Simplify the process generator interface to avoid std::function

Author: Levi Armstrong

tesseract/tesseract_planning/tesseract_process_managers/CMakeLists.txt

@@ -39,6 +39,7 @@ include(GenerateExportHeader)
 add_library(${PROJECT_NAME}
     src/core/process_input.cpp
     src/core/debug_observer.cpp
+    src/core/process_generator.cpp
     src/core/process_planning_future.cpp
     src/core/process_planning_server.cpp
     src/core/process_environment_cache.cpp

tesseract/tesseract_planning/tesseract_process_managers/include/tesseract_process_managers/core/process_generator.h

@@ -30,25 +30,26 @@
 TESSERACT_COMMON_IGNORE_WARNINGS_PUSH
 #include <functional>
 #include <memory>
+#include <taskflow/taskflow.hpp>
 TESSERACT_COMMON_IGNORE_WARNINGS_POP
 
-#include <tesseract_process_managers/core/types.h>
 #include <tesseract_process_managers/core/process_input.h>
 
 namespace tesseract_planning
 {
 /**
  * @brief This is a base class for generating instances of processes as tasks such that they may be executed in
- * parallel. A typical workflow would be taskflow.emplace(process_generator.generateTask(input) override)
+ * parallel. A typical workflow would be task t = process_generator.generateTask(input, taskflow)
  *
- * Only unique pointers should be used because of the ability to abort the process.
+ * Only unique pointers should be used because of the ability to abort the process. With recent changes this may no
+ * longer be valid but need to investigate.
  */
 class ProcessGenerator
 {
 public:
   using UPtr = std::unique_ptr<ProcessGenerator>;
 
-  ProcessGenerator() = default;
+  ProcessGenerator(std::string name = "");
   virtual ~ProcessGenerator() = default;
   ProcessGenerator(const ProcessGenerator&) = delete;
   ProcessGenerator& operator=(const ProcessGenerator&) = delete;
@@ -59,21 +60,55 @@ class ProcessGenerator
    * @brief Get the task name
    * @return The name
    */
-  virtual const std::string& getName() const = 0;
+  virtual const std::string& getName() const;
 
   /**
    * @brief Generated a Task
    * @param input The process input
+   * @param taskflow The taskflow to associate the task with
    * @return Task
    */
-  virtual TaskflowVoidFn generateTask(ProcessInput input, std::size_t unique_id) = 0;
+  virtual tf::Task generateTask(ProcessInput input, tf::Taskflow& taskflow);
+
+  /**
+   * @brief Assign work to the provided task
+   * @param input The process input
+   * @param task The task to assign the work to
+   */
+  virtual void assignTask(ProcessInput input, tf::Task& task);
+
+  /**
+   * @brief Generated a Task
+   * @param input The process input
+   * @param taskflow The taskflow to associate the task with
+   * @return Conditional Task
+   */
+  virtual tf::Task generateConditionalTask(ProcessInput input, tf::Taskflow& taskflow);
+
+  /**
+   * @brief Assign work to the provided task
+   * @param input The process input
+   * @param task The task to assign the work to
+   */
+  virtual void assignConditionalTask(ProcessInput input, tf::Task& task);
+
+protected:
+  /** @brief The name of the process */
+  std::string name_;
+
+  /**
+   * @brief Generated a Task
+   * @param input The process input
+   * @return Task
+   */
+  virtual void process(ProcessInput input, std::size_t unique_id) const = 0;
 
   /**
    * @brief Generate Conditional Task
    * @param input The process input
    * @return Conditional Task
    */
-  virtual TaskflowIntFn generateConditionalTask(ProcessInput input, std::size_t unique_id) = 0;
+  virtual int conditionalProcess(ProcessInput input, std::size_t unique_id) const = 0;
 };
 
 }  // namespace tesseract_planning

tesseract/tesseract_planning/tesseract_process_managers/include/tesseract_process_managers/process_generators/continuous_contact_check_process_generator.h

@@ -51,20 +51,11 @@ class ContinuousContactCheckProcessGenerator : public ProcessGenerator
   ContinuousContactCheckProcessGenerator(ContinuousContactCheckProcessGenerator&&) = delete;
   ContinuousContactCheckProcessGenerator& operator=(ContinuousContactCheckProcessGenerator&&) = delete;
 
-  const std::string& getName() const override;
-
-  TaskflowVoidFn generateTask(ProcessInput input, std::size_t unique_id) override;
-
-  TaskflowIntFn generateConditionalTask(ProcessInput input, std::size_t unique_id) override;
-
   tesseract_collision::CollisionCheckConfig config;
 
