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Rename TaskComposerInput to TaskComposerContext and simplify interfaces #379

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Sep 19, 2023
Merged

Rename TaskComposerInput to TaskComposerContext and simplify interfaces #379

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77efd2a
Rename TaskComposerInput to TaskComposerContext and simplify interfaces
Levi-Armstrong Sep 16, 2023
24a84b1
fixup
Levi-Armstrong Sep 17, 2023
7fc216b
Make requested changes
Levi-Armstrong Sep 18, 2023
dfcdc67
Fixup
Levi-Armstrong Sep 18, 2023
9378936
fixup
Levi-Armstrong Sep 18, 2023
efff644
fixup
Levi-Armstrong Sep 19, 2023
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9 changes: 4 additions & 5 deletions tesseract_examples/src/basic_cartesian_example.cpp
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Expand Up @@ -49,7 +49,7 @@ TESSERACT_COMMON_IGNORE_WARNINGS_POP
#include <tesseract_motion_planners/trajopt/profile/trajopt_default_plan_profile.h>

#include <tesseract_task_composer/planning/planning_task_composer_problem.h>
#include <tesseract_task_composer/core/task_composer_input.h>
#include <tesseract_task_composer/core/task_composer_context.h>
#include <tesseract_task_composer/core/task_composer_plugin_factory.h>

#include <tesseract_geometry/impl/octree.h>
Expand Down Expand Up @@ -256,8 +256,7 @@ bool BasicCartesianExample::run()
// Solve task
tesseract_common::Timer stopwatch;
stopwatch.start();
TaskComposerInput input(std::move(problem));
TaskComposerFuture::UPtr future = executor->run(*task, input);
TaskComposerFuture::UPtr future = executor->run(*task, std::move(problem));
future->wait();

stopwatch.stop();
Expand All @@ -267,7 +266,7 @@ bool BasicCartesianExample::run()
if (plotter_ != nullptr && plotter_->isConnected())
{
plotter_->waitForInput();
auto ci = input.data_storage.getData(output_key).as<CompositeInstruction>();
auto ci = future->context->getDataStorage().getData(output_key).as<CompositeInstruction>();
tesseract_common::Toolpath toolpath = toToolpath(ci, *env_);
tesseract_common::JointTrajectory trajectory = toJointTrajectory(ci);
auto state_solver = env_->getStateSolver();
Expand All @@ -276,7 +275,7 @@ bool BasicCartesianExample::run()
}

CONSOLE_BRIDGE_logInform("Final trajectory is collision free");
return input.isSuccessful();
return future->context->isSuccessful();
}

} // namespace tesseract_examples
16 changes: 7 additions & 9 deletions tesseract_examples/src/car_seat_example.cpp
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Expand Up @@ -42,7 +42,7 @@ TESSERACT_COMMON_IGNORE_WARNINGS_POP
#include <tesseract_command_language/profile_dictionary.h>
#include <tesseract_command_language/utils.h>
#include <tesseract_task_composer/planning/planning_task_composer_problem.h>
#include <tesseract_task_composer/core/task_composer_input.h>
#include <tesseract_task_composer/core/task_composer_context.h>
#include <tesseract_task_composer/core/task_composer_plugin_factory.h>

#include <tesseract_motion_planners/trajopt/profile/trajopt_default_composite_profile.h>
Expand Down Expand Up @@ -309,17 +309,16 @@ bool CarSeatExample::run()
auto problem = std::make_unique<PlanningTaskComposerProblem>(env_, input_data, profiles);

// Solve task
TaskComposerInput input(std::move(problem));
TaskComposerFuture::UPtr future = executor->run(*task, input);
TaskComposerFuture::UPtr future = executor->run(*task, std::move(problem));
future->wait();

if (!input.isSuccessful())
if (!future->context->isSuccessful())
return false;

// Plot Process Trajectory
if (plotter_ != nullptr && plotter_->isConnected())
{
auto ci = input.data_storage.getData(output_key).as<CompositeInstruction>();
auto ci = future->context->getDataStorage().getData(output_key).as<CompositeInstruction>();
tesseract_common::Toolpath toolpath = toToolpath(ci, *env_);
tesseract_common::JointTrajectory trajectory = toJointTrajectory(ci);
auto state_solver = env_->getStateSolver();
Expand Down Expand Up @@ -398,17 +397,16 @@ bool CarSeatExample::run()
auto problem = std::make_unique<PlanningTaskComposerProblem>(env_, input_data, profiles);

