = "motion_request_id";
 
using warehouse_ros::Metadata;
using warehouse_ros::Query;
 
static const rclcpp::Logger LOGGER = rclcpp::get_logger("moveit.ros.warehouse.planning_scene_storage");
 
moveit_warehouse::PlanningSceneStorage::PlanningSceneStorage(warehouse_ros::DatabaseConnection::Ptr conn)
  : MoveItMessageStorage(std::move(conn))
{
  createCollections();
}
 
void moveit_warehouse::PlanningSceneStorage::createCollections()
{
  planning_scene_collection_ =
      conn_->openCollectionPtr<moveit_msgs::msg::PlanningScene>(DATABASE_NAME, "planning_scene");
  motion_plan_request_collection_ =
      conn_->openCollectionPtr<moveit_msgs::msg::MotionPlanRequest>(DATABASE_NAME, "motion_plan_request");
  robot_trajectory_collection_ =
      conn_->openCollectionPtr<moveit_msgs::msg::RobotTrajectory>(DATABASE_NAME, "robot_trajectory");
}
 
void moveit_warehouse::PlanningSceneStorage::reset()
{
  planning_scene_collection_.reset();
  motion_plan_request_collection_.reset();
  robot_trajectory_collection_.reset();
  conn_->dropDatabase(DATABASE_NAME);
  createCollections();
}
 
void moveit_warehouse::PlanningSceneStorage::addPlanningScene(const moveit_msgs::msg::PlanningScene& scene)
{
  bool replace = false;
  if (hasPlanningScene(scene.name))
  {
    removePlanningScene(scene.name);
    replace = true;
  }
  Metadata::Ptr metadata = planning_scene_collection_->createMetadata();
  metadata->append(PLANNING_SCENE_ID_NAME, scene.name);
  planning_scene_collection_->insert(scene, metadata);
  RCLCPP_DEBUG(LOGGER, "%s scene '%s'", replace ? "Replaced" : "Added", scene.name.c_str());
}
 
bool moveit_warehouse::PlanningSceneStorage::hasPlanningScene(const std::string& name) const
{
  Query::Ptr q = planning_scene_collection_->createQuery();
  q->append(PLANNING_SCENE_ID_NAME, name);
  std::vector<PlanningSceneWithMetadata> planning_scenes = planning_scene_collection_->queryList(q, true);
  return !planning_scenes.empty();
}
 
std::string moveit_warehouse::PlanningSceneStorage::getMotionPlanRequestName(
    const moveit_msgs::msg::MotionPlanRequest& planning_query, const std::string& scene_name) const
{
  // get all existing motion planning requests for this planning scene
  Query::Ptr q = motion_plan_request_collection_->createQuery();
  q->append(PLANNING_SCENE_ID_NAME, scene_name);
  std::vector<MotionPlanRequestWithMetadata> existing_requests = motion_plan_request_collection_->queryList(q, false);
 
  // if there are no requests stored, we are done
  if (existing_requests.empty())
    return "";
 
  // compute the serialization of the message passed as argument
  rclcpp::Serialization<moveit_msgs::msg::MotionPlanRequest> serializer;
  rclcpp::SerializedMessage serialized_msg_arg;
  serializer.serialize_message(&planning_query, &serialized_msg_arg);
  const size_t serial_size_arg = serialized_msg_arg.size();
  const void* data_arg = serialized_msg_arg.get_rcl_serialized_message().buffer;
 
  for (MotionPlanRequestWithMetadata& existing_request : existing_requests)
  {
    auto msg = static_cast<const moveit_msgs::msg::MotionPlanRequest&>(*existing_request);
    rclcpp::SerializedMessage serialized_msg;
    serializer.serialize_message(&msg, &serialized_msg);
    const size_t serial_size = serialized_msg.size();
    const void* data = serialized_msg.get_rcl_serialized_message().buffer;
 
    if (serial_size != serial_size_arg)
      continue;
    if (memcmp(data_arg, data, serial_size) == 0)
      // we found the same message twice
      return existing_request->lookupString(MOTION_PLAN_REQUEST_ID_NAME);
  }
  return "";
}
 
void moveit_warehouse::PlanningSceneStorage::addPlanningQuery(const moveit_msgs::msg::MotionPlanRequest& planning_query,
                                                              const std::string& scene_name,
                                                              const std::string& query_name)
{
  std::string id = getMotionPlanRequestName(planning_query, scene_name);
 
