Port #3464 from MoveIt1 (#2456)

* Port unit test

cherry-pick of moveit/moveit#3464

* Increment added_path_index in callAdapter

Doesn't work because previous=0 for all recursively called functions.

* Pass individual add_path_index vectors to callAdapter

---------

Co-authored-by: Hugal31 <[email protected]>

Author: rhaschke

moveit_core/planning_request_adapter/CMakeLists.txt

@@ -18,3 +18,11 @@ target_link_libraries(moveit_planning_request_adapter
 )
 
 install(DIRECTORY include/ DESTINATION include/moveit_core)
+
+if(BUILD_TESTING)
+  ament_add_gmock(test_planning_request_adapter_chain test/test_planning_request_adapter_chain.cpp)
+  target_link_libraries(test_planning_request_adapter_chain
+    moveit_test_utils
+    moveit_planning_interface
+    moveit_planning_request_adapter)
+endif()

moveit_core/planning_request_adapter/src/planning_request_adapter.cpp

@@ -64,11 +64,14 @@ bool callPlannerInterfaceSolve(const planning_interface::PlannerManager& planner
 
 bool callAdapter(const PlanningRequestAdapter& adapter, const PlanningRequestAdapter::PlannerFn& planner,
                  const planning_scene::PlanningSceneConstPtr& planning_scene,
-                 const planning_interface::MotionPlanRequest& req, planning_interface::MotionPlanResponse& res)
+                 const planning_interface::MotionPlanRequest& req, planning_interface::MotionPlanResponse& res,
+                 std::vector<std::size_t>& added_path_index)
 {
   try
   {
+    std::swap(res.added_path_index, added_path_index);
     bool result = adapter.adaptAndPlan(planner, planning_scene, req, res);
+    std::swap(res.added_path_index, added_path_index);
     RCLCPP_DEBUG_STREAM(LOGGER, adapter.getDescription() << ": " << moveit::core::error_code_to_string(res.error_code));
     return result;
   }
@@ -105,6 +108,8 @@ bool PlanningRequestAdapterChain::adaptAndPlan(const planning_interface::Planner
                                                const planning_interface::MotionPlanRequest& req,
                                                planning_interface::MotionPlanResponse& res) const
 {
+  res.added_path_index.clear();
+
   // if there are no adapters, run the planner directly
   if (adapters_.empty())
   {
@@ -120,15 +125,33 @@ bool PlanningRequestAdapterChain::adaptAndPlan(const planning_interface::Planner
     return callPlannerInterfaceSolve(planner, scene, req, res);
   };
 
+  std::vector<std::vector<std::size_t>> added_path_index_each(adapters_.size());
   for (int i = adapters_.size() - 1; i >= 0; --i)
   {
-    fn = [&adapter = *adapters_[i],
+    fn = [&adapter = *adapters_[i], &added_path_index = added_path_index_each[i],
           fn](const planning_scene::PlanningSceneConstPtr& scene, const planning_interface::MotionPlanRequest& req,
-              planning_interface::MotionPlanResponse& res) { return callAdapter(adapter, fn, scene, req, res); };
+              planning_interface::MotionPlanResponse& res) {
+      return callAdapter(adapter, fn, scene, req, res, added_path_index);
+    };
   }
 
   bool result = fn(planning_scene, req, res);
 
+  // merge the index values from each adapter (in reverse order)
+  assert(res.added_path_index.empty());
+  for (auto added_state_by_each_adapter_it = added_path_index_each.rbegin();
+       added_state_by_each_adapter_it != added_path_index_each.rend(); ++added_state_by_each_adapter_it)
+  {
+    for (std::size_t added_index : *added_state_by_each_adapter_it)
+    {
+      for (std::size_t& index_in_path : res.added_path_index)
+      {
+        if (added_index <= index_in_path)
+          index_in_path++;
+      }
+      res.added_path_index.push_back(added_index);
+    }
+  }
   std::sort(res.added_path_index.begin(), res.added_path_index.end());
   return result;
 }

moveit_core/planning_request_adapter/test/test_planning_request_adapter_chain.cpp

