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implemented abstraction to planner interface code #328

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implemented abstraction to planner interface code #328

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55 changes: 16 additions & 39 deletions rosplan_planning_system/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -52,19 +52,20 @@ add_executable(problemInterface src/ProblemGeneration/ProblemInterface.cpp src/P
src/ProblemGeneration/CHIMPProblem.cpp
src/ProblemGeneration/CHIMPProblemGenerator.cpp
src/ProblemGeneration/ProblemGeneratorFactory.cpp)
add_executable(popf_planner_interface src/PlannerInterface/POPFPlannerInterface.cpp src/PlannerInterface/PlannerInterface.cpp)
add_executable(panda_planner_interface src/PlannerInterface/PANDAPlannerInterface.cpp src/PlannerInterface/PlannerInterface.cpp)
add_executable(ff_planner_interface src/PlannerInterface/FFPlannerInterface.cpp src/PlannerInterface/PlannerInterface.cpp)
add_executable(rddlsim_planner_interface src/PlannerInterface/RDDLSIMPlannerInterface.cpp src/PlannerInterface/PlannerInterface.cpp)
add_executable(metricff_planner_interface src/PlannerInterface/FFPlannerInterface.cpp src/PlannerInterface/PlannerInterface.cpp)
add_executable(smt_planner_interface src/PlannerInterface/SMTPlannerInterface.cpp src/PlannerInterface/PlannerInterface.cpp)
add_executable(fd_planner_interface src/PlannerInterface/FDPlannerInterface.cpp src/PlannerInterface/PlannerInterface.cpp)
add_executable(tfd_planner_interface src/PlannerInterface/TFDPlannerInterface.cpp src/PlannerInterface/PlannerInterface.cpp)
add_executable(lpg_planner_interface src/PlannerInterface/LPGPlannerInterface.cpp src/PlannerInterface/PlannerInterface.cpp)
add_executable(upm_planner_interface src/PlannerInterface/UPMPlannerInterface.cpp src/PlannerInterface/PlannerInterface.cpp)
add_executable(pprp_planner_interface src/PlannerInterface/PPRPPlannerInterface.cpp src/PlannerInterface/PlannerInterface.cpp)
add_executable(chimp_planner_interface src/PlannerInterface/CHIMPPlannerInterface.cpp src/PlannerInterface/PlannerInterface.cpp)
add_executable(online_planner_interface src/PlannerInterface/OnlinePlannerInterface.cpp src/PlannerInterface/PlannerInterface.cpp)
add_executable(main src/PlannerInterface/main.cpp src/PlannerInterface/POPFPlannerInterface.cpp
src/PlannerInterface/PANDAPlannerInterface.cpp
src/PlannerInterface/FFPlannerInterface.cpp
src/PlannerInterface/RDDLSIMPlannerInterface.cpp
src/PlannerInterface/FFPlannerInterface.cpp
src/PlannerInterface/SMTPlannerInterface.cpp
src/PlannerInterface/FDPlannerInterface.cpp
src/PlannerInterface/TFDPlannerInterface.cpp
src/PlannerInterface/LPGPlannerInterface.cpp
src/PlannerInterface/UPMPlannerInterface.cpp
src/PlannerInterface/PPRPPlannerInterface.cpp
src/PlannerInterface/CHIMPPlannerInterface.cpp
src/PlannerInterface/OnlinePlannerInterface.cpp
src/PlannerInterface/PlannerInterface.cpp)
add_executable(pddl_simple_plan_parser src/PlanParsing/PDDLSimplePlanParser.cpp src/PlanParsing/PlanParser.cpp)
add_executable(pddl_esterel_plan_parser src/PlanParsing/PDDLEsterelPlanParser.cpp src/PlanParsing/PlanParser.cpp)
add_executable(pddl_simple_plan_dispatcher src/PlanDispatch/SimplePlanDispatcher.cpp src/PlanDispatch/PlanDispatcher.cpp)
Expand All @@ -74,19 +75,7 @@ add_executable(simulatedAction src/ActionInterface/RPSimulatedActionInterface.cp