  // if we are trying to overwrite, we remove the old query first (if it exists).
  if (!query_name.empty() && id.empty())
    removePlanningQuery(scene_name, query_name);
 
  if (id != query_name || id.empty())
    addNewPlanningRequest(planning_query, scene_name, query_name);
}
 
std::string
moveit_warehouse::PlanningSceneStorage::addNewPlanningRequest(const moveit_msgs::msg::MotionPlanRequest& planning_query,
                                                              const std::string& scene_name,
                                                              const std::string& query_name)
{
  std::string id = query_name;
  if (id.empty())
  {
    std::set<std::string> used;
    Query::Ptr q = motion_plan_request_collection_->createQuery();
    q->append(PLANNING_SCENE_ID_NAME, scene_name);
    std::vector<MotionPlanRequestWithMetadata> existing_requests = motion_plan_request_collection_->queryList(q, true);
    for (MotionPlanRequestWithMetadata& existing_request : existing_requests)
      used.insert(existing_request->lookupString(MOTION_PLAN_REQUEST_ID_NAME));
    std::size_t index = existing_requests.size();
    do
    {
      id = "Motion Plan Request " + std::to_string(index);
      index++;
    } while (used.find(id) != used.end());
  }
  Metadata::Ptr metadata = motion_plan_request_collection_->createMetadata();
  metadata->append(PLANNING_SCENE_ID_NAME, scene_name);
  metadata->append(MOTION_PLAN_REQUEST_ID_NAME, id);
  motion_plan_request_collection_->insert(planning_query, metadata);
  RCLCPP_DEBUG(LOGGER, "Saved planning query '%s' for scene '%s'", id.c_str(), scene_name.c_str());
  return id;
}
 
void moveit_warehouse::PlanningSceneStorage::addPlanningResult(const moveit_msgs::msg::MotionPlanRequest& planning_query,
                                                               const moveit_msgs::msg::RobotTrajectory& result,
                                                               const std::string& scene_name)
{
  std::string id = getMotionPlanRequestName(planning_query, scene_name);
  if (id.empty())
    id = addNewPlanningRequest(planning_query, scene_name, "");
  Metadata::Ptr metadata = robot_trajectory_collection_->createMetadata();
  metadata->append(PLANNING_SCENE_ID_NAME, scene_name);
  metadata->append(MOTION_PLAN_REQUEST_ID_NAME, id);
  robot_trajectory_collection_->insert(result, metadata);
}
 
void moveit_warehouse::PlanningSceneStorage::getPlanningSceneNames(std::vector<std::string>& names) const
{
  names.clear();
  Query::Ptr q = planning_scene_collection_->createQuery();
  std::vector<PlanningSceneWithMetadata> planning_scenes =
      planning_scene_collection_->queryList(q, true, PLANNING_SCENE_ID_NAME, true);
  for (PlanningSceneWithMetadata& planning_scene : planning_scenes)
    if (planning_scene->lookupField(PLANNING_SCENE_ID_NAME))
      names.push_back(planning_scene->lookupString(PLANNING_SCENE_ID_NAME));
}
 
void moveit_warehouse::PlanningSceneStorage::getPlanningSceneNames(const std::string& regex,
                                                                   std::vector<std::string>& names) const
{
  getPlanningSceneNames(names);
  filterNames(regex, names);
}
 
bool moveit_warehouse::PlanningSceneStorage::getPlanningSceneWorld(moveit_msgs::msg::PlanningSceneWorld& world,
                                                                   const std::string& scene_name) const
{
  PlanningSceneWithMetadata scene_m;
  if (getPlanningScene(scene_m, scene_name))
  {
    world = scene_m->world;
    return true;
  }
  else
    return false;
}
 
bool moveit_warehouse::PlanningSceneStorage::getPlanningScene(PlanningSceneWithMetadata& scene_m,
                                                              const std::string& scene_name) const
{
  Query::Ptr q = planning_scene_collection_->createQuery();
  q->append(PLANNING_SCENE_ID_NAME, scene_name);
  std::vector<PlanningSceneWithMetadata> planning_scenes = planning_scene_collection_->queryList(q, false);
  if (planning_scenes.empty())
  {
    RCLCPP_WARN(LOGGER, "Planning scene '%s' was not found in the database", scene_name.c_str());
    return false;
  }
  scene_m = planning_scenes.back();
  // in case the scene was renamed, the name in the message may be out of date
  const_cast<moveit_msgs::msg::PlanningScene*>(static_cast<const moveit_msgs::msg::PlanningScene*>(scene_m.get()))->name =
      scene_name;
  return true;
}
 
