Switch CRDT Synchronization Algorithm to Latest Modification #548

calvertdw · 2024-12-17T23:44:45Z

Future work:

Supporting multiple clients
Switching base topic to autonomy state and include scene graph

…he behavior system.

…ere. Need to fix root node types.

calvertdw · 2025-01-06T22:17:47Z

ihmc-high-level-behaviors/src/libgdx/java/us/ihmc/rdx/ui/behavior/tree/RDXROS2BehaviorTree.java

+         // ImGui rendering thread.
+         ros2BehaviorTree.updatePublication();
+         publishFrequencyText.ping();
+         ros2BehaviorTree.updateSubscription();


Important change, publication and subscription handling both happen before the update, which helps avoid edge cases and simplifies CRDT logic.

calvertdw · 2025-01-06T22:19:17Z

ihmc-high-level-behaviors/src/libgdx/java/us/ihmc/rdx/ui/behavior/tree/RDXROS2BehaviorTree.java

-                                  ros2BehaviorTreeState.getBehaviorTreeSubscription().getPreviousSequenceID(),
-                                  ros2BehaviorTreeState.getBehaviorTreeSubscription().getOutOfOrderCount()));
+                                  ros2BehaviorTree.getBehaviorTreeSubscription().getPreviousSequenceID(),
+                                  ros2BehaviorTree.getBehaviorTreeSubscription().getOutOfOrderCount()));


calvertdw · 2025-01-06T22:20:19Z

ihmc-high-level-behaviors/src/main/java/us/ihmc/behaviors/behaviorTree/BehaviorTree.java

Extracted common code between RDXBehaviorTree and BehaviorTreeExecutor, made possible with the new BehaviorTreeNodeHighLayer class (see later comment).

calvertdw · 2025-01-06T22:21:21Z

ihmc-high-level-behaviors/src/main/java/us/ihmc/behaviors/behaviorTree/BehaviorTree.java

+   private final CRDTInfo crdtInfo;
+   private final MutableLong nextID = new MutableLong(0);
+   private final LatestTimestampModifiable rootReferenceModification;
+   private final LatestTimestampModifiable dataModification;


data & root reference are now separate modifiable CRDT fields. That way the topology is synced separately from the data contained by the tree and nodes.

calvertdw · 2025-01-06T22:21:46Z

...l-behaviors/src/main/java/us/ihmc/behaviors/behaviorTree/BehaviorTreeDefinitionRegistry.java

@@ -36,6 +39,14 @@ public class BehaviorTreeDefinitionRegistry
      new RegistryRecord(WaitDurationActionDefinition.class, BehaviorTreeStateMessage.WAIT_DURATION_ACTION),
      new RegistryRecord(FootPoseActionDefinition.class, BehaviorTreeStateMessage.FOOT_POSE_ACTION)
   };
+   private static final Map<Class<?>, RegistryRecord> recordMap = new HashMap<>();


Added a map to provide a few useful methods.

calvertdw · 2025-01-06T22:23:06Z

ihmc-high-level-behaviors/src/main/java/us/ihmc/behaviors/behaviorTree/BehaviorTreeNode.java

 */
-public interface BehaviorTreeNode<T extends BehaviorTreeNode<T>>
+public interface BehaviorTreeNode<LT extends BehaviorTreeNode<LT>>


Was thinking about this T wrong before. Documented it to not forget.

calvertdw · 2025-01-06T22:24:18Z

...level-behaviors/src/main/java/us/ihmc/behaviors/behaviorTree/BehaviorTreeNodeDefinition.java

@@ -51,8 +52,12 @@ public BehaviorTreeNodeDefinition(CRDTInfo crdtInfo, WorkspaceResourceDirectory

      this.saveFileDirectory = saveFileDirectory;

+      childrenModification = new LatestTimestampModifiable(crdtInfo);


The data modifiable is extended, but the children are kept as a separate modifiable in order to handle topology synchronization separately from data, to improve understandability in the ROS2BehaviorTreeSubscription class.