// Solve task
TaskComposerInput input(std::move(problem));
TaskComposerFuture::UPtr future = executor->run(*task, input);
TaskComposerFuture::UPtr future = executor->run(*task, std::move(problem));
future->wait();

if (!input.isSuccessful())
if (!future->context->isSuccessful())
return false;

// Plot Process Trajectory
if (plotter_ != nullptr && plotter_->isConnected())
{
auto ci = input.data_storage.getData(output_key).as<CompositeInstruction>();
auto ci = future->context->getDataStorage().getData(output_key).as<CompositeInstruction>();
tesseract_common::Toolpath toolpath = toToolpath(ci, *env_);
tesseract_common::JointTrajectory trajectory = toJointTrajectory(ci);
auto state_solver = env_->getStateSolver();
Expand Down
9 changes: 4 additions & 5 deletions tesseract_examples/src/freespace_hybrid_example.cpp
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Expand Up @@ -42,7 +42,7 @@ TESSERACT_COMMON_IGNORE_WARNINGS_POP
#include <tesseract_motion_planners/ompl/profile/ompl_default_plan_profile.h>
#include <tesseract_motion_planners/core/utils.h>
#include <tesseract_task_composer/planning/planning_task_composer_problem.h>
#include <tesseract_task_composer/core/task_composer_input.h>
#include <tesseract_task_composer/core/task_composer_context.h>
#include <tesseract_task_composer/core/task_composer_plugin_factory.h>
#include <tesseract_visualization/markers/toolpath_marker.h>

Expand Down Expand Up @@ -187,15 +187,14 @@ bool FreespaceHybridExample::run()
auto problem = std::make_unique<PlanningTaskComposerProblem>(env_, input_data, profiles);

// Solve task
TaskComposerInput input(std::move(problem));
TaskComposerFuture::UPtr future = executor->run(*task, input);
TaskComposerFuture::UPtr future = executor->run(*task, std::move(problem));
future->wait();

// Plot Process Trajectory
if (plotter_ != nullptr && plotter_->isConnected())
{
plotter_->waitForInput();
auto ci = input.data_storage.getData(output_key).as<CompositeInstruction>();
auto ci = future->context->getDataStorage().getData(output_key).as<CompositeInstruction>();
tesseract_common::Toolpath toolpath = toToolpath(ci, *env_);
tesseract_common::JointTrajectory trajectory = toJointTrajectory(ci);
auto state_solver = env_->getStateSolver();
Expand All @@ -204,6 +203,6 @@ bool FreespaceHybridExample::run()
}

CONSOLE_BRIDGE_logInform("Final trajectory is collision free");
return input.isSuccessful();
return future->context->isSuccessful();
}
} // namespace tesseract_examples
9 changes: 4 additions & 5 deletions tesseract_examples/src/freespace_ompl_example.cpp
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Expand Up @@ -42,7 +42,7 @@ TESSERACT_COMMON_IGNORE_WARNINGS_POP
#include <tesseract_motion_planners/ompl/profile/ompl_default_plan_profile.h>
#include <tesseract_motion_planners/core/utils.h>
#include <tesseract_task_composer/planning/planning_task_composer_problem.h>
#include <tesseract_task_composer/core/task_composer_input.h>
#include <tesseract_task_composer/core/task_composer_context.h>
#include <tesseract_task_composer/core/task_composer_plugin_factory.h>
#include <tesseract_visualization/markers/toolpath_marker.h>

Expand Down Expand Up @@ -187,15 +187,14 @@ bool FreespaceOMPLExample::run()
auto problem = std::make_unique<PlanningTaskComposerProblem>(env_, input_data, profiles);

// Solve task
TaskComposerInput input(std::move(problem));
TaskComposerFuture::UPtr future = executor->run(*task, input);
TaskComposerFuture::UPtr future = executor->run(*task, std::move(problem));
future->wait();

// Plot Process Trajectory
if (plotter_ != nullptr && plotter_->isConnected())
{
plotter_->waitForInput();
auto ci = input.data_storage.getData(output_key).as<CompositeInstruction>();
auto ci = future->context->getDataStorage().getData(output_key).as<CompositeInstruction>();
tesseract_common::Toolpath toolpath = toToolpath(ci, *env_);
tesseract_common::JointTrajectory trajectory = toJointTrajectory(ci);
auto state_solver = env_->getStateSolver();
Expand All @@ -204,6 +203,6 @@ bool FreespaceOMPLExample::run()
}