## Add dependencies
add_dependencies(problemInterface ${catkin_EXPORTED_TARGETS})
add_dependencies(popf_planner_interface ${catkin_EXPORTED_TARGETS})
add_dependencies(panda_planner_interface ${catkin_EXPORTED_TARGETS})
add_dependencies(ff_planner_interface ${catkin_EXPORTED_TARGETS})
add_dependencies(rddlsim_planner_interface ${catkin_EXPORTED_TARGETS})
add_dependencies(metricff_planner_interface ${catkin_EXPORTED_TARGETS})
add_dependencies(smt_planner_interface ${catkin_EXPORTED_TARGETS})
add_dependencies(fd_planner_interface ${catkin_EXPORTED_TARGETS})
add_dependencies(tfd_planner_interface ${catkin_EXPORTED_TARGETS})
add_dependencies(lpg_planner_interface ${catkin_EXPORTED_TARGETS})
add_dependencies(upm_planner_interface ${catkin_EXPORTED_TARGETS})
add_dependencies(pprp_planner_interface ${catkin_EXPORTED_TARGETS})
add_dependencies(online_planner_interface ${catkin_EXPORTED_TARGETS})
add_dependencies(chimp_planner_interface ${catkin_EXPORTED_TARGETS})
add_dependencies(main ${catkin_EXPORTED_TARGETS})
add_dependencies(pddl_simple_plan_parser ${catkin_EXPORTED_TARGETS})
add_dependencies(pddl_esterel_plan_parser ${catkin_EXPORTED_TARGETS})
add_dependencies(pddl_simple_plan_dispatcher ${catkin_EXPORTED_TARGETS})
Expand All @@ -96,19 +85,7 @@ add_dependencies(simulatedAction ${catkin_EXPORTED_TARGETS})

## Specify libraries against which to link a library or executable target
target_link_libraries(problemInterface ${catkin_LIBRARIES})
target_link_libraries(popf_planner_interface ${catkin_LIBRARIES})
target_link_libraries(panda_planner_interface ${catkin_LIBRARIES})
target_link_libraries(ff_planner_interface ${catkin_LIBRARIES})
target_link_libraries(rddlsim_planner_interface ${catkin_LIBRARIES})
target_link_libraries(metricff_planner_interface ${catkin_LIBRARIES})
target_link_libraries(smt_planner_interface ${catkin_LIBRARIES})
target_link_libraries(fd_planner_interface ${catkin_LIBRARIES})
target_link_libraries(tfd_planner_interface ${catkin_LIBRARIES})
target_link_libraries(lpg_planner_interface ${catkin_LIBRARIES})
target_link_libraries(upm_planner_interface ${catkin_LIBRARIES})
target_link_libraries(pprp_planner_interface ${catkin_LIBRARIES})
target_link_libraries(online_planner_interface ${catkin_LIBRARIES})
target_link_libraries(chimp_planner_interface ${catkin_LIBRARIES})
target_link_libraries(main ${catkin_LIBRARIES})
target_link_libraries(pddl_simple_plan_parser ${catkin_LIBRARIES})
target_link_libraries(pddl_esterel_plan_parser ${catkin_LIBRARIES})
target_link_libraries(pddl_simple_plan_dispatcher ${catkin_LIBRARIES})
Expand Down
8 changes: 0 additions & 8 deletions ..._planning_system/include/rosplan_planning_system/PlannerInterface/CHIMPPlannerInterface.h
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Expand Up @@ -20,14 +20,6 @@ namespace KCL_rosplan {
{
private:

/* runs external commands */
std::string runCommand(std::string cmd);

/* create command line for the planner */
std::string prepareCommand();
/* write the problem instance to problem_path file */
void writeProblemToFile();

protected:

bool runPlanner();
Expand Down
3 changes: 0 additions & 3 deletions ...lan_planning_system/include/rosplan_planning_system/PlannerInterface/FDPlannerInterface.h
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Expand Up @@ -19,9 +19,6 @@ namespace KCL_rosplan {
{
private:

/* runs external commands */
std::string runCommand(std::string cmd);

protected:

bool runPlanner();
Expand Down
3 changes: 0 additions & 3 deletions ...lan_planning_system/include/rosplan_planning_system/PlannerInterface/FFPlannerInterface.h
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Expand Up @@ -20,9 +20,6 @@ namespace KCL_rosplan {

bool use_ffha;

/* runs external commands */
std::string runCommand(std::string cmd);

protected:

bool runPlanner();
Expand Down
3 changes: 0 additions & 3 deletions ...an_planning_system/include/rosplan_planning_system/PlannerInterface/LPGPlannerInterface.h
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Expand Up @@ -18,9 +18,6 @@ namespace KCL_rosplan {
{
private:

/* runs external commands */
std::string runCommand(std::string cmd);

protected:

bool runPlanner();
Expand Down
2 changes: 1 addition & 1 deletion ...planning_system/include/rosplan_planning_system/PlannerInterface/OnlinePlannerInterface.h
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Expand Up @@ -16,7 +16,7 @@ namespace KCL_rosplan {
private:

/* runs external commands */
std::string runCommand(std::string cmd);
std::string runCommand(std::string cmd);
std::thread planner;
bool planner_running;

