single_plan_execution.cpp

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#include <moveit/planner_logic_plugins/single_plan_execution.h>
 
namespace moveit::hybrid_planning
{
ReactionResult SinglePlanExecution::react(const HybridPlanningEvent& event)
{
  switch (event)
  {
    case HybridPlanningEvent::HYBRID_PLANNING_REQUEST_RECEIVED:
      // Reset local planner started flag
      local_planner_started_ = false;
      // Handle new hybrid planning request
      return ReactionResult(event, "", moveit_msgs::msg::MoveItErrorCodes::SUCCESS,
                            HybridPlanningAction::SEND_GLOBAL_SOLVER_REQUEST);
    case HybridPlanningEvent::GLOBAL_SOLUTION_AVAILABLE:
      // Do nothing since we wait for the global planning action to finish
      return ReactionResult(event, "Do nothing", moveit_msgs::msg::MoveItErrorCodes::SUCCESS);
    case HybridPlanningEvent::GLOBAL_PLANNING_ACTION_SUCCESSFUL:
      // Activate local planner once global solution is available
      if (!local_planner_started_)
      {  // ensure the local planner is not started twice
        local_planner_started_ = true;
        return ReactionResult(event, "", moveit_msgs::msg::MoveItErrorCodes::SUCCESS,
                              HybridPlanningAction::SEND_LOCAL_SOLVER_REQUEST);
      }
      return ReactionResult(event, "", moveit_msgs::msg::MoveItErrorCodes::SUCCESS);
    case HybridPlanningEvent::GLOBAL_PLANNING_ACTION_ABORTED:
      // Abort hybrid planning if no global solution is found
      return ReactionResult(event, "Global planner failed to find a solution",
                            moveit_msgs::msg::MoveItErrorCodes::PLANNING_FAILED);
    case HybridPlanningEvent::LOCAL_PLANNING_ACTION_SUCCESSFUL:
      // Finish hybrid planning action successfully because local planning action succeeded
      return ReactionResult(event, "", moveit_msgs::msg::MoveItErrorCodes::SUCCESS,
                            HybridPlanningAction::RETURN_HP_SUCCESS);
    case HybridPlanningEvent::LOCAL_PLANNING_ACTION_ABORTED:
      // Local planning failed so abort hybrid planning
      return ReactionResult(event, "Local planner failed to find a solution",
                            moveit_msgs::msg::MoveItErrorCodes::PLANNING_FAILED);
    default:
      // Unknown event, abort hybrid planning
      return ReactionResult(event, "Unknown event", moveit_msgs::msg::MoveItErrorCodes::FAILURE,
                            HybridPlanningAction::RETURN_HP_SUCCESS);
  }
}
 
ReactionResult SinglePlanExecution::react(const std::string& event)
{
  return ReactionResult(event, "'Single-Plan-Execution' plugin cannot handle events given as string.",
                        moveit_msgs::msg::MoveItErrorCodes::FAILURE);
};
}  // namespace moveit::hybrid_planning
 
#include <pluginlib/class_list_macros.hpp>
 
PLUGINLIB_EXPORT_CLASS(moveit::hybrid_planning::SinglePlanExecution, moveit::hybrid_planning::PlannerLogicInterface)