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Task composer factory update #626

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Task composer factory update #626

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a8357d3
Added function to task composer plugin factories for creating plugins…
marip8 May 28, 2025
f34cf89
Updated creation of plugins by name only
marip8 May 28, 2025
628177e
Added methods to task composer plugin factory to get all available pl…
marip8 May 28, 2025
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15 changes: 15 additions & 0 deletions ...ct_task_composer/core/include/tesseract_task_composer/core/task_composer_plugin_factory.h
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Original file line number Diff line number Diff line change
Expand Up @@ -32,6 +32,7 @@ TESSERACT_COMMON_IGNORE_WARNINGS_PUSH
#include <map>
#include <memory>
#include <set>
#include <vector>
TESSERACT_COMMON_IGNORE_WARNINGS_POP

#include <tesseract_common/fwd.h>
Expand Down Expand Up @@ -72,6 +73,8 @@ class TaskComposerNodeFactory
const YAML::Node& config,
const TaskComposerPluginFactory& plugin_factory) const = 0;

virtual std::unique_ptr<TaskComposerNode> create() const = 0;

protected:
static std::string getSection();
friend class boost_plugin_loader::PluginLoader;
Expand All @@ -89,6 +92,8 @@ class TaskComposerExecutorFactory

virtual std::unique_ptr<TaskComposerExecutor> create(const std::string& name, const YAML::Node& config) const = 0;

virtual std::unique_ptr<TaskComposerExecutor> create() const = 0;

protected:
static std::string getSection();
friend class boost_plugin_loader::PluginLoader;
Expand Down Expand Up @@ -307,6 +312,16 @@ class TaskComposerPluginFactory
*/
YAML::Node getConfig() const;

/**
* @brief Returns a list of available task composer node plugins
*/
std::vector<std::string> getAvailableTaskComposerNodePlugins() const;

/**
* @brief Returns a list of available task composer executor plugins
*/
std::vector<std::string> getAvailableTaskComposerExecutorPlugins() const;

private:
struct Implementation;
std::unique_ptr<Implementation> impl_;
Expand Down
4 changes: 4 additions & 0 deletions ...k_composer/core/include/tesseract_task_composer/core/task_composer_plugin_factory_utils.h
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Original file line number Diff line number Diff line change
Expand Up @@ -40,6 +40,8 @@ class TaskComposerTaskFactory : public TaskComposerNodeFactory
{
return std::make_unique<TaskType>(name, config, plugin_factory);
}

std::unique_ptr<TaskComposerNode> create() const override { return std::make_unique<TaskType>(); }
};

template <typename ExecutorType>
Expand All @@ -50,6 +52,8 @@ class TaskComposerExecutorFactoryImpl : public TaskComposerExecutorFactory
{
return std::make_unique<ExecutorType>(name, config);
}

std::unique_ptr<TaskComposerExecutor> create() const override { return std::make_unique<ExecutorType>(); }
};
} // namespace tesseract_planning

Expand Down
93 changes: 77 additions & 16 deletions tesseract_task_composer/core/src/task_composer_plugin_factory.cpp
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Expand Up @@ -282,17 +282,42 @@ std::string TaskComposerPluginFactory::getDefaultTaskComposerNodePlugin() const
std::unique_ptr<TaskComposerExecutor>
TaskComposerPluginFactory::createTaskComposerExecutor(const std::string& name) const
{
const auto& executor_plugin_info = impl_->executor_plugin_info;
auto cm_it = executor_plugin_info.plugins.find(name);
if (cm_it == executor_plugin_info.plugins.end())
try
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@Levi-Armstrong Levi-Armstrong May 29, 2025

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My only concern with this change is that the plugins are not intended to be reconfigurable after being created which can lead to incorrect usage. Instead what if this method generated a meta package (which needs to be defined) that this function produces. Once option I explored in the past was leveraging a yaml file which include this information which could also be used for the yaml editor in tesseract_qt.

