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builtin.go
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builtin.go
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// Package builtin implements a navigation service.
package builtin
import (
"context"
"fmt"
"math"
"slices"
"strconv"
"sync"
"sync/atomic"
"time"
"github.com/golang/geo/r3"
geo "github.com/kellydunn/golang-geo"
"github.com/pkg/errors"
"go.mongodb.org/mongo-driver/bson/primitive"
"go.viam.com/utils"
"go.viam.com/rdk/components/base"
"go.viam.com/rdk/components/camera"
"go.viam.com/rdk/components/movementsensor"
"go.viam.com/rdk/logging"
"go.viam.com/rdk/referenceframe"
"go.viam.com/rdk/resource"
"go.viam.com/rdk/robot/framesystem"
"go.viam.com/rdk/services/motion"
"go.viam.com/rdk/services/motion/explore"
"go.viam.com/rdk/services/navigation"
"go.viam.com/rdk/services/vision"
"go.viam.com/rdk/spatialmath"
rdkutils "go.viam.com/rdk/utils"
)
// available modes for each MapType.
var (
availableModesByMapType = map[navigation.MapType][]navigation.Mode{
navigation.NoMap: {navigation.ModeManual, navigation.ModeExplore},
navigation.GPSMap: {navigation.ModeManual, navigation.ModeWaypoint, navigation.ModeExplore},
}
geomWithTranslation = "geometries specified through navigation are not allowed to have a translation"
errNegativeDegPerSec = errors.New("degs_per_sec must be non-negative if set")
errNegativeMetersPerSec = errors.New("meters_per_sec must be non-negative if set")
errNegativePositionPollingFrequencyHz = errors.New("position_polling_frequency_hz must be non-negative if set")
errNegativeObstaclePollingFrequencyHz = errors.New("obstacle_polling_frequency_hz must be non-negative if set")
errNegativePlanDeviationM = errors.New("plan_deviation_m must be non-negative if set")
errNegativeReplanCostFactor = errors.New("replan_cost_factor must be non-negative if set")
errObstacleGeomWithTranslation = errors.New("obstacle " + geomWithTranslation)
errBoundingRegionsGeomWithTranslation = errors.New("bounding region " + geomWithTranslation)
errObstacleGeomParse = errors.New("obstacle unable to be converted from geometry config")
errBoundingRegionsGeomParse = errors.New("bounding regions unable to be converted from geometry config")
)
const (
// default configuration for Store parameter.
defaultStoreType = navigation.StoreTypeMemory
// default map type is GPS.
defaultMapType = navigation.GPSMap
// desired speeds to maintain for the base.
defaultLinearMPerSec = 0.3
defaultAngularDegsPerSec = 20.
// how far off the path must the robot be to trigger replanning.
defaultPlanDeviationM = 2.6
// the allowable quality change between the new plan and the remainder
// of the original plan.
defaultReplanCostFactor = 1.
// frequency measured in hertz.
defaultObstaclePollingHz = 1.
defaultPositionPollingHz = 1.
// frequency in milliseconds.
planHistoryPollFrequency = time.Millisecond * 50
)
func init() {
resource.RegisterService(navigation.API, resource.DefaultServiceModel, resource.Registration[navigation.Service, *Config]{
Constructor: NewBuiltIn,
})
}
// ObstacleDetectorNameConfig is the protobuf version of ObstacleDetectorName.
type ObstacleDetectorNameConfig struct {
VisionServiceName string `json:"vision_service"`
CameraName string `json:"camera"`
}
// Config describes how to configure the service.