CONSOLE_BRIDGE_logInform("Final trajectory is collision free");
return input.isSuccessful();
return future->context->isSuccessful();
}
} // namespace tesseract_examples
9 changes: 4 additions & 5 deletions tesseract_examples/src/glass_upright_example.cpp
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Expand Up @@ -39,7 +39,7 @@ TESSERACT_COMMON_IGNORE_WARNINGS_POP
#include <tesseract_command_language/move_instruction.h>
#include <tesseract_command_language/utils.h>
#include <tesseract_task_composer/planning/planning_task_composer_problem.h>
#include <tesseract_task_composer/core/task_composer_input.h>
#include <tesseract_task_composer/core/task_composer_context.h>
#include <tesseract_task_composer/core/task_composer_plugin_factory.h>
#include <tesseract_visualization/markers/toolpath_marker.h>

Expand Down Expand Up @@ -249,8 +249,7 @@ bool GlassUprightExample::run()
// Solve process plan
tesseract_common::Timer stopwatch;
stopwatch.start();
TaskComposerInput input(std::move(problem));
TaskComposerFuture::UPtr future = executor->run(*task, input);
TaskComposerFuture::UPtr future = executor->run(*task, std::move(problem));
future->wait();

stopwatch.stop();
Expand All @@ -260,7 +259,7 @@ bool GlassUprightExample::run()
if (plotter_ != nullptr && plotter_->isConnected())
{
plotter_->waitForInput();
auto ci = input.data_storage.getData(output_key).as<CompositeInstruction>();
auto ci = future->context->getDataStorage().getData(output_key).as<CompositeInstruction>();
tesseract_common::Toolpath toolpath = toToolpath(ci, *env_);
tesseract_common::JointTrajectory trajectory = toJointTrajectory(ci);
auto state_solver = env_->getStateSolver();
Expand All @@ -270,6 +269,6 @@ bool GlassUprightExample::run()
}

CONSOLE_BRIDGE_logInform("Final trajectory is collision free");
return input.isSuccessful();
return future->context->isSuccessful();
}
} // namespace tesseract_examples
19 changes: 9 additions & 10 deletions tesseract_examples/src/pick_and_place_example.cpp
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Expand Up @@ -43,7 +43,7 @@ TESSERACT_COMMON_IGNORE_WARNINGS_POP
#include <tesseract_command_language/utils.h>
#include <tesseract_task_composer/planning/planning_task_composer_problem.h>
#include <tesseract_task_composer/planning/profiles/contact_check_profile.h>
#include <tesseract_task_composer/core/task_composer_input.h>
#include <tesseract_task_composer/core/task_composer_context.h>
#include <tesseract_task_composer/core/task_composer_plugin_factory.h>
#include <tesseract_visualization/markers/toolpath_marker.h>

Expand Down Expand Up @@ -234,18 +234,17 @@ bool PickAndPlaceExample::run()
auto pick_problem = std::make_unique<PlanningTaskComposerProblem>(env_, pick_input_data, profiles);

// Solve task
TaskComposerInput pick_input(std::move(pick_problem));
TaskComposerFuture::UPtr pick_future = executor->run(*pick_task, pick_input);
TaskComposerFuture::UPtr pick_future = executor->run(*pick_task, std::move(pick_problem));
pick_future->wait();

if (!pick_input.isSuccessful())
if (!pick_future->context->isSuccessful())
return false;

// Plot Process Trajectory
if (plotter_ != nullptr && plotter_->isConnected())
{
plotter_->waitForInput();
auto ci = pick_input.data_storage.getData(pick_output_key).as<CompositeInstruction>();
auto ci = pick_future->context->getDataStorage().getData(pick_output_key).as<CompositeInstruction>();
tesseract_common::Toolpath toolpath = toToolpath(ci, *env_);
tesseract_common::JointTrajectory trajectory = toJointTrajectory(ci);
auto state_solver = env_->getStateSolver();
Expand Down Expand Up @@ -278,7 +277,8 @@ bool PickAndPlaceExample::run()
env_->applyCommands(cmds);

// Get the last move instruction
CompositeInstruction pick_composite = pick_input.data_storage.getData(pick_output_key).as<CompositeInstruction>();
CompositeInstruction pick_composite =
pick_future->context->getDataStorage().getData(pick_output_key).as<CompositeInstruction>();
const MoveInstructionPoly* pick_final_state = pick_composite.getLastMoveInstruction();