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@Levi-Armstrong Levi-Armstrong May 29, 2025

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Here is the schema I was exploring at the time. I think it would be good to discuss a little more because this could benefit all plugins throughout tesseract.

https://github.com/tesseract-robotics/tesseract_planning/blob/master/tesseract_task_composer/config/task_composer_plugins.yaml.schema

{
// Check if the input name has associated plugin information
const auto& executor_plugin_info = impl_->executor_plugin_info;
auto cm_it = executor_plugin_info.plugins.find(name);
if (cm_it != executor_plugin_info.plugins.end())
return createTaskComposerExecutor(name, cm_it->second);

// Check if a plugin factory has already been loaded for the input plugin name
auto& executor_factories = impl_->executor_factories;
auto it = executor_factories.find(name);
if (it != executor_factories.end())
{
// Default create a task composer node from the plugin since no configuration information exists
return it->second->create();
}

// Load the plugin since one has not already been loaded
auto plugin = impl_->plugin_loader.instantiate<TaskComposerExecutorFactory>(name);
if (plugin == nullptr)
{
CONSOLE_BRIDGE_logWarn("Failed to load symbol '%s'", name.c_str());
return nullptr;
}

// Store the plugin internally to keep the plugin in scope for the lifetime of this factory object
executor_factories[name] = plugin;

// Default create a task composer node from the plugin since no configuration information exists
return plugin->create();
}
catch (const std::exception& e)
{
CONSOLE_BRIDGE_logWarn("TaskComposerPluginFactory, tried to get task composer executor '%s' that does not "
"exist!",
name.c_str());
CONSOLE_BRIDGE_logWarn("Failed to load symbol '%s', Details: %s", name.c_str(), e.what());
return nullptr;
}

return createTaskComposerExecutor(name, cm_it->second);
}

std::unique_ptr<TaskComposerExecutor>
Expand Down Expand Up @@ -324,17 +349,42 @@ TaskComposerPluginFactory::createTaskComposerExecutor(const std::string& name,

std::unique_ptr<TaskComposerNode> TaskComposerPluginFactory::createTaskComposerNode(const std::string& name) const
{
const auto& task_plugin_info = impl_->task_plugin_info;
auto cm_it = task_plugin_info.plugins.find(name);
if (cm_it == task_plugin_info.plugins.end())
try
{
CONSOLE_BRIDGE_logWarn("TaskComposerPluginFactory, tried to get task composer node '%s' that does not "
"exist!",
name.c_str());
// Check if the input name has associated plugin information
const auto& task_plugin_info = impl_->task_plugin_info;
auto cm_it = task_plugin_info.plugins.find(name);
if (cm_it != task_plugin_info.plugins.end())
return createTaskComposerNode(name, cm_it->second);

// Check if a plugin factory has already been loaded for the input plugin name
auto& node_factories = impl_->node_factories;
auto it = node_factories.find(name);
if (it != node_factories.end())
{
// Default create a task composer node from the plugin since no configuration information exists
return it->second->create();
}

// Load the plugin since one has not already been loaded
auto plugin = impl_->plugin_loader.instantiate<TaskComposerNodeFactory>(name);
if (plugin == nullptr)
{
CONSOLE_BRIDGE_logWarn("Failed to load symbol '%s'", name.c_str());
return nullptr;
}

// Store the plugin internally to keep the plugin in scope for the lifetime of this factory object
node_factories[name] = plugin;

// Default create a task composer node from the plugin since no configuration information exists
return plugin->create();
}
catch (const std::exception& e)
{
CONSOLE_BRIDGE_logWarn("Failed to load symbol '%s', Details: %s", name.c_str(), e.what());
return nullptr;
}

return createTaskComposerNode(name, cm_it->second);
}

std::unique_ptr<TaskComposerNode>
Expand Down Expand Up @@ -384,4 +434,15 @@ YAML::Node TaskComposerPluginFactory::getConfig() const

return config;
}

std::vector<std::string> TaskComposerPluginFactory::getAvailableTaskComposerNodePlugins() const
{
return impl_->plugin_loader.getAvailablePlugins("TaskNode");
}

std::vector<std::string> TaskComposerPluginFactory::getAvailableTaskComposerExecutorPlugins() const
{
return impl_->plugin_loader.getAvailablePlugins("TaskExec");
}

} // namespace tesseract_planning
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