type Config struct {
Store navigation.StoreConfig `json:"store"`
BaseName string `json:"base"`
MapType string `json:"map_type"`
MovementSensorName string `json:"movement_sensor"`
MotionServiceName string `json:"motion_service"`
ObstacleDetectors []*ObstacleDetectorNameConfig `json:"obstacle_detectors"`
// DegPerSec and MetersPerSec are targets and not hard limits on speed
DegPerSec float64 `json:"degs_per_sec,omitempty"`
MetersPerSec float64 `json:"meters_per_sec,omitempty"`
Obstacles []*spatialmath.GeoGeometryConfig `json:"obstacles,omitempty"`
BoundingRegions []*spatialmath.GeoGeometryConfig `json:"bounding_regions,omitempty"`
PositionPollingFrequencyHz float64 `json:"position_polling_frequency_hz,omitempty"`
ObstaclePollingFrequencyHz float64 `json:"obstacle_polling_frequency_hz,omitempty"`
PlanDeviationM float64 `json:"plan_deviation_m,omitempty"`
ReplanCostFactor float64 `json:"replan_cost_factor,omitempty"`
LogFilePath string `json:"log_file_path"`
}
type executionWaypoint struct {
executionID motion.ExecutionID
waypoint navigation.Waypoint
}
var emptyExecutionWaypoint = executionWaypoint{}
// Validate creates the list of implicit dependencies.
func (conf *Config) Validate(path string) ([]string, error) {
var deps []string
// Add base dependencies
if conf.BaseName == "" {
return nil, resource.NewConfigValidationFieldRequiredError(path, "base")
}
deps = append(deps, conf.BaseName)
// Add movement sensor dependencies
if conf.MovementSensorName != "" {
deps = append(deps, conf.MovementSensorName)
}
// Add motion service dependencies
if conf.MotionServiceName != "" {
deps = append(deps, resource.NewName(motion.API, conf.MotionServiceName).String())
} else {
deps = append(deps, resource.NewName(motion.API, resource.DefaultServiceName).String())
}
// Ensure map_type is valid and a movement sensor is available if MapType is GPS (or default)
mapType, err := navigation.StringToMapType(conf.MapType)
if err != nil {
return nil, err
}
if mapType == navigation.GPSMap && conf.MovementSensorName == "" {
return nil, resource.NewConfigValidationFieldRequiredError(path, "movement_sensor")
}
for _, obstacleDetectorPair := range conf.ObstacleDetectors {
if obstacleDetectorPair.VisionServiceName == "" || obstacleDetectorPair.CameraName == "" {
return nil, resource.NewConfigValidationError(path, errors.New("an obstacle detector is missing either a camera or vision service"))
}
deps = append(deps, resource.NewName(vision.API, obstacleDetectorPair.VisionServiceName).String())
deps = append(deps, resource.NewName(camera.API, obstacleDetectorPair.CameraName).String())
}
// Ensure store is valid
if err := conf.Store.Validate(path); err != nil {
return nil, err
}
// Ensure inputs are non-negative
if conf.DegPerSec < 0 {
return nil, errNegativeDegPerSec
}
if conf.MetersPerSec < 0 {
return nil, errNegativeMetersPerSec
}
if conf.PositionPollingFrequencyHz < 0 {
return nil, errNegativePositionPollingFrequencyHz
}
if conf.ObstaclePollingFrequencyHz < 0 {
return nil, errNegativeObstaclePollingFrequencyHz
}
if conf.PlanDeviationM < 0 {
return nil, errNegativePlanDeviationM
}
if conf.ReplanCostFactor < 0 {
return nil, errNegativeReplanCostFactor
}
// Ensure obstacles have no translation
for _, obs := range conf.Obstacles {
for _, geoms := range obs.Geometries {
if !geoms.TranslationOffset.ApproxEqual(r3.Vector{}) {
return nil, errObstacleGeomWithTranslation
}
}
}
// Ensure bounding regions have no translation
for _, region := range conf.BoundingRegions {
for _, geoms := range region.Geometries {
if !geoms.TranslationOffset.ApproxEqual(r3.Vector{}) {
return nil, errBoundingRegionsGeomWithTranslation
}
}
}
// add framesystem service as dependency to be used by builtin and explore motion service
deps = append(deps, framesystem.InternalServiceName.String())
return deps, nil
}
// NewBuiltIn returns a new navigation service for the given robot.
