sbpl_meta_interface.cpp

Go to the documentation of this file.

/*********************************************************************
 * Software License Agreement (BSD License)
 *
 *  Copyright (c) 2012, Willow Garage, Inc.
 *  All rights reserved.
 *
 *  Redistribution and use in source and binary forms, with or without
 *  modification, are permitted provided that the following conditions
 *  are met:
 *
 *   * Redistributions of source code must retain the above copyright
 *     notice, this list of conditions and the following disclaimer.
 *   * Redistributions in binary form must reproduce the above
 *     copyright notice, this list of conditions and the following
 *     disclaimer in the documentation and/or other materials provided
 *     with the distribution.
 *   * Neither the name of Willow Garage nor the names of its
 *     contributors may be used to endorse or promote products derived
 *     from this software without specific prior written permission.
 *
 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
 *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
 *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
 *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
 *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
 *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
 *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
 *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
 *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
 *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 *  POSSIBILITY OF SUCH DAMAGE.
 *********************************************************************/


#include <sbpl_interface/sbpl_meta_interface.h>
#include <sbpl_interface/sbpl_interface.h>
#include <planning_models/conversions.h>

namespace sbpl_interface {

SBPLMetaInterface::SBPLMetaInterface(const planning_models::RobotModelConstPtr& kmodel)
{
  sbpl_interface_first_.reset(new sbpl_interface::SBPLInterface(kmodel));
  sbpl_interface_second_.reset(new sbpl_interface::SBPLInterface(kmodel));
}

bool SBPLMetaInterface::solve(const planning_scene::PlanningSceneConstPtr& planning_scene,
                              const moveit_msgs::GetMotionPlan::Request &req,
                              moveit_msgs::GetMotionPlan::Response &res)
{
  first_ok_ = false;
  first_done_ = false;
  second_ok_ = false;
  second_done_ = false;

  PlanningParameters param_bfs;
  param_bfs.use_bfs_ = true;
  PlanningParameters param_no_bfs;
  param_no_bfs.use_bfs_ = false;
  moveit_msgs::GetMotionPlan::Response res1, res2;
  boost::thread thread1(boost::bind(&SBPLMetaInterface::runSolver, this, true,
                                    boost::cref(planning_scene), boost::cref(req), boost::ref(res1), param_bfs));
  boost::thread thread2(boost::bind(&SBPLMetaInterface::runSolver, this, false,
                                    boost::cref(planning_scene), boost::cref(req), boost::ref(res2), param_no_bfs));
  boost::mutex::scoped_lock lock(planner_done_mutex_);
  planner_done_condition_.wait(lock);

  if(first_done_) {
    std::cerr << "FIRST DONE" << std::endl;
    if(first_ok_) {
      std::cerr << "First ok, interrupting second" << std::endl;
      if(!second_done_) {
        thread2.interrupt();
        thread2.join();
      }
    } else {
      if(!second_done_) {
        planner_done_condition_.wait(lock);
      }
    }
  }
  if(second_done_) {
    std::cerr << "Second done" << std::endl;
    if(second_ok_) {
      std::cerr << "Second ok, interrupting first" << std::endl;
      if(!first_done_) {
        thread1.interrupt();
        thread1.join();
      }
    } else {
      if(!first_done_) {
        planner_done_condition_.wait(lock);
      }
    }
  }

  if(!first_ok_ && !second_ok_) {
    std::cerr << "Both planners failed" << std::endl;
    res = res1;
    return false;
  }
  if(!first_ok_ && second_ok_) {
    std::cerr << "Sbpl interface no bfs reports time " << sbpl_interface_second_->getLastPlanningStatistics().total_planning_time_ << std::endl;
    last_planning_statistics_ = sbpl_interface_second_->getLastPlanningStatistics();
    res = res2;
    return true;
  } else if(first_ok_ && !second_ok_) {
    std::cerr << "Sbpl interface bfs reports time " << sbpl_interface_first_->getLastPlanningStatistics().total_planning_time_ << std::endl;
    last_planning_statistics_ = sbpl_interface_first_->getLastPlanningStatistics();
    res = res1;
    return true;
  }
  std::cerr << "Sbpl interface bfs reports time " << sbpl_interface_first_->getLastPlanningStatistics().total_planning_time_ << std::endl;
  std::cerr << "Sbpl interface no bfs reports time " << sbpl_interface_second_->getLastPlanningStatistics().total_planning_time_ << std::endl;
  if(sbpl_interface_first_->getLastPlanningStatistics().total_planning_time_ <
     sbpl_interface_second_->getLastPlanningStatistics().total_planning_time_) {
    last_planning_statistics_ = sbpl_interface_first_->getLastPlanningStatistics();
    res = res1;
  } else {
    last_planning_statistics_ = sbpl_interface_second_->getLastPlanningStatistics();
    res = res2;
  }
  return true;
}

void SBPLMetaInterface::runSolver(bool use_first,
                                  const planning_scene::PlanningSceneConstPtr& planning_scene,
                                  const moveit_msgs::GetMotionPlan::Request &req,
                                  moveit_msgs::GetMotionPlan::Response &res,
                                  const PlanningParameters& params)
{
  try {
    if(use_first) {
      std::cerr << "Running first planner" << std::endl;
      first_ok_ = sbpl_interface_first_->solve(planning_scene,
                                               req,
                                               res,
                                               params);
      first_done_ = true;
    } else {
      std::cerr << "Running second planner" << std::endl;
      second_ok_ = sbpl_interface_second_->solve(planning_scene,
                                                 req,
                                                 res,
                                                 params);
      second_done_ = true;
    }
    planner_done_condition_.notify_all();
  } catch(...) {
    std::cerr << "Interruption requested\n";
  }
}


}