planning_pipeline_test_plugins.cpp

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/* Author: Sebastian Jahr */
 
#include <chrono>
#include <moveit/planning_interface/planning_interface.h>
#include <moveit/planning_interface/planning_request_adapter.h>
#include <moveit/planning_interface/planning_response_adapter.h>
#include <class_loader/class_loader.hpp>
 
namespace planning_pipeline_test
{
class AlwaysSuccessRequestAdapter : public planning_interface::PlanningRequestAdapter
{
public:
  std::string getDescription() const override
  {
    return "AlwaysSuccessRequestAdapter";
  }
  moveit::core::MoveItErrorCode adapt(const planning_scene::PlanningSceneConstPtr& /*planning_scene*/,
                                      planning_interface::MotionPlanRequest& /*req*/) const override
  {
    // Mock light computations
    std::this_thread::sleep_for(std::chrono::milliseconds(100));
    return moveit::core::MoveItErrorCode(moveit_msgs::msg::MoveItErrorCodes::SUCCESS, std::string(""), getDescription());
  }
};
 
class AlwaysSuccessResponseAdapter : public planning_interface::PlanningResponseAdapter
{
public:
  std::string getDescription() const override
  {
    return "AlwaysSuccessResponseAdapter";
  }
  void adapt(const planning_scene::PlanningSceneConstPtr& /*planning_scene*/,
             const planning_interface::MotionPlanRequest& /*req*/,
             planning_interface::MotionPlanResponse& res) const override
  {
    // Mock light computations
    std::this_thread::sleep_for(std::chrono::milliseconds(100));
    res.error_code.val = moveit_msgs::msg::MoveItErrorCodes::SUCCESS;
  }
};
 
class DummyPlanningContext : public planning_interface::PlanningContext
{
public:
  DummyPlanningContext() : planning_interface::PlanningContext("DummyPlanningContext", "empty_group")
  {
  }
  void solve(planning_interface::MotionPlanResponse& res) override
  {
    // Mock heavy computations
    std::this_thread::sleep_for(std::chrono::seconds(1));
    // Planning succeeded
    res.error_code.val = moveit_msgs::msg::MoveItErrorCodes::SUCCESS;
  }
  void solve(planning_interface::MotionPlanDetailedResponse& res) override
  {
    // Mock heavy computations
    std::this_thread::sleep_for(std::chrono::seconds(1));
    res.error_code.val = moveit_msgs::msg::MoveItErrorCodes::SUCCESS;
  }
  bool terminate() override
  {
    return true;
  }
  void clear() override{};
};
 
class DummyPlannerManager : public planning_interface::PlannerManager
{
public:
  ~DummyPlannerManager() override
  {
  }
  planning_interface::PlanningContextPtr
  getPlanningContext(const planning_scene::PlanningSceneConstPtr& /*planning_scene*/,
                     const planning_interface::MotionPlanRequest& /*req*/,
                     moveit_msgs::msg::MoveItErrorCodes& /*error_code*/) const override
  {
    return std::make_shared<DummyPlanningContext>();
  }
  bool canServiceRequest(const planning_interface::MotionPlanRequest& /*req*/) const override
  {
    return true;
  }
  std::string getDescription() const override
  {
    return std::string("DummyPlannerManager");
  }
};
}  // namespace planning_pipeline_test
 
CLASS_LOADER_REGISTER_CLASS(planning_pipeline_test::DummyPlannerManager, planning_interface::PlannerManager)
CLASS_LOADER_REGISTER_CLASS(planning_pipeline_test::AlwaysSuccessRequestAdapter,
                            planning_interface::PlanningRequestAdapter)
CLASS_LOADER_REGISTER_CLASS(planning_pipeline_test::AlwaysSuccessResponseAdapter,
                            planning_interface::PlanningResponseAdapter)