func NewBuiltIn(
ctx context.Context, deps resource.Dependencies, conf resource.Config, logger logging.Logger,
) (navigation.Service, error) {
navSvc := &builtIn{
Named: conf.ResourceName().AsNamed(),
logger: logger,
}
if err := navSvc.Reconfigure(ctx, deps, conf); err != nil {
return nil, err
}
return navSvc, nil
}
type builtIn struct {
resource.Named
activeExecutionWaypoint atomic.Value
actionMu sync.RWMutex
mu sync.RWMutex
store navigation.NavStore
storeType string
mode navigation.Mode
mapType navigation.MapType
fsService framesystem.Service
base base.Base
movementSensor movementsensor.MovementSensor
visionServicesByName map[resource.Name]vision.Service
motionService motion.Service
// exploreMotionService will be removed once the motion explore model is integrated into motion builtin
exploreMotionService motion.Service
obstacles []*spatialmath.GeoGeometry
boundingRegions []*spatialmath.GeoGeometry
motionCfg *motion.MotionConfiguration
replanCostFactor float64
logger logging.Logger
wholeServiceCancelFunc func()
currentWaypointCancelFunc func()
waypointInProgress *navigation.Waypoint
activeBackgroundWorkers sync.WaitGroup
}
func (svc *builtIn) Reconfigure(ctx context.Context, deps resource.Dependencies, conf resource.Config) error {
svc.actionMu.Lock()
defer svc.actionMu.Unlock()
svc.stopActiveMode()
// Set framesystem service
for name, dep := range deps {
if name == framesystem.InternalServiceName {
fsService, ok := dep.(framesystem.Service)
if !ok {
return errors.New("frame system service is invalid type")
}
svc.fsService = fsService
break
}
}
svcConfig, err := resource.NativeConfig[*Config](conf)
if err != nil {
return err
}
// Set optional variables
metersPerSec := defaultLinearMPerSec
if svcConfig.MetersPerSec != 0 {
metersPerSec = svcConfig.MetersPerSec
}
degPerSec := defaultAngularDegsPerSec
if svcConfig.DegPerSec != 0 {
degPerSec = svcConfig.DegPerSec
}
positionPollingFrequencyHz := defaultPositionPollingHz
if svcConfig.PositionPollingFrequencyHz != 0 {
positionPollingFrequencyHz = svcConfig.PositionPollingFrequencyHz
}
obstaclePollingFrequencyHz := defaultObstaclePollingHz
if svcConfig.ObstaclePollingFrequencyHz != 0 {
obstaclePollingFrequencyHz = svcConfig.ObstaclePollingFrequencyHz
}
planDeviationM := defaultPlanDeviationM
if svcConfig.PlanDeviationM != 0 {
planDeviationM = svcConfig.PlanDeviationM
}
replanCostFactor := defaultReplanCostFactor
if svcConfig.ReplanCostFactor != 0 {
replanCostFactor = svcConfig.ReplanCostFactor
}
motionServiceName := resource.DefaultServiceName
if svcConfig.MotionServiceName != "" {
motionServiceName = svcConfig.MotionServiceName
}
mapType := defaultMapType
if svcConfig.MapType != "" {
mapType, err = navigation.StringToMapType(svcConfig.MapType)
if err != nil {
return err
}
}
storeCfg := navigation.StoreConfig{Type: defaultStoreType}
if svcConfig.Store.Type != navigation.StoreTypeUnset {
storeCfg = svcConfig.Store
}
svc.mu.Lock()
defer svc.mu.Unlock()
// Parse logger file from the configuration if given
if svcConfig.LogFilePath != "" {
logger, err := rdkutils.NewFilePathDebugLogger(svcConfig.LogFilePath, "navigation")
if err != nil {
return err
}
svc.logger = logger
}
// Parse base from the configuration
baseComponent, err := base.FromDependencies(deps, svcConfig.BaseName)
if err != nil {
return err
}
// Parse motion services from the configuration
motionSvc, err := motion.FromDependencies(deps, motionServiceName)
if err != nil {
return err
}
var obstacleDetectorNamePairs []motion.ObstacleDetectorName
visionServicesByName := make(map[resource.Name]vision.Service)
for _, pbObstacleDetectorPair := range svcConfig.ObstacleDetectors {
