NavigateToLocation.cpp

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#include "NavigateToLocation.h"
 
#include <chrono>
#include <future>
#include <mutex>
#include <optional>
#include <sstream>
#include <string>
 
#include <Eigen/Core>
#include <Eigen/Geometry>
 
#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
#include <ArmarXCore/core/logging/Logging.h>
#include <ArmarXCore/core/time/Duration.h>
#include <ArmarXCore/core/util/StringHelpers.h>
#include <ArmarXCore/util/CPPUtility/trace.h>
 
#include <RobotAPI/libraries/skills/core/Skill.h>
#include <RobotAPI/libraries/skills/core/SkillDescription.h>
#include <RobotAPI/libraries/skills/core/SkillStatusUpdate.h>
 
#include <armarx/navigation/client/NavigationStackConfig.h>
#include <armarx/navigation/client/Navigator.h>
#include <armarx/navigation/global_planning/SPFA.h>
#include <armarx/navigation/local_planning/TimedElasticBandsParams.h>
#include <armarx/navigation/safety_guard/LaserBasedProximity.h>
#include <armarx/navigation/skills/skill_ids.h>
#include <armarx/navigation/trajectory_control/local/TrajectoryFollowingController.h>
 
namespace armarx::navigation::skills
{
 
    template <typename R>
    bool
    is_ready(std::future<R> const& f)
    {
        if (!f.valid())
        {
            return true;
        }
        std::future_status status = f.wait_for(std::chrono::seconds(0));
        if (status == std::future_status::ready)
        {
            return true;
        }
        else if (status == std::future_status::deferred)
        {
            // if the task has not been started --> start the task
            f.wait();
            return true;
        }
        else
        {
            return false;
        }
    }
 
    armarx::skills::SkillDescription
    NavigateToLocation::DefaultSkillDescription()
    {
        ParamType defaultParameters;
        defaultParameters.location = "";
        defaultParameters.navigatingSkillParams = NavigatingSkillHelper::DefaultSkillDescription();
 
 
        std::stringstream description;
        description
            << "Retrieve the location `location` from the memory and navigate to it."
            << "\n\nThe `location` is specified by its provider segment name and entity name"
               " in the format `providerSegmentName/entityName` .";
 
        return armarx::skills::SkillDescription{
            .skillId = skill_ids::NavigateToLocation,
            .description = description.str(),
            .rootProfileDefaults = defaultParameters.toAron(),
            .timeout = armarx::core::time::Duration::Hours(1),
            .parametersType = Params::ToAronType(),
        };
    }
 
    NavigateToLocation::NavigateToLocation(const NavigatingSkillHelper::Properties& properties,
                                           const NavigatingSkillHelper::Services& srv) :
        Base(DefaultSkillDescription()), helper(properties, srv)
    {
    }
 
    ::armarx::skills::Skill::InitResult
    NavigateToLocation::init(const Base::SpecializedInitInput& in)
    {
        helper.init(in.parameters.navigatingSkillParams,
                    DefaultSkillDescription().skillId.skillName);
 
        return ::armarx::skills::Skill::InitResult{
            .status = ::armarx::skills::TerminatedSkillStatus::Succeeded};
    }
 
    ::armarx::skills::Skill::MainResult
    NavigateToLocation::main(const Base::SpecializedMainInput& in)
    {
        const std::string& location = in.parameters.location;
        const std::optional<std::string>& locationProvider = in.parameters.locationProvider;
 
        ARMARX_INFO << "moving to target " << VAROUT(location);
 
        // execute
        ARMARX_INFO << "Sending navigation request";
 
        // client::PathBuilder builder;
        // builder.add(location, client::GlobalPlanningStrategy::Free);
 
        helper.getNavigator()->moveToLocation(location, locationProvider);
 
        // Wait until goal is reached
        ARMARX_INFO << "Waiting until goal is reached.";
        auto future = std::async(std::launch::async,
                                 [this]() { return helper.getNavigator()->waitForStop(); });
        while (not is_ready(future))
        {
            if (shouldSkillTerminate())
            {
                ARMARX_INFO << "Skill was aborted by user";
                helper.getNavigator()->stop();
                break;
            }
        }
 
        auto se = future.get();
        if (se)
        {
            ARMARX_INFO << "Goal " << QUOTED(location)  << "reached.";
            return ::armarx::skills::Skill::MainResult{
                .status = ::armarx::skills::TerminatedSkillStatus::Succeeded};
        }
        else
        {
            if (se.isSafetyStopTriggeredEvent())
            {
                ARMARX_INFO << "Safety stop was triggered!";
 
                return ::armarx::skills::Skill::MainResult{
                    .status = ::armarx::skills::TerminatedSkillStatus::Failed};
            }
            if (se.isUserAbortTriggeredEvent())
            {
                ARMARX_INFO << "Aborted by user!";
 
                return ::armarx::skills::Skill::MainResult{
                    .status = ::armarx::skills::TerminatedSkillStatus::Aborted};
            }
            if (se.isInternalErrorEvent())
            {
                ARMARX_INFO << "Unknown internal error occured! "
                            << se.toInternalErrorEvent().message;
 
                return ::armarx::skills::Skill::MainResult{
                    .status = ::armarx::skills::TerminatedSkillStatus::Failed};
            }
            if (se.isGlobalPlanningFailedEvent())
            {
                ARMARX_ERROR << "Global planning failed! "
                             << se.toGlobalPlanningFailedEvent().message;
 
                return ::armarx::skills::Skill::MainResult{
                    .status = ::armarx::skills::TerminatedSkillStatus::Failed};
            }
 
            ARMARX_ERROR << "Unknown event!";
            return ::armarx::skills::Skill::MainResult{
                .status = ::armarx::skills::TerminatedSkillStatus::Failed};
        }
 
        return ::armarx::skills::Skill::MainResult{
            .status = ::armarx::skills::TerminatedSkillStatus::Failed};
    }
 
    void
    NavigateToLocation::onStopRequested()
    {
        if (helper.getNavigator().has_value())
        {
            ARMARX_CHECK(helper.getNavigator().has_value());
            helper.getNavigator()->stop();
        }
    }
 
} // namespace armarx::navigation::skills