planning_context_base.h

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#pragma once
 
#include <pilz_industrial_motion_planner/joint_limits_container.h>
#include <pilz_industrial_motion_planner/trajectory_generator.h>
 
#include <rclcpp/rclcpp.hpp>
 
#include <moveit/planning_interface/planning_interface.h>
#include <moveit/planning_interface/planning_response.h>
#include <moveit/planning_scene/planning_scene.h>
#include <moveit/robot_state/conversions.h>
 
#include <atomic>
#include <thread>
 
namespace pilz_industrial_motion_planner
{
template <typename GeneratorT>
class PlanningContextBase : public planning_interface::PlanningContext
{
public:
  PlanningContextBase<GeneratorT>(const std::string& name, const std::string& group,
                                  const moveit::core::RobotModelConstPtr& model,
                                  const pilz_industrial_motion_planner::LimitsContainer& limits)
    : planning_interface::PlanningContext(name, group)
    , terminated_(false)
    , model_(model)
    , limits_(limits)
    , generator_(model, limits_, group)
  {
  }
 
  ~PlanningContextBase() override
  {
  }
 
  bool solve(planning_interface::MotionPlanResponse& res) override;
 
  bool solve(planning_interface::MotionPlanDetailedResponse& res) override;
 
  bool terminate() override;
 
  void clear() override;
 
  std::atomic_bool terminated_;
 
  moveit::core::RobotModelConstPtr model_;
 
  pilz_industrial_motion_planner::LimitsContainer limits_;
 
protected:
  GeneratorT generator_;
};
 
template <typename GeneratorT>
bool pilz_industrial_motion_planner::PlanningContextBase<GeneratorT>::solve(planning_interface::MotionPlanResponse& res)
{
  if (!terminated_)
  {
    // Use current state as start state if not set
    if (request_.start_state.joint_state.name.empty())
    {
      moveit_msgs::msg::RobotState current_state;
      moveit::core::robotStateToRobotStateMsg(getPlanningScene()->getCurrentState(), current_state);
      request_.start_state = current_state;
    }
    bool result = generator_.generate(getPlanningScene(), request_, res);
    return result;
    // res.error_code.val = moveit_msgs::msg::MoveItErrorCodes::INVALID_MOTION_PLAN;
    // return false; // TODO
  }
 
  RCLCPP_ERROR(rclcpp::get_logger("moveit.pilz_industrial_motion_planner.planning_context_base"),
               "Using solve on a terminated planning context!");
  res.error_code.val = moveit_msgs::msg::MoveItErrorCodes::PLANNING_FAILED;
  return false;
}
 
template <typename GeneratorT>
bool pilz_industrial_motion_planner::PlanningContextBase<GeneratorT>::solve(
    planning_interface::MotionPlanDetailedResponse& res)
{
  // delegate to regular response
  planning_interface::MotionPlanResponse undetailed_response;
  bool result = solve(undetailed_response);
 
  res.description.push_back("plan");
  res.trajectory.push_back(undetailed_response.trajectory);
  res.processing_time.push_back(undetailed_response.planning_time);
 
  res.description.push_back("simplify");
  res.trajectory.push_back(undetailed_response.trajectory);
  res.processing_time.push_back(0);
 
  res.description.push_back("interpolate");
  res.trajectory.push_back(undetailed_response.trajectory);
  res.processing_time.push_back(0);
 
  res.error_code = undetailed_response.error_code;
  return result;
}
 
template <typename GeneratorT>
bool pilz_industrial_motion_planner::PlanningContextBase<GeneratorT>::terminate()
{
  RCLCPP_DEBUG_STREAM(rclcpp::get_logger("moveit.pilz_industrial_motion_planner.planning_context_base"),
                      "Terminate called");
  terminated_ = true;
  return true;
}
 
template <typename GeneratorT>
void pilz_industrial_motion_planner::PlanningContextBase<GeneratorT>::clear()
{
  // No structures that need cleaning
  return;
}
 
}  // namespace pilz_industrial_motion_planner