visionSvc, err := vision.FromDependencies(deps, pbObstacleDetectorPair.VisionServiceName)
if err != nil {
return err
}
camera, err := camera.FromDependencies(deps, pbObstacleDetectorPair.CameraName)
if err != nil {
return err
}
obstacleDetectorNamePairs = append(obstacleDetectorNamePairs, motion.ObstacleDetectorName{
VisionServiceName: visionSvc.Name(), CameraName: camera.Name(),
})
visionServicesByName[visionSvc.Name()] = visionSvc
}
// Parse movement sensor from the configuration if map type is GPS
if mapType == navigation.GPSMap {
movementSensor, err := movementsensor.FromDependencies(deps, svcConfig.MovementSensorName)
if err != nil {
return err
}
svc.movementSensor = movementSensor
}
// Reconfigure the store if necessary
if svc.storeType != string(storeCfg.Type) {
newStore, err := navigation.NewStoreFromConfig(ctx, svcConfig.Store)
if err != nil {
return err
}
svc.store = newStore
svc.storeType = string(storeCfg.Type)
}
// Parse obstacles from the configuration
newObstacles, err := spatialmath.GeoGeometriesFromConfigs(svcConfig.Obstacles)
if err != nil {
return errors.Wrap(errObstacleGeomParse, err.Error())
}
// Parse bounding regions from the configuration
newBoundingRegions, err := spatialmath.GeoGeometriesFromConfigs(svcConfig.BoundingRegions)
if err != nil {
return errors.Wrap(errBoundingRegionsGeomParse, err.Error())
}
// Create explore motion service
// Note: this service will disappear after the explore motion model is integrated into builtIn
exploreMotionConf := resource.Config{ConvertedAttributes: &explore.Config{}}
svc.exploreMotionService, err = explore.NewExplore(ctx, deps, exploreMotionConf, svc.logger)
if err != nil {
return err
}
svc.mode = navigation.ModeManual
svc.base = baseComponent
svc.mapType = mapType
svc.motionService = motionSvc
svc.obstacles = newObstacles
svc.boundingRegions = newBoundingRegions
svc.replanCostFactor = replanCostFactor
svc.visionServicesByName = visionServicesByName
svc.motionCfg = &motion.MotionConfiguration{
ObstacleDetectors: obstacleDetectorNamePairs,
LinearMPerSec: metersPerSec,
AngularDegsPerSec: degPerSec,
PlanDeviationMM: 1e3 * planDeviationM,
PositionPollingFreqHz: positionPollingFrequencyHz,
ObstaclePollingFreqHz: obstaclePollingFrequencyHz,
}
return nil
}
func (svc *builtIn) Mode(ctx context.Context, extra map[string]interface{}) (navigation.Mode, error) {
svc.mu.RLock()
defer svc.mu.RUnlock()
return svc.mode, nil
}
func (svc *builtIn) SetMode(ctx context.Context, mode navigation.Mode, extra map[string]interface{}) error {
svc.actionMu.Lock()
defer svc.actionMu.Unlock()
svc.mu.RLock()
svc.logger.CInfof(ctx, "SetMode called: transitioning from %s to %s", svc.mode, mode)
if svc.mode == mode {
svc.mu.RUnlock()
return nil
}
svc.mu.RUnlock()
// stop passed active sessions
svc.stopActiveMode()
// switch modes
svc.mu.Lock()
defer svc.mu.Unlock()
cancelCtx, cancelFunc := context.WithCancel(context.Background())
svc.wholeServiceCancelFunc = cancelFunc
svc.mode = mode
if !slices.Contains(availableModesByMapType[svc.mapType], svc.mode) {
return errors.Errorf("%v mode is unavailable for map type %v", svc.mode.String(), svc.mapType.String())
}
switch svc.mode {
case navigation.ModeManual:
// do nothing
case navigation.ModeWaypoint:
svc.startWaypointMode(cancelCtx, extra)
case navigation.ModeExplore:
if len(svc.motionCfg.ObstacleDetectors) == 0 {
return errors.New("explore mode requires at least one vision service")
}
svc.startExploreMode(cancelCtx)
}
return nil
}
func (svc *builtIn) Location(ctx context.Context, extra map[string]interface{}) (*spatialmath.GeoPose, error) {
svc.mu.RLock()
defer svc.mu.RUnlock()
if svc.movementSensor == nil {
