Make environment cache methods const (#124)

* Make environment cache methods const

* Update docker version

.github/workflows/bionic_build.yml

@@ -84,7 +84,7 @@ jobs:
         env:
           OS_NAME: ubuntu
           OS_CODE_NAME: bionic
-          DOCKER_IMAGE: ${{ env.REGISTRY }}/ros-industrial/tesseract:${{ env.ROS_DISTRO }}-0.6.2
+          DOCKER_IMAGE: ${{ env.REGISTRY }}/ros-industrial/tesseract:${{ env.ROS_DISTRO }}-0.6.4
           CCACHE_DIR: ${{ github.workspace }}/${{ env.CI_NAME }}/.ccache
           ROS_REPO: main
           UNDERLAY: /root/ros-industrial/tesseract_target_ws/install

.github/workflows/clang_tidy.yml

@@ -58,7 +58,7 @@ jobs:
         env:
           OS_NAME: ubuntu
           OS_CODE_NAME: focal
-          DOCKER_IMAGE: ${{ env.REGISTRY }}/ros-industrial/tesseract:${{ env.ROS_DISTRO }}-0.6.2
+          DOCKER_IMAGE: ${{ env.REGISTRY }}/ros-industrial/tesseract:${{ env.ROS_DISTRO }}-0.6.4
           CCACHE_DIR: ${{ github.workspace }}/${{ env.CI_NAME }}/.ccache
           ROS_REPO: main
           UNDERLAY: /root/ros-industrial/tesseract_target_ws/install

.github/workflows/codecov.yml

@@ -59,7 +59,7 @@ jobs:
         env:
           OS_NAME: ubuntu
           OS_CODE_NAME: bionic
-          DOCKER_IMAGE: ${{ env.REGISTRY }}/ros-industrial/tesseract:${{ env.ROS_DISTRO }}-0.6.2
+          DOCKER_IMAGE: ${{ env.REGISTRY }}/ros-industrial/tesseract:${{ env.ROS_DISTRO }}-0.6.4
           ROS_REPO: main
           UNDERLAY: /root/ros-industrial/tesseract_target_ws/install
           PREFIX: ${{ github.repository }}_

.github/workflows/dependencies_windows_build.rosinstall

@@ -9,7 +9,7 @@
 - git:
     local-name: tesseract
     uri: https://github.com/ros-industrial-consortium/tesseract.git
-    version: 0.6.2
+    version: 0.6.4
 - git:
     local-name: trajopt
     uri: https://github.com/ros-industrial-consortium/trajopt_ros.git

.github/workflows/focal_build.yml

@@ -85,7 +85,7 @@ jobs:
         env:
           OS_NAME: ubuntu
           OS_CODE_NAME: focal
-          DOCKER_IMAGE: ${{ env.REGISTRY }}/ros-industrial/tesseract:${{ env.ROS_DISTRO }}-0.6.2
+          DOCKER_IMAGE: ${{ env.REGISTRY }}/ros-industrial/tesseract:${{ env.ROS_DISTRO }}-0.6.4
           CCACHE_DIR: ${{ github.workspace }}/${{ env.CI_NAME }}/.ccache
           ROS_REPO: main
           UNDERLAY: /root/ros-industrial/tesseract_target_ws/install

.github/workflows/nightly.yml

@@ -29,12 +29,12 @@ jobs:
           - {CI_NAME: Bionic-Build-Nightly,
              OS_CODE_NAME: bionic,
              ROS_DISTRO: melodic,
-             DOCKER_IMAGE: "ghcr.io/ros-industrial/tesseract:melodic-0.6.1",
+             DOCKER_IMAGE: "ghcr.io/ros-industrial/tesseract:melodic-0.6.4",
              CCACHE_DIR: "${{ github.workspace }}/Bionic-Build-Nightly/.ccache"}
           - {CI_NAME: Focal-Build-Nightly,
              OS_CODE_NAME: focal,
              ROS_DISTRO: noetic,
-             DOCKER_IMAGE: "ghcr.io/ros-industrial/tesseract:noetic-0.6.1",
+             DOCKER_IMAGE: "ghcr.io/ros-industrial/tesseract:noetic-0.6.4",
              CCACHE_DIR: "${{ github.workspace }}/Focal-Build-Nightly/.ccache"}
 
     steps:

tesseract_process_managers/include/tesseract_process_managers/core/process_environment_cache.h

@@ -43,6 +43,8 @@ class EnvironmentCache
 public:
   using Ptr = std::shared_ptr<EnvironmentCache>;
   using ConstPtr = std::shared_ptr<const EnvironmentCache>;
+  using UPtr = std::unique_ptr<EnvironmentCache>;
+  using ConstUPtr = std::unique_ptr<const EnvironmentCache>;
 
   EnvironmentCache() = default;
   virtual ~EnvironmentCache() = default;
@@ -64,13 +66,13 @@ class EnvironmentCache
   virtual long getCacheSize() const = 0;
 
   /** @brief If the environment has changed it will rebuild the cache of tesseract objects */
-  virtual void refreshCache() = 0;
+  virtual void refreshCache() const = 0;
 
   /**
    * @brief This will pop an Environment object from the queue
    * @details This will first call refreshCache to ensure it has an updated tesseract then proceed
    */
-  virtual tesseract_environment::Environment::Ptr getCachedEnvironment() = 0;
+  virtual tesseract_environment::Environment::UPtr getCachedEnvironment() const = 0;
 };
 
 class ProcessEnvironmentCache : public EnvironmentCache
@@ -85,35 +87,35 @@ class ProcessEnvironmentCache : public EnvironmentCache
    * @brief Set the cache size used to hold tesseract objects for motion planning
    * @param size The size of the cache.
    */
-  void setCacheSize(long size) override;
+  void setCacheSize(long size) override final;
 