bool moveit_warehouse::PlanningSceneStorage::getPlanningQuery(MotionPlanRequestWithMetadata& query_m,
                                                              const std::string& scene_name,
                                                              const std::string& query_name)
{
  Query::Ptr q = motion_plan_request_collection_->createQuery();
  q->append(PLANNING_SCENE_ID_NAME, scene_name);
  q->append(MOTION_PLAN_REQUEST_ID_NAME, query_name);
  std::vector<MotionPlanRequestWithMetadata> planning_queries = motion_plan_request_collection_->queryList(q, false);
  if (planning_queries.empty())
  {
    RCLCPP_ERROR(LOGGER, "Planning query '%s' not found for scene '%s'", query_name.c_str(), scene_name.c_str());
    return false;
  }
  else
  {
    query_m = planning_queries.front();
    return true;
  }
}
 
void moveit_warehouse::PlanningSceneStorage::getPlanningQueries(
    std::vector<MotionPlanRequestWithMetadata>& planning_queries, const std::string& scene_name) const
{
  Query::Ptr q = motion_plan_request_collection_->createQuery();
  q->append(PLANNING_SCENE_ID_NAME, scene_name);
  planning_queries = motion_plan_request_collection_->queryList(q, false);
}
 
void moveit_warehouse::PlanningSceneStorage::getPlanningQueriesNames(std::vector<std::string>& query_names,
                                                                     const std::string& scene_name) const
{
  Query::Ptr q = motion_plan_request_collection_->createQuery();
  q->append(PLANNING_SCENE_ID_NAME, scene_name);
  std::vector<MotionPlanRequestWithMetadata> planning_queries = motion_plan_request_collection_->queryList(q, true);
  query_names.clear();
  for (MotionPlanRequestWithMetadata& planning_query : planning_queries)
    if (planning_query->lookupField(MOTION_PLAN_REQUEST_ID_NAME))
      query_names.push_back(planning_query->lookupString(MOTION_PLAN_REQUEST_ID_NAME));
}
 
void moveit_warehouse::PlanningSceneStorage::getPlanningQueriesNames(const std::string& regex,
                                                                     std::vector<std::string>& query_names,
                                                                     const std::string& scene_name) const
{
  getPlanningQueriesNames(query_names, scene_name);
 
  if (!regex.empty())
  {
    std::vector<std::string> fnames;
    std::regex r(regex);
    for (const std::string& query_name : query_names)
    {
      std::smatch match;
      if (std::regex_match(query_name, match, r))
      {
        fnames.push_back(query_name);
      }
    }
    query_names.swap(fnames);
  }
}
 
void moveit_warehouse::PlanningSceneStorage::getPlanningQueries(
    std::vector<MotionPlanRequestWithMetadata>& planning_queries, std::vector<std::string>& query_names,
    const std::string& scene_name) const
{
  Query::Ptr q = motion_plan_request_collection_->createQuery();
  q->append(PLANNING_SCENE_ID_NAME, scene_name);
  planning_queries = motion_plan_request_collection_->queryList(q, false);
  query_names.resize(planning_queries.size());
  for (std::size_t i = 0; i < planning_queries.size(); ++i)
    if (planning_queries[i]->lookupField(MOTION_PLAN_REQUEST_ID_NAME))
      query_names[i] = planning_queries[i]->lookupString(MOTION_PLAN_REQUEST_ID_NAME);
    else
      query_names[i].clear();
}
 
void moveit_warehouse::PlanningSceneStorage::getPlanningResults(
    std::vector<RobotTrajectoryWithMetadata>& planning_results, const std::string& scene_name,
    const moveit_msgs::msg::MotionPlanRequest& planning_query) const
{
  std::string id = getMotionPlanRequestName(planning_query, scene_name);
  if (id.empty())
    planning_results.clear();
  else
    getPlanningResults(planning_results, id, scene_name);
}
 
void moveit_warehouse::PlanningSceneStorage::getPlanningResults(
    std::vector<RobotTrajectoryWithMetadata>& planning_results, const std::string& scene_name,
    const std::string& planning_query) const
{
  Query::Ptr q = robot_trajectory_collection_->createQuery();
  q->append(PLANNING_SCENE_ID_NAME, scene_name);
  q->append(MOTION_PLAN_REQUEST_ID_NAME, planning_query);
  planning_results = robot_trajectory_collection_->queryList(q, false);
}
 
bool moveit_warehouse::PlanningSceneStorage::hasPlanningQuery(const std::string& scene_name,
                                                              const std::string& query_name) const
{
  Query::Ptr q = motion_plan_request_collection_->createQuery();
  q->append(PLANNING_SCENE_ID_NAME, scene_name);
  q->append(MOTION_PLAN_REQUEST_ID_NAME, query_name);
  std::vector<MotionPlanRequestWithMetadata> queries = motion_plan_request_collection_->queryList(q, true);
  return !queries.empty();
}
 
