plan_execution.hpp

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/* Author: Ioan Sucan */
 
#pragma once
 
#include <moveit/macros/class_forward.hpp>
#include <moveit/plan_execution/plan_representation.hpp>
#include <moveit/trajectory_execution_manager/trajectory_execution_manager.hpp>
#include <moveit/planning_scene_monitor/planning_scene_monitor.hpp>
#include <moveit/planning_scene_monitor/trajectory_monitor.hpp>
#include <pluginlib/class_loader.hpp>
#include <rclcpp/logger.hpp>
 
#include <atomic>
 
namespace plan_execution
{
MOVEIT_CLASS_FORWARD(PlanExecution);  // Defines PlanExecutionPtr, ConstPtr, WeakPtr... etc
 
class PlanExecution
{
public:
  struct Options
  {
    Options() : replan(false), replan_attemps(0), replan_delay(0.0)
    {
    }
 
    bool replan;
 
    unsigned int replan_attemps;
 
    double replan_delay;
 
    ExecutableMotionPlanComputationFn plan_callback;
 
    std::function<bool(ExecutableMotionPlan& plan_to_update, const std::pair<int, int>& trajectory_index)>
        repair_plan_callback_;
 
    std::function<void()> before_plan_callback_;
    std::function<void()> before_execution_callback_;
    std::function<void()> done_callback_;
  };
 
  PlanExecution(const rclcpp::Node::SharedPtr& node,
                const planning_scene_monitor::PlanningSceneMonitorPtr& planning_scene_monitor,
                const trajectory_execution_manager::TrajectoryExecutionManagerPtr& trajectory_execution);
  ~PlanExecution();
 
  const planning_scene_monitor::PlanningSceneMonitorPtr& getPlanningSceneMonitor() const
  {
    return planning_scene_monitor_;
  }
 
  const trajectory_execution_manager::TrajectoryExecutionManagerPtr& getTrajectoryExecutionManager() const
  {
    return trajectory_execution_manager_;
  }
 
  double getTrajectoryStateRecordingFrequency() const
  {
    if (trajectory_monitor_)
    {
      return trajectory_monitor_->getSamplingFrequency();
    }
    else
    {
      return 0.0;
    }
  }
 
  void setTrajectoryStateRecordingFrequency(double freq)
  {
    if (trajectory_monitor_)
      trajectory_monitor_->setSamplingFrequency(freq);
  }
 
  void setMaxReplanAttempts(unsigned int attempts)
  {
    default_max_replan_attempts_ = attempts;
  }
 
  unsigned int getMaxReplanAttempts() const
  {
    return default_max_replan_attempts_;
  }
 
  void planAndExecute(ExecutableMotionPlan& plan, const Options& opt);
  void planAndExecute(ExecutableMotionPlan& plan, const moveit_msgs::msg::PlanningScene& scene_diff, const Options& opt);
 
  moveit_msgs::msg::MoveItErrorCodes executeAndMonitor(ExecutableMotionPlan& plan, bool reset_preempted = true);
 
  void stop();
 
private:
  void planAndExecuteHelper(ExecutableMotionPlan& plan, const Options& opt);
  bool isRemainingPathValid(const ExecutableMotionPlan& plan, const std::pair<int, int>& path_segment);
 
  void planningSceneUpdatedCallback(const planning_scene_monitor::PlanningSceneMonitor::SceneUpdateType update_type);
  void doneWithTrajectoryExecution(const moveit_controller_manager::ExecutionStatus& status);
  void successfulTrajectorySegmentExecution(const ExecutableMotionPlan& plan, std::size_t index);
 
  const rclcpp::Node::SharedPtr node_;
  planning_scene_monitor::PlanningSceneMonitorPtr planning_scene_monitor_;
  trajectory_execution_manager::TrajectoryExecutionManagerPtr trajectory_execution_manager_;
  planning_scene_monitor::TrajectoryMonitorPtr trajectory_monitor_;
  std::vector<std::map<std::string, const moveit::core::AttachedBody*>> plan_components_attached_objects_;
 
  unsigned int default_max_replan_attempts_;
 
  class
  {
  private:
    std::atomic<bool> preemption_requested_{ false };
 
  public:
    inline bool checkAndClear()
    {
      return preemption_requested_.exchange(false);
    }
    inline void request()
    {
      preemption_requested_.store(true);
    }
  } preempt_;
 
  bool new_scene_update_;
 
  bool execution_complete_;
  bool path_became_invalid_;
 
  rclcpp::Logger logger_;
 
  // class DynamicReconfigureImpl;
  // DynamicReconfigureImpl* reconfigure_impl_;
};
}  // namespace plan_execution