planning_scene_monitor.cpp

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/* Author: Peter David Fagan */
 
#include "planning_scene_monitor.h"
 
namespace moveit_py
{
namespace bind_planning_scene_monitor
{
 
bool processCollisionObject(const planning_scene_monitor::PlanningSceneMonitorPtr& planning_scene_monitor,
                            moveit_msgs::msg::CollisionObject& collision_object_msg,
                            std::optional<moveit_msgs::msg::ObjectColor> color_msg)
{
  moveit_msgs::msg::CollisionObject::ConstSharedPtr const_ptr =
      std::make_shared<const moveit_msgs::msg::CollisionObject>(collision_object_msg);
  if (color_msg)
  {
    return planning_scene_monitor->processCollisionObjectMsg(const_ptr, *std::move(color_msg));
  }
  return planning_scene_monitor->processCollisionObjectMsg(const_ptr);
}
 
bool processAttachedCollisionObjectMsg(const planning_scene_monitor::PlanningSceneMonitorPtr& planning_scene_monitor,
                                       moveit_msgs::msg::AttachedCollisionObject& attached_collision_object_msg)
{
  moveit_msgs::msg::AttachedCollisionObject::ConstSharedPtr const_ptr =
      std::make_shared<const moveit_msgs::msg::AttachedCollisionObject>(attached_collision_object_msg);
  return planning_scene_monitor->processAttachedCollisionObjectMsg(const_ptr);
}
 
LockedPlanningSceneContextManagerRO
readOnly(const planning_scene_monitor::PlanningSceneMonitorPtr& planning_scene_monitor)
{
  return LockedPlanningSceneContextManagerRO(planning_scene_monitor);
};
 
LockedPlanningSceneContextManagerRW
readWrite(const planning_scene_monitor::PlanningSceneMonitorPtr& planning_scene_monitor)
{
  return LockedPlanningSceneContextManagerRW(planning_scene_monitor);
};
 
const planning_scene::PlanningSceneConstPtr& LockedPlanningSceneContextManagerRO::lockedPlanningSceneRoEnter() const
{
  return static_cast<const planning_scene_monitor::PlanningSceneMonitor*>(planning_scene_monitor_.get())
      ->getPlanningScene();
}
 
const planning_scene::PlanningScenePtr& LockedPlanningSceneContextManagerRW::lockedPlanningSceneRwEnter()
{
  return planning_scene_monitor_->getPlanningScene();
}
 
void LockedPlanningSceneContextManagerRO::lockedPlanningSceneRoExit(const py::object& /*type*/,
                                                                    const py::object& /*value*/,
                                                                    const py::object& /*traceback*/)
{
  ls_ro_.reset();
}
 
void LockedPlanningSceneContextManagerRW::lockedPlanningSceneRwExit(const py::object& /*type*/,
                                                                    const py::object& /*value*/,
                                                                    const py::object& /*traceback*/)
{
  ls_rw_.reset();
}
 
void initPlanningSceneMonitor(py::module& m)
{
  py::class_<planning_scene_monitor::PlanningSceneMonitor, planning_scene_monitor::PlanningSceneMonitorPtr>(
      m, "PlanningSceneMonitor", R"(
      Maintains the internal state of the planning scene.
      )")
 
      .def_property("name", &planning_scene_monitor::PlanningSceneMonitor::getName, nullptr,
                    R"(
                    str: The name of this planning scene monitor.
                    )")
 
      .def("update_frame_transforms", &planning_scene_monitor::PlanningSceneMonitor::updateFrameTransforms,
           R"(
           Update the transforms for the frames that are not part of the kinematic model using tf.
 
           Examples of these frames are the "map" and "odom_combined" transforms. This function is automatically called
           when data that uses transforms is received.
           However, this function should also be called before starting a planning request, for example.
           )")
 
      .def("start_scene_monitor", &planning_scene_monitor::PlanningSceneMonitor::startSceneMonitor,
           R"(
           Starts the scene monitor.
           )")
 
      .def("stop_scene_monitor", &planning_scene_monitor::PlanningSceneMonitor::stopSceneMonitor,
           R"(
           Stops the scene monitor.
           )")
 
      .def("start_state_monitor", &planning_scene_monitor::PlanningSceneMonitor::startStateMonitor,
           R"(
       Starts the state monitor.
       )")
 
      .def("stop_state_monitor", &planning_scene_monitor::PlanningSceneMonitor::stopStateMonitor,
           R"(
           Stops the state monitor.
       )")
      .def("request_planning_scene_state", &planning_scene_monitor::PlanningSceneMonitor::requestPlanningSceneState,
           py::arg("service_name"),
           R"(
           Request the planning scene.
 