void moveit_warehouse::PlanningSceneStorage::renamePlanningScene(const std::string& old_scene_name,
                                                                 const std::string& new_scene_name)
{
  Query::Ptr q = planning_scene_collection_->createQuery();
  q->append(PLANNING_SCENE_ID_NAME, old_scene_name);
  Metadata::Ptr m = planning_scene_collection_->createMetadata();
  m->append(PLANNING_SCENE_ID_NAME, new_scene_name);
  planning_scene_collection_->modifyMetadata(q, m);
  RCLCPP_DEBUG(LOGGER, "Renamed planning scene from '%s' to '%s'", old_scene_name.c_str(), new_scene_name.c_str());
}
 
void moveit_warehouse::PlanningSceneStorage::renamePlanningQuery(const std::string& scene_name,
                                                                 const std::string& old_query_name,
                                                                 const std::string& new_query_name)
{
  Query::Ptr q = motion_plan_request_collection_->createQuery();
  q->append(PLANNING_SCENE_ID_NAME, scene_name);
  q->append(MOTION_PLAN_REQUEST_ID_NAME, old_query_name);
  Metadata::Ptr m = motion_plan_request_collection_->createMetadata();
  m->append(MOTION_PLAN_REQUEST_ID_NAME, new_query_name);
  motion_plan_request_collection_->modifyMetadata(q, m);
  RCLCPP_DEBUG(LOGGER, "Renamed planning query for scene '%s' from '%s' to '%s'", scene_name.c_str(),
               old_query_name.c_str(), new_query_name.c_str());
}
 
void moveit_warehouse::PlanningSceneStorage::removePlanningScene(const std::string& scene_name)
{
  removePlanningQueries(scene_name);
  Query::Ptr q = planning_scene_collection_->createQuery();
  q->append(PLANNING_SCENE_ID_NAME, scene_name);
  unsigned int rem = planning_scene_collection_->removeMessages(q);
  RCLCPP_DEBUG(LOGGER, "Removed %u PlanningScene messages (named '%s')", rem, scene_name.c_str());
}
 
void moveit_warehouse::PlanningSceneStorage::removePlanningQueries(const std::string& scene_name)
{
  removePlanningResults(scene_name);
  Query::Ptr q = motion_plan_request_collection_->createQuery();
  q->append(PLANNING_SCENE_ID_NAME, scene_name);
  unsigned int rem = motion_plan_request_collection_->removeMessages(q);
  RCLCPP_DEBUG(LOGGER, "Removed %u MotionPlanRequest messages for scene '%s'", rem, scene_name.c_str());
}
 
void moveit_warehouse::PlanningSceneStorage::removePlanningQuery(const std::string& scene_name,
                                                                 const std::string& query_name)
{
  removePlanningResults(scene_name, query_name);
  Query::Ptr q = motion_plan_request_collection_->createQuery();
  q->append(PLANNING_SCENE_ID_NAME, scene_name);
  q->append(MOTION_PLAN_REQUEST_ID_NAME, query_name);
  unsigned int rem = motion_plan_request_collection_->removeMessages(q);
  RCLCPP_DEBUG(LOGGER, "Removed %u MotionPlanRequest messages for scene '%s', query '%s'", rem, scene_name.c_str(),
               query_name.c_str());
}
 
void moveit_warehouse::PlanningSceneStorage::removePlanningResults(const std::string& scene_name)
{
  Query::Ptr q = robot_trajectory_collection_->createQuery();
  q->append(PLANNING_SCENE_ID_NAME, scene_name);
  unsigned int rem = robot_trajectory_collection_->removeMessages(q);
  RCLCPP_DEBUG(LOGGER, "Removed %u RobotTrajectory messages for scene '%s'", rem, scene_name.c_str());
}
 
void moveit_warehouse::PlanningSceneStorage::removePlanningResults(const std::string& scene_name,
                                                                   const std::string& query_name)
{
  Query::Ptr q = robot_trajectory_collection_->createQuery();
  q->append(PLANNING_SCENE_ID_NAME, scene_name);
  q->append(MOTION_PLAN_REQUEST_ID_NAME, query_name);
  unsigned int rem = robot_trajectory_collection_->removeMessages(q);
  RCLCPP_DEBUG(LOGGER, "Removed %u RobotTrajectory messages for scene '%s', query '%s'", rem, scene_name.c_str(),
               query_name.c_str());
}