introspection.h

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/* Author: Robert Haschke
   Desc:   Introspection provides ROS interfaces to introspect Task instances
*/
 
#pragma once
 
#include <moveit/macros/class_forward.h>
#include <moveit_task_constructor_msgs/TaskDescription.h>
#include <moveit_task_constructor_msgs/TaskStatistics.h>
#include <moveit_task_constructor_msgs/Solution.h>
#include <moveit_task_constructor_msgs/GetSolution.h>
 
#define DESCRIPTION_TOPIC "description"
#define STATISTICS_TOPIC "statistics"
#define SOLUTION_TOPIC "solution"
#define GET_SOLUTION_SERVICE "get_solution"
 
namespace moveit {
namespace task_constructor {
 
MOVEIT_CLASS_FORWARD(Stage);
MOVEIT_CLASS_FORWARD(SolutionBase);
 
class TaskPrivate;
class IntrospectionPrivate;
 
class Introspection
{
    IntrospectionPrivate* impl;
 
public:
    Introspection(const TaskPrivate* task);
    Introspection(const Introspection& other) = delete;
    ~Introspection();
 
    moveit_task_constructor_msgs::TaskDescription&
    fillTaskDescription(moveit_task_constructor_msgs::TaskDescription& msg);
    void publishTaskDescription();
 
    moveit_task_constructor_msgs::TaskStatistics& fillTaskStatistics(moveit_task_constructor_msgs::TaskStatistics& msg);
    void publishTaskState();
 
    void reset();
 
    void registerSolution(const SolutionBase& s);
 
    void publishSolution(const SolutionBase& s);
 
    void publishAllSolutions(bool wait = true);
 
    bool getSolution(moveit_task_constructor_msgs::GetSolution::Request& req,
                     moveit_task_constructor_msgs::GetSolution::Response& res);
 
    uint32_t stageId(const moveit::task_constructor::Stage* const s) const;
 
    uint32_t solutionId(const moveit::task_constructor::SolutionBase& s);
 
private:
    void fillStageStatistics(const Stage& stage, moveit_task_constructor_msgs::StageStatistics& s);
    void fillSolution(moveit_task_constructor_msgs::Solution& msg, const SolutionBase& s);
    uint32_t stageId(const moveit::task_constructor::Stage* const s);
    const SolutionBase* solutionFromId(uint id) const;
};
}  // namespace task_constructor
}  // namespace moveit