Expand Down
3 changes: 0 additions & 3 deletions ..._planning_system/include/rosplan_planning_system/PlannerInterface/PANDAPlannerInterface.h
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Expand Up @@ -18,9 +18,6 @@ namespace KCL_rosplan {
{
private:

/* runs external commands */
std::string runCommand(std::string cmd);

protected:

bool runPlanner();
Expand Down
3 changes: 0 additions & 3 deletions ...n_planning_system/include/rosplan_planning_system/PlannerInterface/POPFPlannerInterface.h
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Original file line number Diff line number Diff line change
Expand Up @@ -18,9 +18,6 @@ namespace KCL_rosplan {
{
private:

/* runs external commands */
std::string runCommand(std::string cmd);

protected:

bool runPlanner();
Expand Down
3 changes: 0 additions & 3 deletions ...n_planning_system/include/rosplan_planning_system/PlannerInterface/PPRPPlannerInterface.h
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Expand Up @@ -18,9 +18,6 @@ namespace KCL_rosplan {
{
private:

/* runs external commands */
std::string runCommand(std::string cmd);

protected:

bool runPlanner();
Expand Down
24 changes: 24 additions & 0 deletions rosplan_planning_system/include/rosplan_planning_system/PlannerInterface/PlannerInterface.h
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Expand Up @@ -10,6 +10,13 @@
#include "rosplan_dispatch_msgs/PlanningService.h"
#include "rosplan_dispatch_msgs/PlanAction.h"

#include <fstream>
#include <sstream>
#include <string>
#include <ctime>
#include <string>
#include <streambuf>

/**
* This file contains an interface to the planner.
*/
Expand Down Expand Up @@ -43,8 +50,25 @@ namespace KCL_rosplan {
/* planning */
virtual bool runPlanner() =0;

/* runs external commands */
std::string runCommand(std::string cmd);

/* saves problem to file */
void saveProblem();

/* prepares the planner command line */
std::string prepareCommand();

/* calls the planner */
void callPlanner(std::string & commandString);

void solvedMessages(bool & solved);

public:

PlannerInterface(ros::NodeHandle& nh);
virtual ~PlannerInterface();

void problemCallback(const std_msgs::String& problemInstance);

bool runPlanningServerDefault(std_srvs::Empty::Request &req, std_srvs::Empty::Response &res);
Expand Down
3 changes: 0 additions & 3 deletions ...lanning_system/include/rosplan_planning_system/PlannerInterface/RDDLSIMPlannerInterface.h
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Expand Up @@ -22,9 +22,6 @@ namespace KCL_rosplan {
{
private:

/* runs external commands */
std::string runCommand(std::string cmd);

protected:

bool runPlanner();
Expand Down
3 changes: 0 additions & 3 deletions ...an_planning_system/include/rosplan_planning_system/PlannerInterface/SMTPlannerInterface.h
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Expand Up @@ -19,9 +19,6 @@ namespace KCL_rosplan {
{
private:

/* runs external commands */
std::string runCommand(std::string cmd);

protected:

bool runPlanner();
Expand Down
3 changes: 0 additions & 3 deletions ...an_planning_system/include/rosplan_planning_system/PlannerInterface/TFDPlannerInterface.h
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Expand Up @@ -19,9 +19,6 @@ namespace KCL_rosplan {
{
private:

/* runs external commands */
std::string runCommand(std::string cmd);

protected:

bool runPlanner();
Expand Down
3 changes: 0 additions & 3 deletions ...an_planning_system/include/rosplan_planning_system/PlannerInterface/UPMPlannerInterface.h
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Expand Up @@ -19,9 +19,6 @@ namespace KCL_rosplan {
{
private:

/* runs external commands */
std::string runCommand(std::string cmd);

protected:

std::string input_problem_path;
Expand Down
100 changes: 11 additions & 89 deletions rosplan_planning_system/src/PlannerInterface/CHIMPPlannerInterface.cpp
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Expand Up @@ -7,64 +7,14 @@ namespace KCL_rosplan {
/* constructor */
/*-------------*/

CHIMPPlannerInterface::CHIMPPlannerInterface(ros::NodeHandle& nh)
{
node_handle = &nh;

plan_server = new actionlib::SimpleActionServer<rosplan_dispatch_msgs::PlanAction>((*node_handle), "start_planning", boost::bind(&PlannerInterface::runPlanningServerAction, this, _1), false);

// publishing raw planner output
std::string plannerTopic = "planner_output";
node_handle->getParam("planner_topic", plannerTopic);
plan_publisher = node_handle->advertise<std_msgs::String>(plannerTopic, 1, true);

