MPPool.h

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/**
 * This file is part of ArmarX.
 *
 * ArmarX is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License version 2 as
 * published by the Free Software Foundation.
 *
 * ArmarX is distributed in the hope that it will be useful, but
 * WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with this program. If not, see <http://www.gnu.org/licenses/>.
 *
 * @author     Jianfeng Gao ( jianfeng dot gao at kit dot edu )
 * @date       2022
 * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
 *             GNU General Public License
 */
 
 
#pragma once
#include <VirtualRobot/RobotNodeSet.h>
 
#include <armarx/control/common/mp/MPPoolInterface.h>
#include <armarx/control/common/mp/aron/MPConfig.aron.generated.h>
 
#include "MP.h"
#include <mplib/representation/vmp/PrincipalComponentVMP.h>
 
namespace armarx::control::common::coordination
{
    class Coordination;
    class SyncCoordination;
} // namespace armarx::control::common::coordination
 
namespace armarx::control::common::mp
{
    BETTER_ENUM(mpClass, int, JSMP, JSVelMP, TSMP, TSVelMP, KeypointsMP)
 
    using namespace arondto;
 
    struct MPReInitData
    {
        Eigen::VectorXf pos;
        Eigen::VectorXf vel;
    };
 
    struct MPInputOutput
    {
        MPPtr mp;
        MPInputPtr input;
        MPOutputPtr output;
    };
 
    using MPInputOutputPtr = std::shared_ptr<MPInputOutput>;
 
    class MPPool : public virtual MPPoolInterface
    {
    public:
        MPPool() = default;
        ~MPPool(){};
 
        void runMPs(bool rtSafe);
        void createMPs(const MPListConfig& mpListConfig);
        void reconfigureMPs(const MPListConfig& mpListConfig);
 
 
        /// Interface functions
        std::string getNames(const Ice::Current& iceCurrent = Ice::emptyCurrent) override;
 
        /// config
        ::armarx::aron::data::dto::DictPtr
        getMPConfig(const Ice::Current& iceCurrent = Ice::emptyCurrent) override;
        void updateMPConfig(const ::armarx::aron::data::dto::DictPtr& dto,
                            const Ice::Current& iceCurrent = Ice::emptyCurrent) override;
        bool resetMPs(const ::armarx::aron::data::dto::DictPtr& dto,
                      const std::map<std::string, VirtualRobot::RobotNodeSetPtr>& rnsMap);
        bool resetMPsV1(const ::armarx::aron::data::dto::DictPtr& dto,
                        const std::map<std::string, VirtualRobot::RobotNodeSetPtr>& rnsMap,
                        const std::shared_ptr<common::coordination::Coordination>& coordinator);
        bool resetMPsV2(const ::armarx::aron::data::dto::DictPtr& dto,
                        const std::map<std::string, MPReInitData>& data);
 
        /// control
        void start(const std::string& mpName = "all",
                   const DVec& startVec = std::vector<double>(),
                   const DVec& goalVec = std::vector<double>(),
                   Ice::Double timeDuration = -1.0,
                   const Ice::Current& iceCurrent = Ice::emptyCurrent) override;
        void startAll(const Ice::Current& iceCurrent = Ice::emptyCurrent) override;
        void set(const ::armarx::StringDoubleSeqMap& /*unused*/,
                 const ::armarx::StringDoubleSeqMap& /*unused*/,
                 const ::armarx::StringDoubleMap& /*unused*/,
                 const ::Ice::Current& iceCurrent = ::Ice::emptyCurrent) override;
 
        void stop(const std::string& mpName = "all",
                  const Ice::Current& iceCurrent = Ice::emptyCurrent) override;
        void requestStop(const std::string& mpName = "all",
                         const Ice::Current& iceCurrent = Ice::emptyCurrent) override;
        void stopAll(const Ice::Current& iceCurrent = Ice::emptyCurrent) override;
        void pause(const std::string& mpName = "all",
                   const Ice::Current& iceCurrent = Ice::emptyCurrent) override;
        void pauseAll(const Ice::Current& iceCurrent = Ice::emptyCurrent) override;
        void resume(const std::string& mpName = "all",
                    const Ice::Current& iceCurrent = Ice::emptyCurrent) override;
        void resumeAll(const Ice::Current& iceCurrent = Ice::emptyCurrent) override;
        void reset(const std::string& mpName = "all",
                   const Ice::Current& iceCurrent = Ice::emptyCurrent) override;
        void resetAll(const Ice::Current& iceCurrent = Ice::emptyCurrent) override;
        bool isFinished(const std::string& mpName = "all",
                        const Ice::Current& iceCurrent = Ice::emptyCurrent) override;
        bool isFinishedAll(const Ice::Current& /*unused*/ = Ice::emptyCurrent) override;
 
        /// setting
        void learnFromCSV(const Ice::StringSeq& fileNames = std::vector<std::string>(),
                          const Ice::Current& iceCurrent = Ice::emptyCurrent) override;
        void learnFromTrajs(const ::armarx::aron::data::dto::DictPtr& dict,
                            const Ice::Current& iceCurrent = Ice::emptyCurrent) override;
        void trainMP(const Ice::Current& iceCurrent = Ice::emptyCurrent) override;
 
        void setGoal(const DVec& goals,
                     const Ice::Current& iceCurrent = Ice::emptyCurrent) override;
        void setStartAndGoal(const DVec& starts,
                             const DVec& goals,
                             const Ice::Current& iceCurrent = Ice::emptyCurrent) override;
        void setViaPoint(Ice::Double u,
                         const DVec& viapoint,
                         const Ice::Current& iceCurrent = Ice::emptyCurrent) override;
        void removeAllViaPoint(const Ice::Current& iceCurrent = Ice::emptyCurrent) override;
 
        /// serialize
        //        void setWeight(const DVecSeq& weights, const Ice::Current& iceCurrent = Ice::emptyCurrent) override;
        //        DVecSeq getWeight(const Ice::Current& iceCurrent = Ice::emptyCurrent) override;
        std::string serialize(const Ice::Current& iceCurrent = Ice::emptyCurrent) override;
        DVec deserialize(const std::string& /*unused*/,
                         const Ice::Current& iceCurrent = Ice::emptyCurrent) override;
 
        ///
        Ice::Double getCanVal(const std::string& mpName,
                              const Ice::Current& iceCurrent = Ice::emptyCurrent) override;
        bool getMPEnabled(const Ice::Current& /*unused*/) override;
 
    protected:
        std::map<std::string, MPInputOutput> mps;
        mutable std::recursive_mutex mtx_mps;
        std::atomic<bool> isMPReady{false};
        // std::atomic_bool isAnyMPRunning{false};
 
        /// this variable is only needed when constructing the MP instances, therefore you don't
        /// need to use triple buffers
        MPListConfig mpConfig;
        void
        reInitMPInputOutputData(const std::map<std::string, VirtualRobot::RobotNodeSetPtr>& rnsMap);
        void reInitMPInputOutputDataV1(
            const std::map<std::string, VirtualRobot::RobotNodeSetPtr>& rnsMap,
            const std::shared_ptr<common::coordination::Coordination>& coordinator);
        void reInitMPInputOutputDataV2(const std::map<std::string, MPReInitData>& data);
 
        std::atomic_bool mpTaskRunning{false};
        std::map<arondto::MPGroup, PhaseStopResult> phaseStops_;
    };
 
    using MPPoolPtr = std::shared_ptr<MPPool>;
} // namespace armarx::control::common::mp