// Retreat to the approach pose
Expand Down Expand Up @@ -355,18 +355,17 @@ bool PickAndPlaceExample::run()
auto place_problem = std::make_unique<PlanningTaskComposerProblem>(env_, place_input_data, profiles);

// Solve task
TaskComposerInput place_input(std::move(place_problem));
TaskComposerFuture::UPtr place_future = executor->run(*place_task, place_input);
TaskComposerFuture::UPtr place_future = executor->run(*place_task, std::move(place_problem));
place_future->wait();

if (!place_input.isSuccessful())
if (!place_future->context->isSuccessful())
return false;

// Plot Process Trajectory
if (plotter_ != nullptr && plotter_->isConnected())
{
plotter_->waitForInput();
auto ci = place_input.data_storage.getData(place_output_key).as<CompositeInstruction>();
auto ci = place_future->context->getDataStorage().getData(place_output_key).as<CompositeInstruction>();
tesseract_common::Toolpath toolpath = toToolpath(ci, *env_);
tesseract_common::JointTrajectory trajectory = toJointTrajectory(ci);
auto state_solver = env_->getStateSolver();
Expand Down
9 changes: 4 additions & 5 deletions tesseract_examples/src/puzzle_piece_auxillary_axes_example.cpp
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Expand Up @@ -43,7 +43,7 @@ TESSERACT_COMMON_IGNORE_WARNINGS_POP
#include <tesseract_motion_planners/trajopt/profile/trajopt_default_solver_profile.h>
#include <tesseract_motion_planners/core/utils.h>
#include <tesseract_task_composer/planning/planning_task_composer_problem.h>
#include <tesseract_task_composer/core/task_composer_input.h>
#include <tesseract_task_composer/core/task_composer_context.h>
#include <tesseract_task_composer/core/task_composer_plugin_factory.h>
#include <tesseract_visualization/markers/toolpath_marker.h>
#include <trajopt_sco/osqp_interface.hpp>
Expand Down Expand Up @@ -240,21 +240,20 @@ bool PuzzlePieceAuxillaryAxesExample::run()
auto problem = std::make_unique<PlanningTaskComposerProblem>(env_, input_data, profiles);

// Solve task
TaskComposerInput input(std::move(problem));
TaskComposerFuture::UPtr future = executor->run(*task, input);
TaskComposerFuture::UPtr future = executor->run(*task, std::move(problem));
future->wait();

// Plot Process Trajectory
if (plotter_ != nullptr && plotter_->isConnected())
{
plotter_->waitForInput();
auto ci = input.data_storage.getData(output_key).as<CompositeInstruction>();
auto ci = future->context->getDataStorage().getData(output_key).as<CompositeInstruction>();
tesseract_common::JointTrajectory trajectory = toJointTrajectory(ci);
auto state_solver = env_->getStateSolver();
plotter_->plotTrajectory(trajectory, *state_solver);
}

CONSOLE_BRIDGE_logInform("Final trajectory is collision free");
return input.isSuccessful();
return future->context->isSuccessful();
}
} // namespace tesseract_examples
9 changes: 4 additions & 5 deletions tesseract_examples/src/puzzle_piece_example.cpp
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Expand Up @@ -44,7 +44,7 @@ TESSERACT_COMMON_IGNORE_WARNINGS_POP
#include <tesseract_motion_planners/trajopt/profile/trajopt_default_solver_profile.h>
#include <tesseract_motion_planners/core/utils.h>
#include <tesseract_task_composer/planning/planning_task_composer_problem.h>
#include <tesseract_task_composer/core/task_composer_input.h>
#include <tesseract_task_composer/core/task_composer_context.h>
#include <tesseract_task_composer/core/task_composer_plugin_factory.h>
#include <tesseract_visualization/markers/toolpath_marker.h>

Expand Down Expand Up @@ -234,8 +234,7 @@ bool PuzzlePieceExample::run()
// Solve task
tesseract_common::Timer stopwatch;
stopwatch.start();
TaskComposerInput input(std::move(problem));
TaskComposerFuture::UPtr future = executor->run(*task, input);
TaskComposerFuture::UPtr future = executor->run(*task, std::move(problem));
future->wait();

stopwatch.stop();
Expand All @@ -245,13 +244,13 @@ bool PuzzlePieceExample::run()
if (plotter_ != nullptr && plotter_->isConnected())
{
plotter_->waitForInput();
auto ci = input.data_storage.getData(output_key).as<CompositeInstruction>();
auto ci = future->context->getDataStorage().getData(output_key).as<CompositeInstruction>();
tesseract_common::JointTrajectory trajectory = toJointTrajectory(ci);
auto state_solver = env_->getStateSolver();
plotter_->plotTrajectory(trajectory, *state_solver);
}