            Args:
               service_name (str): The name of the service to call.
       )")
 
      .def("wait_for_current_robot_state", &planning_scene_monitor::PlanningSceneMonitor::waitForCurrentRobotState,
           R"(
       Waits for the current robot state to be received.
       )")
 
      .def("clear_octomap", &planning_scene_monitor::PlanningSceneMonitor::clearOctomap,
           R"(
           Clears the octomap.
           )")
      .def("process_collision_object", &moveit_py::bind_planning_scene_monitor::processCollisionObject,
           py::arg("collision_object_msg"), py::arg("color_msg") = nullptr,
           R"(
           Apply a collision object to the planning scene.
 
          Args:
               collision_object_msg (moveit_msgs.msg.CollisionObject): The collision object to apply to the planning scene.
           )")
      .def("process_attached_collision_object",
           &moveit_py::bind_planning_scene_monitor::processAttachedCollisionObjectMsg,
           py::arg("attached_collision_object_msg"),
           R"(
           Apply an attached collision object msg to the planning scene.
 
          Args:
               attached_collision_object_msg (moveit_msgs.msg.AttachedCollisionObject): The attached collision object to apply to the planning scene.
           )")
 
      .def("read_only", &moveit_py::bind_planning_scene_monitor::readOnly,
           R"(
           Returns a read-only context manager for the planning scene.
           )")
 
      .def("read_write", &moveit_py::bind_planning_scene_monitor::readWrite,
           R"(
           Returns a read-write context manager for the planning scene.
           )");
}
 
void initContextManagers(py::module& m)
{
  // In Python we lock the planning scene using a with statement as this allows us to have control over resources.
  // To this end each of the below manager classes binds special methods __enter__ and __exit__.
  // LockedPlanningSceneContextManagerRO
  py::class_<moveit_py::bind_planning_scene_monitor::LockedPlanningSceneContextManagerRO>(
      m, "LockedPlanningSceneContextManagerRO", R"(
      A context manager that locks the planning scene for reading.
      )")
 
      .def("__enter__",
           &moveit_py::bind_planning_scene_monitor::LockedPlanningSceneContextManagerRO::lockedPlanningSceneRoEnter,
           R"(
           Special method that is used with the with statement, provides access to a locked plannning scene instance.
           Returns:
               :py:class:`moveit_py.core.PlanningScene`: The locked planning scene.
        )")
      .def("__exit__",
           &moveit_py::bind_planning_scene_monitor::LockedPlanningSceneContextManagerRO::lockedPlanningSceneRoExit,
           R"(
           Special method that is used with the with statement, releases the lock on the planning scene.
           )");
 
  // LockedPlanningSceneContextManagerRW
  py::class_<moveit_py::bind_planning_scene_monitor::LockedPlanningSceneContextManagerRW>(
      m, "LockedPlanningSceneContextManagerRW", R"(
      A context manager that locks the planning scene for reading and writing.
      )")
 
      .def("__enter__",
           &moveit_py::bind_planning_scene_monitor::LockedPlanningSceneContextManagerRW::lockedPlanningSceneRwEnter,
           py::return_value_policy::take_ownership,
           R"(
           Special method that is used with the with statement, provides access to a locked plannning scene instance.
           Returns:
               :py:class:`moveit_py.core.PlanningScene`: The locked planning scene.
           )")
 
      .def("__exit__",
           &moveit_py::bind_planning_scene_monitor::LockedPlanningSceneContextManagerRW::lockedPlanningSceneRwExit,
           R"(
           Special method that is used with the with statement, releases the lock on the planning scene.
           )");
}
}  // namespace bind_planning_scene_monitor
}  // namespace moveit_py