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job.cpp
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job.cpp
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/*
* Copyright (C) 2023 Johnson & Johnson
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*
*/
#include "job.hpp"
#include "get_result.hpp"
#include "make_transform.hpp"
#include "serialization.hpp"
#include "get_joint_constraints.hpp"
#include "set_result.hpp"
#include "signals.hpp"
#include "transform_pose.hpp"
#include <nexus_common/pausable_sequence.hpp>
namespace nexus::workcell_orchestrator {
Job::Job(rclcpp_lifecycle::LifecycleNode::WeakPtr node,
tf2_ros::Buffer::SharedPtr tf2_buffer)
: _node(std::move(node)), _tf2_buffer(std::move(tf2_buffer))
{
// create IsPauseTriggered BT node, it is a simple action node with output port "paused".
this->_bt_factory.registerSimpleAction("IsPauseTriggered",
[this](BT::TreeNode& node)
{
node.setOutput("paused", this->_paused);
return BT::NodeStatus::SUCCESS;
}, { BT::OutputPort<bool>("paused") });
// register PausableSequence
this->_bt_factory.registerNodeType<common::PausableSequence>(
"PausableSequence");
this->_bt_factory.registerBuilder<SetResult>("SetResult",
[this](const std::string& name, const BT::NodeConfiguration& config)
{
return std::make_unique<SetResult>(name, config, this->_ctx);
});
this->_bt_factory.registerBuilder<GetResult>("GetResult",
[this](const std::string& name, const BT::NodeConfiguration& config)
{
return std::make_unique<GetResult>(name, config, this->_ctx,
*this->_node.lock());
});
this->_bt_factory.registerNodeType<MakeTransform>("MakeTransform");
this->_bt_factory.registerBuilder<ApplyTransform>(
"ApplyTransform",
[this](const std::string& name, const BT::NodeConfiguration& config)
{
return std::make_unique<ApplyTransform>(name, config,
*this->_node.lock(),
this->_tf2_buffer);
});
this->_bt_factory.registerBuilder<SerializeDetections>(
"SerializeDetections",
[this](const std::string& name, const BT::NodeConfiguration& config)
{
return std::make_unique<SerializeDetections>(name, config,
*this->_node.lock());
});
this->_bt_factory.registerBuilder<DeserializeDetections>(
"DeserializeDetections",
[this](
const std::string& name, const BT::NodeConfiguration& config)
{
return std::make_unique<DeserializeDetections>(name, config,
*this->_node.lock());
});
this->_bt_factory.registerBuilder<WaitForSignal>("WaitForSignal",
[this](const std::string& name, const BT::NodeConfiguration& config)
{
return std::make_unique<WaitForSignal>(name, config, this->_ctx);
});
this->_bt_factory.registerBuilder<SetSignal>("SetSignal",
[this](const std::string& name, const BT::NodeConfiguration& config)
{
return std::make_unique<SetSignal>(name, config, this->_ctx);
});
this->_bt_factory.registerBuilder<GetJointConstraints>(
"GetJointConstraints",
[this](
const std::string& name,
const BT::NodeConfiguration& config)
{
return std::make_unique<GetJointConstraints>(
name,
config,
this->_node
);
});
}
void Job::load_capability(const Capability& cap)
{
cap
}
}