Task.cpp

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/*
 * This file is part of ArmarX.
 *
 * Copyright (C) 2011-2016, High Performance Humanoid Technologies (H2T), Karlsruhe Institute of Technology (KIT), all rights reserved.
 *
 * 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/>.
 *
 * @package    RobotComponents
 * @author     Raphael Grimm ( raphael dot grimm at kit dot edu )
 * @date       2015
 * @copyright  http://www.gnu.org/licenses/gpl.txt
 *             GNU General Public License
 */
 
#include "Task.h"
 
#include "../../util/PlanningUtil.h"
 
namespace armarx::rrtconnect
{
    Task::Task(const CSpaceBasePtr& cspace,
               const VectorXf& startCfg,
               const VectorXf& goalCfg,
               const std::string& taskName,
               Ice::Long maximalPlanningTimeInSeconds,
               float dcdStep,
               Ice::Long workerCount)
    {
        this->cspace = cspace;
        this->startCfg = startCfg;
        this->goalCfg = goalCfg;
        this->dcdStep = dcdStep;
        this->maximalPlanningTimeInSeconds = maximalPlanningTimeInSeconds;
        this->workerCount = workerCount;
        this->taskName = taskName;
    }
 
    void
    Task::abortTask(const Ice::Current&)
    {
        std::lock_guard<std::mutex> lock{mtx};
        setTaskStatus((getTaskStatus() != TaskStatus::eDone) ? TaskStatus::ePlanningAborted
                                                             : TaskStatus::eDone);
        //worker will be aborted in run()
        doneCV.notify_all();
    }
 
    Path
    Task::getPath(const Ice::Current&) const
    {
        std::lock_guard<std::mutex> lock{mtx};
        return solution;
    }
 
    void
    Task::workerHasAborted(Ice::Long workerId, const Ice::Current&)
    {
        std::lock_guard<std::mutex> lock{mtx};
        ARMARX_CHECK_EXPRESSION(static_cast<std::size_t>(workerId) < workerAbortedFlags.size());
        workerAbortedFlags.at(workerId) = true;
    }
 
    void
    Task::run(const RemoteObjectNodePrxList& remoteNodes, const Ice::Current&)
    {
        ARMARX_CHECK_EXPRESSION(cspace);
        ARMARX_CHECK_EXPRESSION(std::all_of(remoteNodes.begin(),
                                            remoteNodes.end(),
                                            [](const RemoteObjectNodeInterfacePrx& n)
                                            { return n; }));
        //init
        workerAbortedFlags.assign(workerCount, false);
        setTaskStatus(TaskStatus::ePlanning);
        const std::string topicName = "RRTConnectUpdateTopic:" + getProxy()->ice_getIdentity().name;
        //check trivial cases
 
        const auto startIsCollisionFree =
            cspace->isCollisionFree(std::pair<const Ice::Float*, const Ice::Float*>{
                startCfg.data(), startCfg.data() + startCfg.size()});
        if (!startIsCollisionFree)
        {
            setTaskStatus(TaskStatus::ePlanningFailed);
            ARMARX_WARNING << "MotionPlanningTask " << taskName
                           << " trivially failed! start cfg in collision. start:\n"
                           << startCfg;
            return;
        }
 
        const auto goalIscollisionFree =
            cspace->isCollisionFree(std::pair<const Ice::Float*, const Ice::Float*>{
                goalCfg.data(), goalCfg.data() + goalCfg.size()});
        if (!goalIscollisionFree)
        {
            setTaskStatus(TaskStatus::ePlanningFailed);
            ARMARX_WARNING << "MotionPlanningTask " << taskName
                           << " trivially failed! goal cfg in collision. goal:\n"
                           << goalCfg;
            return;
        }
 
        if (euclideanDistance(startCfg.begin(), startCfg.end(), goalCfg.begin()) <= dcdStep)
        {
            solution.nodes.emplace_back(startCfg);
            solution.nodes.emplace_back(goalCfg);
            solution.pathName = taskName + "_trivialPath_" + ice_staticId();
            ARMARX_WARNING
                << "MotionPlanningTask " << taskName
                << " trivially succeeded! (start and goal less than dcd step size apart!)";
            setTaskStatus(TaskStatus::eDone);
            return;
        }
 
        //start workers
        std::unique_lock<std::mutex> lock{mtx};
        std::vector<RemoteHandle<WorkerNodeBasePrx>> workers;
        WorkerNodeBasePrxList workerProxies;
 
        workers.reserve(workerCount);
        auto workerToStart = workerCount;
        const auto taskName = getProxy()->ice_getIdentity().name;
        for (auto& ron : remoteNodes)
        {
            auto maxWorkerForNode = ron->getNumberOfCores();
            for (Ice::Long i = 0; i < maxWorkerForNode && workerToStart; ++i)
            {
                WorkerNodeBasePtr worker{new WorkerNode{cspace->clone(),
                                                        startCfg,
                                                        goalCfg,
                                                        dcdStep,
                                                        TaskBasePrx::uncheckedCast(getProxy()),
                                                        topicName,
                                                        static_cast<Ice::Long>(workers.size()),
                                                        workerCount}};
                const std::string workerName = ManagedIceObject::generateSubObjectName(
                    taskName, "RRTConnectWorker:" + to_string(workers.size()));
                workers.emplace_back(ron->registerRemoteHandledObject(workerName, worker));
                workerProxies.emplace_back(*(workers.back()));
                --workerToStart;
            }
            if (!workerToStart)
            {
                break;
            }
        }
 
        //distribute worker proxy
        for (auto& w : workers)
        {
            w->setWorkerNodes(workerProxies);
        }
 
        //wait for done or timeout
        const auto endTime =
            std::chrono::system_clock::now() + std::chrono::seconds{maximalPlanningTimeInSeconds};
 
        while (true)
        {
            doneCV.wait_for(lock, std::chrono::milliseconds{10});
            if (endTime < std::chrono::system_clock::now())
            {
                setTaskStatus(TaskStatus::ePlanningFailed);
                break;
            }
            if (getTaskStatus() != TaskStatus::ePlanning)
            {
                break;
            }
        }
 
        //wait for all stopped
        while (std::any_of(
            workerAbortedFlags.begin(), workerAbortedFlags.end(), [](bool b) { return !b; }))
        {
            for (auto& w : workers)
            {
                w->abort();
            }
            doneCV.wait_for(lock, std::chrono::milliseconds{10});
        }
    }
 
    void
    Task::setPath(const Path& path, const Ice::Current&)
    {
        std::lock_guard<std::mutex> lock{mtx};
        solution = path;
        solution.pathName = taskName + "_path_" + ice_staticId();
        setTaskStatus(TaskStatus::eDone);
        doneCV.notify_all();
    }
 
    void
    Task::postEnqueueing()
    {
        MotionPlanningTaskWithDefaultMembers::postEnqueueing();
        cspace->initCollisionTest();
    }
} // namespace armarx::rrtconnect