@@ -0,0 +1,204 @@
+/*********************************************************************
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2023, 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.
+ *********************************************************************/
+
+/* Author: Hugo Laloge */
+
+#include <gmock/gmock.h>
+#include <moveit/utils/robot_model_test_utils.h>
+#include <moveit/planning_request_adapter/planning_request_adapter.h>
+
+class AppendingPlanningRequestAdapter final : public planning_request_adapter::PlanningRequestAdapter
+{
+public:
+  void initialize(const rclcpp::Node::SharedPtr& /*node*/, const std::string& /*parameter_namespace*/) override
+  {
+  }
+  bool adaptAndPlan(const PlannerFn& planner, const planning_scene::PlanningSceneConstPtr& planning_scene,
+                    const planning_interface::MotionPlanRequest& req,
+                    planning_interface::MotionPlanResponse& res) const override
+  {
+    bool success = planner(planning_scene, req, res);
+    if (success)
+    {
+      res.trajectory->addSuffixWayPoint(res.trajectory->getLastWayPoint(), 1);
+      res.added_path_index.push_back(res.trajectory->getWayPointCount() - 1);
+    }
+    return success;
+  }
+  std::string getDescription() const override
+  {
+    return "AppendingPlanningRequestAdapter";
+  }
+};
+
+class PrependingPlanningRequestAdapter final : public planning_request_adapter::PlanningRequestAdapter
+{
+public:
+  void initialize(const rclcpp::Node::SharedPtr& /*node*/, const std::string& /*parameter_namespace*/) override
+  {
+  }
+  bool adaptAndPlan(const PlannerFn& planner, const planning_scene::PlanningSceneConstPtr& planning_scene,
+                    const planning_interface::MotionPlanRequest& req,
+                    planning_interface::MotionPlanResponse& res) const override
+  {
+    bool success = planner(planning_scene, req, res);
+    if (success)
+    {
+      res.trajectory->addPrefixWayPoint(res.trajectory->getFirstWayPoint(), 0);
+      res.added_path_index.push_back(0);
+    }
+    return success;
+  }
+  std::string getDescription() const override
+  {
+    return "PrependingPlanningRequestAdapter";
+  }
+};
+
+class PlannerManagerStub : public planning_interface::PlannerManager
+{
+public:
+  PlannerManagerStub(planning_interface::PlanningContextPtr planningContext)
+    : m_planningContext_{ std::move(planningContext) }
+  {
+  }
+  planning_interface::PlanningContextPtr
+  getPlanningContext(const planning_scene::PlanningSceneConstPtr& /*planning_scene*/,
+                     const planning_interface::MotionPlanRequest& /*req*/,
+                     moveit_msgs::msg::MoveItErrorCodes& /*error*/) const override
+  {
+    return m_planningContext_;
+  }
+
+  bool canServiceRequest(const planning_interface::MotionPlanRequest& /*req*/) const override
+  {
+    return true;
+  }
+
+private:
+  planning_interface::PlanningContextPtr m_planningContext_;
+};
+
+class PlanningContextStub : public planning_interface::PlanningContext
+{
+public:
+  using planning_interface::PlanningContext::PlanningContext;
+
+  void setTrajectory(robot_trajectory::RobotTrajectoryPtr trajectory)
+  {
+    m_trajectory_ = std::move(trajectory);
+  }
+
+  bool solve(planning_interface::MotionPlanResponse& res) override
+  {
+    if (!m_trajectory_)
+      return false;
+
+    res.trajectory = m_trajectory_;
+    return true;
+  }
+
+  bool solve(planning_interface::MotionPlanDetailedResponse& res) override
+  {
+    if (!m_trajectory_)
+      return false;
+
+    res.trajectory.push_back(m_trajectory_);
+    return true;
+  }
+
+  bool terminate() override
+  {
+    return true;
+  }
+
+  void clear() override
+  {
+  }
+
+private:
+  robot_trajectory::RobotTrajectoryPtr m_trajectory_;
+};
+
+class PlanningRequestAdapterTests : public testing::Test
+{
+protected:
+  void SetUp() override
+  {
+    robot_model_ = moveit::core::loadTestingRobotModel("panda");
+    group_name_ = "panda_arm";
+    planning_scene_ = std::make_shared<planning_scene::PlanningScene>(robot_model_);
+    planning_context_ = std::make_shared<PlanningContextStub>("stub", group_name_);
+    planner_manager_ = std::make_shared<PlannerManagerStub>(planning_context_);
+  }
+
+  robot_trajectory::RobotTrajectoryPtr createRandomTrajectory(std::size_t waypointCount)
+  {
+    robot_trajectory::RobotTrajectoryPtr robot_trajectory =
+        std::make_shared<robot_trajectory::RobotTrajectory>(robot_model_, group_name_);
+    for (std::size_t i = 0; i < waypointCount; ++i)
+      robot_trajectory->addSuffixWayPoint(std::make_shared<moveit::core::RobotState>(robot_model_), 1.);
+    return robot_trajectory;
+  }
+
+protected:
+  std::string group_name_;
+  planning_request_adapter::PlanningRequestAdapterChain sut_;
+  moveit::core::RobotModelPtr robot_model_;
+  planning_scene::PlanningScenePtr planning_scene_;
+  std::shared_ptr<PlanningContextStub> planning_context_;
+  std::shared_ptr<PlannerManagerStub> planner_manager_;
+};
+
+TEST_F(PlanningRequestAdapterTests, testMergeAddedPathIndex)
+{
+  sut_.addAdapter(std::make_shared<AppendingPlanningRequestAdapter>());
+  sut_.addAdapter(std::make_shared<PrependingPlanningRequestAdapter>());
+  sut_.addAdapter(std::make_shared<AppendingPlanningRequestAdapter>());
+
+  planning_context_->setTrajectory(createRandomTrajectory(4));
+
+  planning_interface::MotionPlanRequest req;
+  req.group_name = group_name_;
+  planning_interface::MotionPlanResponse res;
+  std::ignore = sut_.adaptAndPlan(planner_manager_, planning_scene_, req, res);
+
+  EXPECT_THAT(res.added_path_index, testing::ElementsAre(0, 5, 6));
+}
+
+int main(int argc, char** argv)
+{
+  testing::InitGoogleTest(&argc, argv);
+  return RUN_ALL_TESTS();
+}