return nil, errors.New("no way to get location")
}
loc, _, err := svc.movementSensor.Position(ctx, extra)
if err != nil {
return nil, err
}
compassHeading, err := svc.movementSensor.CompassHeading(ctx, extra)
if err != nil {
return nil, err
}
movementsensorOrigin := referenceframe.NewPoseInFrame(svc.movementSensor.Name().ShortName(), spatialmath.NewZeroPose())
movementSensorPoseInBase, err := svc.fsService.TransformPose(ctx, movementsensorOrigin, svc.base.Name().ShortName(), nil)
if err != nil {
// here we make the assumption the movementsensor is coincident with the camera
svc.logger.CDebugf(
ctx,
"we assume the movementsensor named: %s is coincident with the base named: %s due to err: %v",
svc.movementSensor.Name().ShortName(), svc.base.Name(), err.Error(),
)
movementSensorPoseInBase = referenceframe.NewPoseInFrame(svc.base.Name().ShortName(), spatialmath.NewZeroPose())
}
svc.logger.CDebugf(ctx, "movementSensorPoseInBase: %v", spatialmath.PoseToProtobuf(movementSensorPoseInBase.Pose()))
movementSensor2dOrientation, err := spatialmath.ProjectOrientationTo2dRotation(movementSensorPoseInBase.Pose())
if err != nil {
return nil, err
}
// When rotation about the +Z axis, an OV theta is right handed but compass heading is left handed. Account for this.
compassHeading -= movementSensor2dOrientation.Orientation().OrientationVectorDegrees().Theta
if compassHeading < 0 {
compassHeading += 360
}
geoPose := spatialmath.NewGeoPose(loc, compassHeading)
return geoPose, err
}
func (svc *builtIn) Waypoints(ctx context.Context, extra map[string]interface{}) ([]navigation.Waypoint, error) {
wps, err := svc.store.Waypoints(ctx)
if err != nil {
return nil, err
}
wpsCopy := make([]navigation.Waypoint, 0, len(wps))
wpsCopy = append(wpsCopy, wps...)
return wpsCopy, nil
}
func (svc *builtIn) AddWaypoint(ctx context.Context, point *geo.Point, extra map[string]interface{}) error {
svc.logger.CInfof(ctx, "AddWaypoint called with %#v", *point)
_, err := svc.store.AddWaypoint(ctx, point)
return err
}
func (svc *builtIn) RemoveWaypoint(ctx context.Context, id primitive.ObjectID, extra map[string]interface{}) error {
svc.mu.Lock()
defer svc.mu.Unlock()
svc.logger.CInfof(ctx, "RemoveWaypoint called with waypointID: %s", id)
if svc.waypointInProgress != nil && svc.waypointInProgress.ID == id {
if svc.currentWaypointCancelFunc != nil {
svc.currentWaypointCancelFunc()
}
svc.waypointInProgress = nil
}
return svc.store.RemoveWaypoint(ctx, id)
}
func (svc *builtIn) waypointReached(ctx context.Context) error {
if ctx.Err() != nil {
return ctx.Err()
}
svc.mu.RLock()
wp := svc.waypointInProgress
svc.mu.RUnlock()
if wp == nil {
return errors.New("can't mark waypoint reached since there is none in progress")
}
return svc.store.WaypointVisited(ctx, wp.ID)
}
func (svc *builtIn) Close(ctx context.Context) error {
svc.actionMu.Lock()
defer svc.actionMu.Unlock()
svc.stopActiveMode()
if err := svc.exploreMotionService.Close(ctx); err != nil {
return err
}
return svc.store.Close(ctx)
}
func (svc *builtIn) moveToWaypoint(ctx context.Context, wp navigation.Waypoint, extra map[string]interface{}) error {
req := motion.MoveOnGlobeReq{
ComponentName: svc.base.Name(),
Destination: wp.ToPoint(),
Heading: math.NaN(),
MovementSensorName: svc.movementSensor.Name(),
Obstacles: svc.obstacles,
MotionCfg: svc.motionCfg,
BoundingRegions: svc.boundingRegions,
Extra: extra,
}
cancelCtx, cancelFn := context.WithCancel(ctx)
defer cancelFn()
executionID, err := svc.motionService.MoveOnGlobe(cancelCtx, req)
if errors.Is(err, motion.ErrGoalWithinPlanDeviation) {
// make an exception for the error that is raised when motion is not possible because already at goal.
