cb_move_known_state.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 <yaml-cpp/yaml.h>
#include <ament_index_cpp/get_package_share_directory.hpp>
#include <filesystem>
#include <fstream>
#include <map>
#include <string>
#include "cb_move_joints.hpp"
 
namespace cl_moveit2z
{
class CbMoveKnownState : public CbMoveJoints
{
public:
  CbMoveKnownState(std::string pkg, std::string config_path) : pkg_(pkg), config_path_(config_path)
  {
  }
 
  virtual ~CbMoveKnownState() {}
 
  void onEntry() override
  {
    jointValueTarget_ = loadJointStatesFromFile(pkg_, config_path_);
    CbMoveJoints::onEntry();
  }
 
private:
#define HAVE_NEW_YAMLCPP
  std::map<std::string, double> loadJointStatesFromFile(std::string pkg, std::string filepath)
  {
    //auto pkgpath = ros::package::getPath(pkg);
    std::string pkgpath = ament_index_cpp::get_package_share_directory(pkg);
 
    std::map<std::string, double> jointStates;
 
    if (pkgpath == "")
    {
      RCLCPP_ERROR_STREAM(
        getLogger(), "[" << getName() << "] package not found for the known poses file: " << pkg
                         << std::endl
                         << " [IGNORING BEHAVIOR]");
      return jointStates;
    }
 
    filepath = pkgpath + "/" + filepath;
 
    RCLCPP_INFO_STREAM(
      getLogger(), "[" << getName() << "] Opening file with joint known state: " << filepath);
 
    if (std::filesystem::exists(filepath))
    {
      RCLCPP_INFO_STREAM(
        getLogger(), "[" << getName() << "] known state file exists: " << filepath);
    }
    else
    {
      RCLCPP_ERROR_STREAM(
        getLogger(), "[" << getName() << "] known state file does not exists: " << filepath);
    }
 
    std::ifstream ifs(filepath.c_str(), std::ifstream::in);
    if (ifs.good() == false)
    {
      RCLCPP_ERROR_STREAM(
        getLogger(),
        "[" << getName() << "] Error opening file with joint known states: " << filepath);
      throw std::string("joint state files not found");
    }
 
    try
    {
#ifdef HAVE_NEW_YAMLCPP
      YAML::Node node = YAML::Load(ifs);
#else
      YAML::Parser parser(ifs);
      parser.GetNextDocument(node);
#endif
 
#ifdef HAVE_NEW_YAMLCPP
      const YAML::Node & wp_node_tmp = node["joint_states"];
      const YAML::Node * wp_node = wp_node_tmp ? &wp_node_tmp : NULL;
#else
      const YAML::Node * wp_node = node.FindValue("waypoints");
#endif
 
      if (wp_node != NULL)
      {
        try
        {
          for (YAML::const_iterator it = wp_node->begin(); it != wp_node->end(); ++it)
          {
            std::string key = it->first.as<std::string>();
            double value = it->second.as<double>();
            RCLCPP_DEBUG_STREAM(getLogger(), " joint - " << key << ": " << value);
            jointStates[key] = value;
          }
 
          return jointStates;
        }
        catch (std::exception & ex)
        {
          RCLCPP_ERROR(getLogger(), "trying to convert to map, failed, errormsg: %s", ex.what());
        }
 
        RCLCPP_INFO_STREAM(getLogger(), "Parsed " << jointStates.size() << " joint entries.");
      }
      else
      {
        RCLCPP_WARN_STREAM(getLogger(), "Couldn't find any jointStates in the provided yaml file.");
      }
    }
    catch (const YAML::ParserException & ex)
    {
      RCLCPP_ERROR_STREAM(
        getLogger(), "Error loading the Waypoints YAML file. Incorrect syntax: " << ex.what());
    }
    return jointStates;
  }
 
  std::string pkg_;
  std::string config_path_;
};
}  // namespace cl_moveit2z