   /**
    * @brief Get the cache size used to hold tesseract objects for motion planning
    * @return The size of the cache.
    */
-  long getCacheSize() const override;
+  long getCacheSize() const override final;
 
   /** @brief If the environment has changed it will rebuild the cache of tesseract objects */
-  void refreshCache() override;
+  void refreshCache() const override final;
 
   /**
    * @brief This will pop an Environment object from the queue
    * @details This will first call refreshCache to ensure it has an updated tesseract then proceed
    */
-  tesseract_environment::Environment::Ptr getCachedEnvironment() override;
+  tesseract_environment::Environment::UPtr getCachedEnvironment() const override final;
 
 protected:
   /** @brief The tesseract_object used to create the cache */
   tesseract_environment::Environment::ConstPtr env_;
 
-  /** @brief The environment revision number at the time the cache was populated */
-  int cache_env_revision_{ 0 };
-
   /** @brief The assigned cache size */
   std::size_t cache_size_{ 5 };
 
-  /** @brief A vector of cached Tesseact objects */
-  std::deque<tesseract_environment::Environment::Ptr> cache_;
+  /** @brief The environment revision number at the time the cache was populated */
+  mutable int cache_env_revision_{ 0 };
+
+  /** @brief A vector of cached Tesseract objects */
+  mutable std::deque<tesseract_environment::Environment::UPtr> cache_;
 
   /** @brief The mutex used when reading and writing to cache_ */
   mutable std::shared_mutex cache_mutex_;

tesseract_process_managers/include/tesseract_process_managers/core/process_planning_server.h

@@ -48,22 +48,24 @@ TESSERACT_COMMON_IGNORE_WARNINGS_POP
 namespace tesseract_planning
 {
 /**
- * @brief A process planning server that support asynchronous exectuion of process planning requests
+ * @brief A process planning server that support asynchronous execution of process planning requests
  * @details It allows the developer to register Process pipelines (aka. Taskflow Generators) so they may be request
  */
 class ProcessPlanningServer
 {
 public:
   using Ptr = std::shared_ptr<ProcessPlanningServer>;
   using ConstPtr = std::shared_ptr<const ProcessPlanningServer>;
+  using UPtr = std::unique_ptr<ProcessPlanningServer>;
+  using ConstUPtr = std::unique_ptr<const ProcessPlanningServer>;
 
 #ifndef SWIG
   /**
    * @brief Constructor
    * @param cache The cache to use for getting Environment objects
    * @param n The number of threads used by the planning server
    */
-  ProcessPlanningServer(EnvironmentCache::Ptr cache, size_t n = std::thread::hardware_concurrency());
+  ProcessPlanningServer(EnvironmentCache::ConstPtr cache, size_t n = std::thread::hardware_concurrency());
 #endif  // SWIG
 
   /**
@@ -162,7 +164,7 @@ class ProcessPlanningServer
   ProfileDictionary::ConstPtr getProfiles() const;
 
 protected:
-  EnvironmentCache::Ptr cache_;
+  EnvironmentCache::ConstPtr cache_;
   std::shared_ptr<tf::Executor> executor_;
   std::shared_ptr<tf::TFProfObserver> profile_observer_;
 

tesseract_process_managers/src/core/process_environment_cache.cpp

@@ -42,10 +42,10 @@ void ProcessEnvironmentCache::setCacheSize(long size)
 
 long ProcessEnvironmentCache::getCacheSize() const { return static_cast<long>(cache_size_); }
 
-void ProcessEnvironmentCache::refreshCache()
+void ProcessEnvironmentCache::refreshCache() const
 {
   std::unique_lock<std::shared_mutex> lock(cache_mutex_);
-  tesseract_environment::Environment::Ptr env;
+  tesseract_environment::Environment::UPtr env;
 
   int rev = env_->getRevision();
   if (rev != cache_env_revision_ || cache_.empty())
@@ -67,15 +67,15 @@ void ProcessEnvironmentCache::refreshCache()
   }
 }
 
-tesseract_environment::Environment::Ptr ProcessEnvironmentCache::getCachedEnvironment()
+tesseract_environment::Environment::UPtr ProcessEnvironmentCache::getCachedEnvironment() const
 {
   // This is to make sure the cached items are updated if needed
   refreshCache();
 
   tesseract_scene_graph::SceneState current_state = env_->getState();
 
   std::unique_lock<std::shared_mutex> lock(cache_mutex_);
-  tesseract_environment::Environment::Ptr t = cache_.back();
+  tesseract_environment::Environment::UPtr t = std::move(cache_.back());
 
   // Update to the current joint values
   t->setState(current_state.joints);

tesseract_process_managers/src/core/process_planning_server.cpp

@@ -45,7 +45,7 @@ TESSERACT_COMMON_IGNORE_WARNINGS_POP
 
 namespace tesseract_planning
 {
-ProcessPlanningServer::ProcessPlanningServer(EnvironmentCache::Ptr cache, size_t n)
+ProcessPlanningServer::ProcessPlanningServer(EnvironmentCache::ConstPtr cache, size_t n)
   : cache_(std::move(cache)), executor_(std::make_shared<tf::Executor>(n))
 {
   /** @todo Need to figure out if these can associated with an individual run versus global */