return svc.waypointReached(cancelCtx)
} else if err != nil {
return err
}
executionWaypoint := executionWaypoint{executionID: executionID, waypoint: wp}
if old := svc.activeExecutionWaypoint.Swap(executionWaypoint); old != nil && old != emptyExecutionWaypoint {
msg := "unexpected race condition in moveOnGlobeSync, expected " +
"replaced waypoint & execution id to be nil or %#v; instead was %s"
svc.logger.CErrorf(ctx, msg, emptyExecutionWaypoint, old)
}
// call StopPlan upon exiting moveOnGlobeSync
// is a NoOp if execution has already terminted
defer func() {
timeoutCtx, timeoutCancelFn := context.WithTimeout(context.Background(), time.Second*5)
defer timeoutCancelFn()
err := svc.motionService.StopPlan(timeoutCtx, motion.StopPlanReq{ComponentName: req.ComponentName})
if err != nil {
svc.logger.CError(ctx, "hit error trying to stop plan %s", err)
}
if old := svc.activeExecutionWaypoint.Swap(emptyExecutionWaypoint); old != executionWaypoint {
msg := "unexpected race condition in moveOnGlobeSync, expected " +
"replaced waypoint & execution id to equal %s, was actually %s"
svc.logger.CErrorf(ctx, msg, executionWaypoint, old)
}
}()
err = motion.PollHistoryUntilSuccessOrError(cancelCtx, svc.motionService, planHistoryPollFrequency,
motion.PlanHistoryReq{
ComponentName: req.ComponentName,
ExecutionID: executionID,
LastPlanOnly: true,
},
)
if err != nil {
return err
}
return svc.waypointReached(cancelCtx)
}
func (svc *builtIn) startWaypointMode(ctx context.Context, extra map[string]interface{}) {
if extra == nil {
extra = map[string]interface{}{}
}
extra["motion_profile"] = "position_only"
svc.activeBackgroundWorkers.Add(1)
utils.ManagedGo(func() {
// do not exit loop - even if there are no waypoints remaining
for {
if ctx.Err() != nil {
return
}
wp, err := svc.store.NextWaypoint(ctx)
if err != nil {
time.Sleep(planHistoryPollFrequency)
continue
}
svc.mu.Lock()
svc.waypointInProgress = &wp
cancelCtx, cancelFunc := context.WithCancel(ctx)
svc.currentWaypointCancelFunc = cancelFunc
svc.mu.Unlock()
svc.logger.CInfof(ctx, "navigating to waypoint: %+v", wp)
if err := svc.moveToWaypoint(cancelCtx, wp, extra); err != nil {
if svc.waypointIsDeleted() {
svc.logger.CInfof(ctx, "skipping waypoint %+v since it was deleted", wp)
continue
}
svc.logger.CWarnf(ctx, "retrying navigation to waypoint %+v since it errored out: %s", wp, err)
continue
}
svc.logger.CInfof(ctx, "reached waypoint: %+v", wp)
}
}, svc.activeBackgroundWorkers.Done)
}
func (svc *builtIn) stopActiveMode() {
if svc.wholeServiceCancelFunc != nil {
svc.wholeServiceCancelFunc()
}
svc.activeBackgroundWorkers.Wait()
}
func (svc *builtIn) waypointIsDeleted() bool {
svc.mu.RLock()
defer svc.mu.RUnlock()
return svc.waypointInProgress == nil
}
func (svc *builtIn) Obstacles(ctx context.Context, extra map[string]interface{}) ([]*spatialmath.GeoGeometry, error) {
svc.mu.RLock()
defer svc.mu.RUnlock()
// get static GeoGeometriess
geoGeometries := svc.obstacles
for _, detector := range svc.motionCfg.ObstacleDetectors {
// get the vision service
visSvc, ok := svc.visionServicesByName[detector.VisionServiceName]
if !ok {
return nil, fmt.Errorf("vision service with name: %s not found", detector.VisionServiceName)
}
svc.logger.CDebugf(
ctx,
"proceeding to get detections from vision service: %s with camera: %s",
detector.VisionServiceName.ShortName(),
detector.CameraName.ShortName(),
)
// get the detections
detections, err := visSvc.GetObjectPointClouds(ctx, detector.CameraName.Name, nil)
