action_based_controller_handle.hpp

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/* Author: Michael Ferguson, Ioan Sucan, E. Gil Jones */
 
#pragma once
 
#include <rclcpp/rclcpp.hpp>
#include <rclcpp_action/rclcpp_action.hpp>
#include <moveit/controller_manager/controller_manager.hpp>
#include <moveit/macros/class_forward.hpp>
#include <memory>
 
namespace moveit_simple_controller_manager
{
using namespace std::chrono_literals;
 
/*
 * This exist solely to inject addJoint/getJoints into base non-templated class.
 */
class ActionBasedControllerHandleBase : public moveit_controller_manager::MoveItControllerHandle
{
public:
  ActionBasedControllerHandleBase(const std::string& name, const std::string& logger_name)
    : moveit_controller_manager::MoveItControllerHandle(name), logger_(rclcpp::get_logger(logger_name))
  {
  }
 
  virtual void addJoint(const std::string& name) = 0;
  virtual void getJoints(std::vector<std::string>& joints) = 0;
  // TODO(JafarAbdi): Revise parameter lookup
  //  virtual void configure(XmlRpc::XmlRpcValue& /* config */)
  //  {
  //  }
 
protected:
  const rclcpp::Logger logger_;
};
 
MOVEIT_CLASS_FORWARD(
    ActionBasedControllerHandleBase);  // Defines ActionBasedControllerHandleBasePtr, ConstPtr, WeakPtr... etc
 
template <typename T>
class ActionBasedControllerHandle : public ActionBasedControllerHandleBase
{
public:
  ActionBasedControllerHandle(const rclcpp::Node::SharedPtr& node, const std::string& name, const std::string& ns,
                              const std::string& logger_name)
    : ActionBasedControllerHandleBase(name, logger_name), node_(node), done_(true), namespace_(ns)
  {
    // Creating the action client does not ensure that the action server is actually running. Executing trajectories
    // through the controller handle will fail if the server is not running when an action goal message is sent.
    controller_action_client_ = rclcpp_action::create_client<T>(node, getActionName());
    last_exec_ = moveit_controller_manager::ExecutionStatus::SUCCEEDED;
  }
 
  bool cancelExecution() override
  {
    if (!controller_action_client_)
      return false;
    if (!done_)
    {
      RCLCPP_INFO_STREAM(logger_, "Cancelling execution for " << name_);
      auto cancel_result_future = controller_action_client_->async_cancel_goal(current_goal_);
 
      const auto& result = cancel_result_future.get();
      if (!result)
        RCLCPP_ERROR(logger_, "Failed to cancel goal");
 
      last_exec_ = moveit_controller_manager::ExecutionStatus::PREEMPTED;
      done_ = true;
    }
    return true;
  }
 
  virtual void
  controllerDoneCallback(const typename rclcpp_action::ClientGoalHandle<T>::WrappedResult& wrapped_result) = 0;
 
  bool waitForExecution(const rclcpp::Duration& timeout = rclcpp::Duration::from_seconds(-1.0)) override
  {
    auto result_callback_done = std::make_shared<std::promise<bool>>();
    auto result_future = controller_action_client_->async_get_result(
        current_goal_, [this, result_callback_done](const auto& wrapped_result) {
          controllerDoneCallback(wrapped_result);
          result_callback_done->set_value(true);
        });
    if (timeout < std::chrono::nanoseconds(0))
    {
      result_future.wait();
    }
    else
    {
      std::future_status status;
      if (node_->get_parameter("use_sim_time").as_bool())
      {
        const auto start = node_->now();
        do
        {
          status = result_future.wait_for(50ms);
          if ((status == std::future_status::timeout) && ((node_->now() - start) > timeout))
          {
            RCLCPP_WARN(logger_, "waitForExecution timed out");
            return false;
          }
        } while (status == std::future_status::timeout);
      }
      else
      {
        status = result_future.wait_for(timeout.to_chrono<std::chrono::duration<double>>());
        if (status == std::future_status::timeout)
        {
          RCLCPP_WARN(logger_, "waitForExecution timed out");
          return false;
        }
      }
    }
    // To accommodate for the delay after the future for the result is ready and the time controllerDoneCallback takes to finish
    result_callback_done->get_future().wait();
    return true;
  }
 
  moveit_controller_manager::ExecutionStatus getLastExecutionStatus() override
  {
    return last_exec_;
  }
 
  void addJoint(const std::string& name) override
  {
    joints_.push_back(name);
  }
 
  void getJoints(std::vector<std::string>& joints) override
  {
    joints = joints_;
  }
 
protected:
  const rclcpp::Node::SharedPtr node_;
 
  bool isConnected() const
  {
    return controller_action_client_->action_server_is_ready();
  }
 
  std::string getActionName() const
  {
    if (namespace_.empty())
    {
      return name_;
    }
    else
    {
      return name_ + "/" + namespace_;
    }
  }
 
  void finishControllerExecution(const rclcpp_action::ResultCode& state)
  {
    RCLCPP_DEBUG_STREAM(logger_, "Controller " << name_ << " is done with state " << static_cast<int>(state));
    if (state == rclcpp_action::ResultCode::SUCCEEDED)
    {
      last_exec_ = moveit_controller_manager::ExecutionStatus::SUCCEEDED;
    }
    else if (state == rclcpp_action::ResultCode::ABORTED)
    {
      last_exec_ = moveit_controller_manager::ExecutionStatus::ABORTED;
    }
    else if (state == rclcpp_action::ResultCode::CANCELED)
    {
      last_exec_ = moveit_controller_manager::ExecutionStatus::PREEMPTED;
    }
    else if (state == rclcpp_action::ResultCode::UNKNOWN)
    {
      last_exec_ = moveit_controller_manager::ExecutionStatus::UNKNOWN;
    }
    else
    {
      last_exec_ = moveit_controller_manager::ExecutionStatus::FAILED;
    }
    done_ = true;
  }
 
  moveit_controller_manager::ExecutionStatus last_exec_;
 
  bool done_;
 
  std::string namespace_;
 
  std::vector<std::string> joints_;
 
  typename rclcpp_action::Client<T>::SharedPtr controller_action_client_;
 
  typename rclcpp_action::ClientGoalHandle<T>::SharedPtr current_goal_;
};
 
}  // namespace moveit_simple_controller_manager