-private:
-  std::string name_;
-
-  int conditionalProcess(ProcessInput input, std::size_t unique_id) const;
+  int conditionalProcess(ProcessInput input, std::size_t unique_id) const override;
 
-  void process(ProcessInput input, std::size_t unique_id) const;
+  void process(ProcessInput input, std::size_t unique_id) const override;
 };
 
 class ContinuousContactCheckProcessInfo : public ProcessInfo

tesseract/tesseract_planning/tesseract_process_managers/include/tesseract_process_managers/process_generators/discrete_contact_check_process_generator.h

@@ -52,20 +52,11 @@ class DiscreteContactCheckProcessGenerator : public ProcessGenerator
   DiscreteContactCheckProcessGenerator(DiscreteContactCheckProcessGenerator&&) = delete;
   DiscreteContactCheckProcessGenerator& operator=(DiscreteContactCheckProcessGenerator&&) = delete;
 
-  const std::string& getName() const override;
-
-  TaskflowVoidFn generateTask(ProcessInput input, std::size_t unique_id) override;
-
-  TaskflowIntFn generateConditionalTask(ProcessInput input, std::size_t unique_id) override;
-
   tesseract_collision::CollisionCheckConfig config;
 
-private:
-  std::string name_;
-
-  int conditionalProcess(ProcessInput input, std::size_t unique_id) const;
+  int conditionalProcess(ProcessInput input, std::size_t unique_id) const override;
 
-  void process(ProcessInput input, std::size_t unique_id) const;
+  void process(ProcessInput input, std::size_t unique_id) const override;
 };
 
 class DiscreteContactCheckProcessInfo : public ProcessInfo

tesseract/tesseract_planning/tesseract_process_managers/include/tesseract_process_managers/process_generators/fix_state_bounds_process_generator.h

@@ -71,20 +71,11 @@ class FixStateBoundsProcessGenerator : public ProcessGenerator
   FixStateBoundsProcessGenerator(FixStateBoundsProcessGenerator&&) = delete;
   FixStateBoundsProcessGenerator& operator=(FixStateBoundsProcessGenerator&&) = delete;
 
-  const std::string& getName() const override;
-
-  TaskflowVoidFn generateTask(ProcessInput input, std::size_t unique_id) override;
-
-  TaskflowIntFn generateConditionalTask(ProcessInput input, std::size_t unique_id) override;
-
   FixStateBoundsProfileMap composite_profiles;
 
-private:
-  std::string name_;
-
-  int conditionalProcess(ProcessInput input, std::size_t unique_id) const;
+  int conditionalProcess(ProcessInput input, std::size_t unique_id) const override;
 
-  void process(ProcessInput input, std::size_t unique_id) const;
+  void process(ProcessInput input, std::size_t unique_id) const override;
 };
 
 class FixStateBoundsProcessInfo : public ProcessInfo

tesseract/tesseract_planning/tesseract_process_managers/include/tesseract_process_managers/process_generators/fix_state_collision_process_generator.h

@@ -90,20 +90,11 @@ class FixStateCollisionProcessGenerator : public ProcessGenerator
   FixStateCollisionProcessGenerator(FixStateCollisionProcessGenerator&&) = delete;
   FixStateCollisionProcessGenerator& operator=(FixStateCollisionProcessGenerator&&) = delete;
 
-  const std::string& getName() const override;
-
-  TaskflowVoidFn generateTask(ProcessInput input, std::size_t unique_id) override;
-
-  TaskflowIntFn generateConditionalTask(ProcessInput input, std::size_t unique_id) override;
-
   FixStateCollisionProfileMap composite_profiles;
 
-private:
-  std::string name_;
-
-  int conditionalProcess(ProcessInput input, std::size_t unique_id) const;
+  int conditionalProcess(ProcessInput input, std::size_t unique_id) const override;
 
-  void process(ProcessInput input, std::size_t unique_id) const;
+  void process(ProcessInput input, std::size_t unique_id) const override;
 };
 
 class FixStateCollisionProcessInfo : public ProcessInfo

tesseract/tesseract_planning/tesseract_process_managers/include/tesseract_process_managers/process_generators/iterative_spline_parameterization_process_generator.h

@@ -64,24 +64,17 @@ class IterativeSplineParameterizationProcessGenerator : public ProcessGenerator
   IterativeSplineParameterizationProcessGenerator&
   operator=(IterativeSplineParameterizationProcessGenerator&&) = delete;
 
