cl_moveit2z.hpp

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// Copyright 2021 RobosoftAI Inc.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//     http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
 
/*****************************************************************************************************************
 *
 *   Authors: Pablo Inigo Blasco, Brett Aldrich
 *
 *****************************************************************************************************************/
 
#pragma once
 
//#include <smacc2/smacc_client.h>
//#include <smacc2/smacc_signal.h>
#include <smacc2/smacc.hpp>
 
#include <moveit/move_group_interface/move_group_interface.h>
#include <moveit/planning_scene_interface/planning_scene_interface.h>
 
#include <geometry_msgs/msg/transform.hpp>
#include <geometry_msgs/msg/vector3.hpp>
#include <tf2_geometry_msgs/tf2_geometry_msgs.hpp>
 
namespace cl_moveit2z
{
template <typename TSource, typename TOrthogonal>
struct EvMoveGroupMotionExecutionSucceded
: sc::event<EvMoveGroupMotionExecutionSucceded<TSource, TOrthogonal>>
{
};
 
template <typename TSource, typename TOrthogonal>
struct EvMoveGroupMotionExecutionFailed
: sc::event<EvMoveGroupMotionExecutionFailed<TSource, TOrthogonal>>
{
};
 
/*
moveit_msgs/MoveItErrorCodes
----------------------------
int32 SUCCESS=1
int32 FAILURE=99999
int32 PLANNING_FAILED=-1
int32 INVALID_MOTION_PLAN=-2
int32 MOTION_PLAN_INVALIDATED_BY_ENVIRONMENT_CHANGE=-3
int32 CONTROL_FAILED=-4
int32 UNABLE_TO_AQUIRE_SENSOR_DATA=-5
int32 TIMED_OUT=-6
int32 PREEMPTED=-7
int32 START_STATE_IN_COLLISION=-10
int32 START_STATE_VIOLATES_PATH_CONSTRAINTS=-11
int32 GOAL_IN_COLLISION=-12
int32 GOAL_VIOLATES_PATH_CONSTRAINTS=-13
int32 GOAL_CONSTRAINTS_VIOLATED=-14
int32 INVALID_GROUP_NAME=-15
int32 INVALID_GOAL_CONSTRAINTS=-16
int32 INVALID_ROBOT_STATE=-17
int32 INVALID_LINK_NAME=-18
int32 INVALID_OBJECT_NAME=-19
int32 FRAME_TRANSFORM_FAILURE=-21
int32 COLLISION_CHECKING_UNAVAILABLE=-22
int32 ROBOT_STATE_STALE=-23
int32 SENSOR_INFO_STALE=-24
int32 NO_IK_SOLUTION=-31
int32 val
*/
 
class ClMoveit2z : public smacc2::ISmaccClient
{
public:
  // this structure contains the default move_group configuration for any arm motion through move_group
  // the client behavior will override these default values in a copy of this object so that their changes
  // are not persinstent. In the other hand, if you change this client configuration, the parameters will be persistent.
  std::shared_ptr<moveit::planning_interface::MoveGroupInterface> moveGroupClientInterface;
 
  std::shared_ptr<moveit::planning_interface::PlanningSceneInterface> planningSceneInterface;
 
  ClMoveit2z(std::string groupName);
 
  ClMoveit2z(const moveit::planning_interface::MoveGroupInterface::Options & options);
 
  virtual ~ClMoveit2z();
 
  void onInitialize() override;
 
  void postEventMotionExecutionSucceded();
 
  void postEventMotionExecutionFailed();
 
  template <typename TOrthogonal, typename TSourceObject>
  void onOrthogonalAllocation()
  {
    postEventMotionExecutionSucceded_ = [=]()
    {
      this->onSucceded_();
      this->postEvent<EvMoveGroupMotionExecutionSucceded<TSourceObject, TOrthogonal>>();
    };
 
    postEventMotionExecutionFailed_ = [=]()
    {
      this->onFailed_();
      this->postEvent<EvMoveGroupMotionExecutionFailed<TSourceObject, TOrthogonal>>();
    };
  }
 
  template <typename TCallback, typename T>
  boost::signals2::connection onMotionExecutionSuccedded(TCallback callback, T * object)
  {
    return this->getStateMachine()->createSignalConnection(onSucceded_, callback, object);
  }
 
  template <typename TCallback, typename T>
  boost::signals2::connection onMotionExecutionFailed(TCallback callback, T * object)
  {
    return this->getStateMachine()->createSignalConnection(onFailed_, callback, object);
  }
 
  const moveit::planning_interface::MoveGroupInterface::Options & getOptions() const;
 
private:
  std::function<void()> postEventMotionExecutionSucceded_;
  std::function<void()> postEventMotionExecutionFailed_;
 
  smacc2::SmaccSignal<void()> onSucceded_;
  smacc2::SmaccSignal<void()> onFailed_;
 
  // std::string groupName_;
  moveit::planning_interface::MoveGroupInterface::Options options_;
};
}  // namespace cl_moveit2z