// start planning action server
plan_server->start();
CHIMPPlannerInterface::CHIMPPlannerInterface(ros::NodeHandle& nh): PlannerInterface(nh) {
}

CHIMPPlannerInterface::~CHIMPPlannerInterface()
{
delete plan_server;
}

/**
* Runs external commands
*/
std::string CHIMPPlannerInterface::runCommand(std::string cmd) {
std::string data;
FILE *stream;
char buffer[1000];
stream = popen(cmd.c_str(), "r");
while ( fgets(buffer, 1000, stream) != NULL )
data.append(buffer);
pclose(stream);
return data;
}

void CHIMPPlannerInterface::writeProblemToFile() {
std::ofstream dest;
dest.open((problem_path).c_str());
dest << problem_instance;
dest.close();
}

/**
* Creates command line string by setting domain and problem path and output.
*/
std::string CHIMPPlannerInterface::prepareCommand() {
std::string str = planner_command;
std::size_t dit = str.find("DOMAIN");
if(dit!=std::string::npos) str.replace(dit,6,domain_path);
std::size_t pit = str.find("PROBLEM");
if(pit!=std::string::npos) str.replace(pit,7,problem_path);
std::size_t oit = str.find("OUTPUT");
if(oit!=std::string::npos) str.replace(oit,6,data_path + "plan.txt");
std::size_t eit = str.find("ESTEREL");
if(eit!=std::string::npos) str.replace(eit,7,data_path + "esterel.yaml");

return str;
}

bool containsEsterel(const std::string& commandStr) {
std::size_t eit = commandStr.find("ESTEREL");
return eit!=std::string::npos;
Expand All @@ -89,16 +39,17 @@ namespace KCL_rosplan {
bool CHIMPPlannerInterface::runPlanner() {

// save problem to file for CHIMP
if(use_problem_topic && problem_instance_received) {
ROS_INFO("ROSPlan: (%s) (%s) Writing problem to file.", ros::this_node::getName().c_str(), problem_name.c_str());
writeProblemToFile();
}
saveProblem();

// call the planer
// prepare the planner command line
std::string commandString = prepareCommand();
ROS_INFO("ROSPlan: (%s) (%s) Running: %s", ros::this_node::getName().c_str(), problem_name.c_str(), commandString.c_str());
std::string plan = runCommand(commandString.c_str());
ROS_INFO("ROSPlan: (%s) (%s) Planning complete", ros::this_node::getName().c_str(), problem_name.c_str());
std::size_t oit = commandString.find("OUTPUT");
if(oit!=std::string::npos) commandString.replace(oit,6,data_path + "plan.txt");
std::size_t eit = commandString.find("ESTEREL");
if(eit!=std::string::npos) commandString.replace(eit,7,data_path + "esterel.yaml");

// call the planer
callPlanner(commandString);

// check if the planner solved the problem
std::ifstream planfile;
Expand Down Expand Up @@ -139,38 +90,9 @@ namespace KCL_rosplan {
}


if(!solved) ROS_INFO("ROSPlan: (%s) (%s) Plan was unsolvable.", ros::this_node::getName().c_str(), problem_name.c_str());
else ROS_INFO("ROSPlan: (%s) (%s) Plan was solved.", ros::this_node::getName().c_str(), problem_name.c_str());
solvedMessages(solved);

return solved;
}

} // close namespace

/*-------------*/
/* Main method */
/*-------------*/

int main(int argc, char **argv) {

srand (static_cast <unsigned> (time(0)));

ros::init(argc,argv,"rosplan_planner_interface");
ros::NodeHandle nh("~");

KCL_rosplan::CHIMPPlannerInterface pi(nh);

// subscribe to problem instance
std::string problemTopic = "problem_instance";
nh.getParam("problem_topic", problemTopic);
ros::Subscriber problem_sub = nh.subscribe(problemTopic, 1, &KCL_rosplan::PlannerInterface::problemCallback, dynamic_cast<KCL_rosplan::PlannerInterface*>(&pi));

// start the planning services
ros::ServiceServer service1 = nh.advertiseService("planning_server", &KCL_rosplan::PlannerInterface::runPlanningServerDefault, dynamic_cast<KCL_rosplan::PlannerInterface*>(&pi));
ros::ServiceServer service2 = nh.advertiseService("planning_server_params", &KCL_rosplan::PlannerInterface::runPlanningServerParams, dynamic_cast<KCL_rosplan::PlannerInterface*>(&pi));

ROS_INFO("KCL: (%s) Ready to receive", ros::this_node::getName().c_str());
ros::spin();

return 0;
}
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