CONSOLE_BRIDGE_logInform("Final trajectory is collision free");
return input.isSuccessful();
return future->context->isSuccessful();
}
} // namespace tesseract_examples
2 changes: 1 addition & 1 deletion tesseract_task_composer/core/CMakeLists.txt
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@@ -1,9 +1,9 @@
add_library(
${PROJECT_NAME}
src/task_composer_data_storage.cpp
src/task_composer_context.cpp
src/task_composer_executor.cpp
src/task_composer_graph.cpp
src/task_composer_input.cpp
src/task_composer_node.cpp
src/task_composer_node_info.cpp
src/task_composer_pipeline.cpp
Expand Down
2 changes: 1 addition & 1 deletion tesseract_task_composer/core/include/tesseract_task_composer/core/nodes/abort_task.h
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Expand Up @@ -57,7 +57,7 @@ class AbortTask : public TaskComposerTask
template <class Archive>
void serialize(Archive& ar, const unsigned int version); // NOLINT

TaskComposerNodeInfo::UPtr runImpl(TaskComposerInput& input,
TaskComposerNodeInfo::UPtr runImpl(const TaskComposerContext::Ptr& context,
OptionalTaskComposerExecutor executor = std::nullopt) const override final;
};

Expand Down
2 changes: 1 addition & 1 deletion tesseract_task_composer/core/include/tesseract_task_composer/core/nodes/done_task.h
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Expand Up @@ -57,7 +57,7 @@ class DoneTask : public TaskComposerTask
template <class Archive>
void serialize(Archive& ar, const unsigned int version); // NOLINT

TaskComposerNodeInfo::UPtr runImpl(TaskComposerInput& input,
TaskComposerNodeInfo::UPtr runImpl(const TaskComposerContext::Ptr& context,
OptionalTaskComposerExecutor executor = std::nullopt) const override final;
};

Expand Down
2 changes: 1 addition & 1 deletion tesseract_task_composer/core/include/tesseract_task_composer/core/nodes/error_task.h
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Expand Up @@ -57,7 +57,7 @@ class ErrorTask : public TaskComposerTask
template <class Archive>
void serialize(Archive& ar, const unsigned int version); // NOLINT

TaskComposerNodeInfo::UPtr runImpl(TaskComposerInput& input,
TaskComposerNodeInfo::UPtr runImpl(const TaskComposerContext::Ptr& context,
OptionalTaskComposerExecutor executor = std::nullopt) const override final;
};

Expand Down
2 changes: 1 addition & 1 deletion tesseract_task_composer/core/include/tesseract_task_composer/core/nodes/remap_task.h
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Expand Up @@ -65,7 +65,7 @@ class RemapTask : public TaskComposerTask
template <class Archive>
void serialize(Archive& ar, const unsigned int version); // NOLINT

TaskComposerNodeInfo::UPtr runImpl(TaskComposerInput& input,
TaskComposerNodeInfo::UPtr runImpl(const TaskComposerContext::Ptr& context,
OptionalTaskComposerExecutor executor = std::nullopt) const override final;
};

Expand Down
2 changes: 1 addition & 1 deletion tesseract_task_composer/core/include/tesseract_task_composer/core/nodes/start_task.h
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Expand Up @@ -56,7 +56,7 @@ class StartTask : public TaskComposerTask
template <class Archive>
void serialize(Archive& ar, const unsigned int version); // NOLINT

TaskComposerNodeInfo::UPtr runImpl(TaskComposerInput& input,
TaskComposerNodeInfo::UPtr runImpl(const TaskComposerContext::Ptr& context,
OptionalTaskComposerExecutor executor = std::nullopt) const override final;
};

Expand Down
2 changes: 1 addition & 1 deletion tesseract_task_composer/core/include/tesseract_task_composer/core/nodes/sync_task.h
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Expand Up @@ -66,7 +66,7 @@ class SyncTask : public TaskComposerTask
template <class Archive>
void serialize(Archive& ar, const unsigned int version); // NOLINT

TaskComposerNodeInfo::UPtr runImpl(TaskComposerInput& input,
TaskComposerNodeInfo::UPtr runImpl(const TaskComposerContext::Ptr& context,
OptionalTaskComposerExecutor executor = std::nullopt) const override final;
};

Expand Down
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