if err != nil {
return nil, err
}
// determine transform from camera to movement sensor
movementsensorOrigin := referenceframe.NewPoseInFrame(svc.movementSensor.Name().ShortName(), spatialmath.NewZeroPose())
cameraToMovementsensor, err := svc.fsService.TransformPose(ctx, movementsensorOrigin, detector.CameraName.ShortName(), nil)
if err != nil {
// here we make the assumption the movementsensor is coincident with the camera
svc.logger.CDebugf(
ctx,
"we assume the movementsensor named: %s is coincident with the camera named: %s due to err: %v",
svc.movementSensor.Name().ShortName(), detector.CameraName.ShortName(), err.Error(),
)
cameraToMovementsensor = movementsensorOrigin
}
svc.logger.CDebugf(ctx, "cameraToMovementsensor Pose: %v", spatialmath.PoseToProtobuf(cameraToMovementsensor.Pose()))
// determine transform from base to movement sensor
baseToMovementSensor, err := svc.fsService.TransformPose(ctx, movementsensorOrigin, svc.base.Name().ShortName(), nil)
if err != nil {
// here we make the assumption the movementsensor is coincident with the base
svc.logger.CDebugf(
ctx,
"we assume the movementsensor named: %s is coincident with the base named: %s due to err: %v",
svc.movementSensor.Name().ShortName(), svc.base.Name().ShortName(), err.Error(),
)
baseToMovementSensor = movementsensorOrigin
}
svc.logger.CDebugf(ctx, "baseToMovementSensor Pose: %v", spatialmath.PoseToProtobuf(baseToMovementSensor.Pose()))
// determine transform from base to camera
cameraOrigin := referenceframe.NewPoseInFrame(detector.CameraName.ShortName(), spatialmath.NewZeroPose())
baseToCamera, err := svc.fsService.TransformPose(ctx, cameraOrigin, svc.base.Name().ShortName(), nil)
if err != nil {
// here we make the assumption the base is coincident with the camera
svc.logger.CDebugf(
ctx,
"we assume the base named: %s is coincident with the camera named: %s due to err: %v",
svc.base.Name().ShortName(), detector.CameraName.ShortName(), err.Error(),
)
baseToCamera = cameraOrigin
}
svc.logger.CDebugf(ctx, "baseToCamera Pose: %v", spatialmath.PoseToProtobuf(baseToCamera.Pose()))
// get current geo position of robot
gp, _, err := svc.movementSensor.Position(ctx, nil)
if err != nil {
return nil, err
}
// instantiate a localizer and use it to get our current position
localizer := motion.NewMovementSensorLocalizer(svc.movementSensor, gp, spatialmath.NewZeroPose())
currentPIF, err := localizer.CurrentPosition(ctx)
if err != nil {
return nil, err
}
// convert orientation of currentPIF to be left handed
localizerHeading := math.Mod(math.Abs(currentPIF.Pose().Orientation().OrientationVectorDegrees().Theta-360), 360)
// ensure baseToMovementSensor orientation is positive
localizerBaseThetaDiff := math.Mod(math.Abs(baseToMovementSensor.Pose().Orientation().OrientationVectorDegrees().Theta+360), 360)
baseHeading := math.Mod(localizerHeading+localizerBaseThetaDiff, 360)
// convert geo position into GeoPose
robotGeoPose := spatialmath.NewGeoPose(gp, baseHeading)
svc.logger.CDebugf(ctx, "robotGeoPose Location: %v, Heading: %v", *robotGeoPose.Location(), robotGeoPose.Heading())
// iterate through all detections and construct a geoGeometry to append
for i, detection := range detections {
svc.logger.CInfof(
ctx,
"detection %d pose with respect to camera frame: %v",
i, spatialmath.PoseToProtobuf(detection.Geometry.Pose()),
)
// the position of the detection in the camera coordinate frame if it were at the movementsensor's location