-  const std::string& getName() const override;
-
-  TaskflowVoidFn generateTask(ProcessInput input, std::size_t unique_id) override;
-
-  TaskflowIntFn generateConditionalTask(ProcessInput input, std::size_t unique_id) override;
-
   IterativeSplineParameterizationProfileMap composite_profiles;
   IterativeSplineParameterizationProfileMap move_profiles;
 
-private:
-  std::string name_;
+  int conditionalProcess(ProcessInput input, std::size_t unique_id) const override;
 
-  IterativeSplineParameterization solver_;
+  void process(ProcessInput input, std::size_t unique_id) const override;
 
-  int conditionalProcess(ProcessInput input, std::size_t unique_id) const;
-
-  void process(ProcessInput input, std::size_t unique_id) const;
+private:
+  IterativeSplineParameterization solver_;
 };
+
 class IterativeSplineParameterizationProcessInfo : public ProcessInfo
 {
 public:

tesseract/tesseract_planning/tesseract_process_managers/include/tesseract_process_managers/process_generators/motion_planner_process_generator.h

@@ -45,20 +45,12 @@ class MotionPlannerProcessGenerator : public ProcessGenerator
   MotionPlannerProcessGenerator(MotionPlannerProcessGenerator&&) = delete;
   MotionPlannerProcessGenerator& operator=(MotionPlannerProcessGenerator&&) = delete;
 
-  const std::string& getName() const override;
+  int conditionalProcess(ProcessInput input, std::size_t unique_id) const override;
 
-  TaskflowVoidFn generateTask(ProcessInput input, std::size_t unique_id) override;
-
-  TaskflowIntFn generateConditionalTask(ProcessInput input, std::size_t unique_id) override;
+  void process(ProcessInput input, std::size_t unique_id) const override;
 
 private:
   std::shared_ptr<MotionPlanner> planner_{ nullptr };
-
-  std::string name_;
-
-  int conditionalProcess(ProcessInput input, std::size_t unique_id) const;
-
-  void process(ProcessInput input, std::size_t unique_id) const;
 };
 
 class MotionPlannerProcessInfo : public ProcessInfo

tesseract/tesseract_planning/tesseract_process_managers/include/tesseract_process_managers/process_generators/profile_switch_process_generator.h

@@ -56,20 +56,11 @@ class ProfileSwitchProcessGenerator : public ProcessGenerator
   ProfileSwitchProcessGenerator(ProfileSwitchProcessGenerator&&) = delete;
   ProfileSwitchProcessGenerator& operator=(ProfileSwitchProcessGenerator&&) = delete;
 
-  const std::string& getName() const override;
-
-  TaskflowVoidFn generateTask(ProcessInput input, std::size_t unique_id) override;
-
-  TaskflowIntFn generateConditionalTask(ProcessInput input, std::size_t unique_id) override;
-
   ProfileSwitchProfileMap composite_profiles;
 
-private:
-  std::string name_;
-
-  int conditionalProcess(ProcessInput input, std::size_t unique_id) const;
+  int conditionalProcess(ProcessInput input, std::size_t unique_id) const override;
 
-  void process(ProcessInput input, std::size_t unique_id) const;
+  void process(ProcessInput input, std::size_t unique_id) const override;
 };
 
 class ProfileSwitchProcessInfo : public ProcessInfo

tesseract/tesseract_planning/tesseract_process_managers/include/tesseract_process_managers/process_generators/seed_min_length_process_generator.h

@@ -51,21 +51,13 @@ class SeedMinLengthProcessGenerator : public ProcessGenerator
   SeedMinLengthProcessGenerator(SeedMinLengthProcessGenerator&&) = delete;
   SeedMinLengthProcessGenerator& operator=(SeedMinLengthProcessGenerator&&) = delete;
 
-  const std::string& getName() const override;
+  int conditionalProcess(ProcessInput input, std::size_t unique_id) const override;
 
-  TaskflowVoidFn generateTask(ProcessInput input, std::size_t unique_id) override;
-
-  TaskflowIntFn generateConditionalTask(ProcessInput input, std::size_t unique_id) override;
+  void process(ProcessInput input, std::size_t unique_id) const override;
 
 private:
-  std::string name_;
-
   long min_length_{ 10 };
 
-  int conditionalProcess(ProcessInput input, std::size_t unique_id) const;
-
-  void process(ProcessInput input, std::size_t unique_id) const;
-
   void subdivide(CompositeInstruction& composite,
                  const CompositeInstruction& current_composite,
                  Instruction& start_instruction,