planning_interface.cpp

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/* Author: Ioan Sucan */
 
#include <moveit/planning_interface/planning_interface.h>
#include <mutex>
#include <rclcpp/logger.hpp>
#include <rclcpp/logging.hpp>
#include <set>
#include <moveit/utils/logger.hpp>
 
namespace planning_interface
{
namespace
{
rclcpp::Logger getLogger()
{
  return moveit::getLogger("planning_interface");
}
}  // namespace
 
namespace
{
// keep track of currently active contexts
struct ActiveContexts
{
  std::mutex mutex_;
  std::set<PlanningContext*> contexts_;
};
 
ActiveContexts& getActiveContexts()
{
  static ActiveContexts s_ac;
  return s_ac;
}
}  // namespace
 
PlanningContext::PlanningContext(const std::string& name, const std::string& group) : name_(name), group_(group)
{
  ActiveContexts& ac = getActiveContexts();
  std::scoped_lock _(ac.mutex_);
  ac.contexts_.insert(this);
}
 
PlanningContext::~PlanningContext()
{
  ActiveContexts& ac = getActiveContexts();
  std::scoped_lock _(ac.mutex_);
  ac.contexts_.erase(this);
}
 
void PlanningContext::setPlanningScene(const planning_scene::PlanningSceneConstPtr& planning_scene)
{
  planning_scene_ = planning_scene;
}
 
void PlanningContext::setMotionPlanRequest(const MotionPlanRequest& request)
{
  request_ = request;
  if (request_.allowed_planning_time <= 0.0)
  {
    RCLCPP_INFO(getLogger(), "The timeout for planning must be positive (%lf specified). Assuming one second instead.",
                request_.allowed_planning_time);
    request_.allowed_planning_time = 1.0;
  }
  if (request_.num_planning_attempts < 0)
  {
    RCLCPP_ERROR(getLogger(), "The number of desired planning attempts should be positive. "
                              "Assuming one attempt.");
  }
  request_.num_planning_attempts = std::max(1, request_.num_planning_attempts);
}
 
bool PlannerManager::initialize(const moveit::core::RobotModelConstPtr& /*unused*/,
                                const rclcpp::Node::SharedPtr& /* unused */, const std::string& /* unused */)
{
  return true;
}
 
std::string PlannerManager::getDescription() const
{
  return "";
}
 
PlanningContextPtr PlannerManager::getPlanningContext(const planning_scene::PlanningSceneConstPtr& planning_scene,
                                                      const MotionPlanRequest& req) const
{
  moveit_msgs::msg::MoveItErrorCodes dummy;
  return getPlanningContext(planning_scene, req, dummy);
}
 
void PlannerManager::getPlanningAlgorithms(std::vector<std::string>& algs) const
{
  // nothing by default
  algs.clear();
}
 
void PlannerManager::setPlannerConfigurations(const PlannerConfigurationMap& pcs)
{
  config_settings_ = pcs;
}
 
void PlannerManager::terminate() const
{
  ActiveContexts& ac = getActiveContexts();
  std::scoped_lock _(ac.mutex_);
  for (PlanningContext* context : ac.contexts_)
    context->terminate();
}
 
}  // end of namespace planning_interface