desiredPoint := detection.Geometry.Pose().Point().Sub(cameraToMovementsensor.Pose().Point())
desiredPose := spatialmath.NewPose(
desiredPoint,
detection.Geometry.Pose().Orientation(),
)
transformBy := spatialmath.PoseBetweenInverse(detection.Geometry.Pose(), desiredPose)
// get the manipulated geometry
manipulatedGeom := detection.Geometry.Transform(transformBy)
svc.logger.CDebugf(
ctx,
"detection %d pose from movementsensor's position with camera frame coordinate axes: %v ",
i, spatialmath.PoseToProtobuf(manipulatedGeom.Pose()),
)
// fix axes of geometry's pose such that it is in the cooordinate system of the base
manipulatedGeom = manipulatedGeom.Transform(spatialmath.NewPoseFromOrientation(baseToCamera.Pose().Orientation()))
svc.logger.CDebugf(
ctx,
"detection %d pose from movementsensor's position with base frame coordinate axes: %v ",
i, spatialmath.PoseToProtobuf(manipulatedGeom.Pose()),
)
// get the geometry's lat & lng along with its heading with respect to north as a left handed value
obstacleGeoPose := spatialmath.PoseToGeoPose(robotGeoPose, manipulatedGeom.Pose())
svc.logger.CDebugf(
ctx,
"obstacleGeoPose Location: %v, Heading: %v",
*obstacleGeoPose.Location(), obstacleGeoPose.Heading(),
)
// prefix the label of the geometry so we know it is transient and add extra info
label := "transient_" + strconv.Itoa(i) + "_" + detector.CameraName.Name
if detection.Geometry.Label() != "" {
label += "_" + detection.Geometry.Label()
}
detection.Geometry.SetLabel(label)
svc.logger.Debug(detection.Geometry)
// determine the desired geometry pose
desiredPose = spatialmath.NewPoseFromOrientation(detection.Geometry.Pose().Orientation())
// calculate what we need to transform by
transformBy = spatialmath.PoseBetweenInverse(detection.Geometry.Pose(), desiredPose)
// set the geometry's pose to desiredPose
manipulatedGeom = detection.Geometry.Transform(transformBy)
// create the geo obstacle
obstacle := spatialmath.NewGeoGeometry(obstacleGeoPose.Location(), []spatialmath.Geometry{manipulatedGeom})
// add manipulatedGeom to list of geoGeometries we return
geoGeometries = append(geoGeometries, obstacle)
}
}
return geoGeometries, nil
}
func (svc *builtIn) Paths(ctx context.Context, extra map[string]interface{}) ([]*navigation.Path, error) {
svc.mu.RLock()
defer svc.mu.RUnlock()
rawExecutionWaypoint := svc.activeExecutionWaypoint.Load()
// If there is no execution, return empty paths
if rawExecutionWaypoint == nil || rawExecutionWaypoint == emptyExecutionWaypoint {
return []*navigation.Path{}, nil
}
ewp, ok := rawExecutionWaypoint.(executionWaypoint)
if !ok {
return nil, errors.New("execution corrupt")
}
ph, err := svc.motionService.PlanHistory(ctx, motion.PlanHistoryReq{
ComponentName: svc.base.Name(),
ExecutionID: ewp.executionID,
LastPlanOnly: true,
})
if err != nil {
return nil, err
}
path := ph[0].Plan.Path()
geoPoints := make([]*geo.Point, 0, len(path))
poses, err := path.GetFramePoses(svc.base.Name().ShortName())
if err != nil {
return nil, err
}
for _, p := range poses {
geoPoints = append(geoPoints, geo.NewPoint(p.Point().Y, p.Point().X))
}
navPath, err := navigation.NewPath(ewp.waypoint.ID, geoPoints)
if err != nil {
return nil, err
}
return []*navigation.Path{navPath}, nil
}
func (svc *builtIn) Properties(ctx context.Context) (navigation.Properties, error) {
svc.mu.RLock()
defer svc.mu.RUnlock()
prop := navigation.Properties{
MapType: svc.mapType,
}
return prop, nil
}