calvertdw · 2025-01-06T22:24:52Z

...level-behaviors/src/main/java/us/ihmc/behaviors/behaviorTree/BehaviorTreeNodeDefinition.java

      name = new CRDTBidirectionalString(this, BehaviorTreeDefinitionRegistry.getInitialName(getClass()));
      notes = new CRDTBidirectionalString(this, "");
+
+      setModifierName(crdtInfo.getActorDesignation().name() + ": " + name.getValue());
+      childrenModification.setModifierName(crdtInfo.getActorDesignation().name() + ": " + name.getValue() + " children");


These greatly help with debugging, which need to be left in so we can debug any issues going forward.

calvertdw · 2025-01-06T22:27:31Z

...-level-behaviors/src/main/java/us/ihmc/behaviors/behaviorTree/BehaviorTreeNodeHighLayer.java

This class was a bit of an "ah ha" moment. The old BehaviorNodeLayer class would also represent the state layer, which did not help anything and only made things more complicated. Now this interface only represents RDX & Executor layers, which makes it a lot more useful for extracting common logic, as the state implementations are shared anyway. Also the number of type parameters went from 4 to 3 which should make everyone happier. And even better, they have solid documentation.

calvertdw · 2025-01-06T22:45:56Z

...high-level-behaviors/src/main/java/us/ihmc/behaviors/behaviorTree/ros2/ROS2BehaviorTree.java

 */
-@SuppressWarnings({"rawtypes", "unchecked"})


No longer have warnings with the new parameterizations!

calvertdw · 2025-01-06T22:47:03Z

...ehaviors/src/main/java/us/ihmc/behaviors/behaviorTree/ros2/ROS2BehaviorTreeMessageTools.java

@@ -33,6 +26,7 @@ public static void clearLists(BehaviorTreeStateMessage treeStateMessage)
   {
      treeStateMessage.getBehaviorTreeTypes().resetQuick();
      treeStateMessage.getBehaviorTreeIndices().clear();
+      treeStateMessage.getPartialDataNodes().clear();


Partial data is now stored separately in the state messages, no longer exploiting the basic nodes field which was confusing.

calvertdw · 2025-01-06T22:47:46Z

...ehaviors/src/main/java/us/ihmc/behaviors/behaviorTree/ros2/ROS2BehaviorTreeMessageTools.java

      {
         rootNodeState.fromMessage(subscriptionNode.getBehaviorTreeRootNodeStateMessage());
      }
-      else if (subscriptionNode.getType() == AI2RNodeDefinition.class && nodeState instanceof AI2RNodeState ai2rNodeState)


Was able to remove this bit of boilerplate

calvertdw · 2025-01-06T22:48:21Z

...ehaviors/src/main/java/us/ihmc/behaviors/behaviorTree/ros2/ROS2BehaviorTreeSubscription.java

 import java.util.function.Consumer;

-@SuppressWarnings({"unchecked"}) // Sometimes in this class we need to be a little unsafe


No more warnings :D

calvertdw · 2025-01-06T22:53:53Z

...ehaviors/src/main/java/us/ihmc/behaviors/behaviorTree/ros2/ROS2BehaviorTreeSubscription.java

Major modifications to the subscription implementation.

calvertdw · 2025-01-06T22:54:42Z

...c/main/java/us/ihmc/behaviors/behaviorTree/topology/BehaviorTreeNodeInsertionDefinition.java

Rewrote/simplified this a lot.

calvertdw · 2025-01-06T22:55:33Z

...rc/main/java/us/ihmc/behaviors/behaviorTree/topology/BehaviorTreeTopologyOperationQueue.java

Major rework of the topology operation queue with better method names and methods for root node operations.

calvertdw · 2025-01-06T22:56:07Z

...rs/src/main/java/us/ihmc/behaviors/behaviorTree/topology/BehaviorTreeTopologyOperations.java

Rewrote the topology operations almost entirely. Hopefully you'd agree it's more readable and concise now.

calvertdw · 2025-01-06T22:57:49Z

...-high-level-behaviors/src/main/java/us/ihmc/behaviors/sequence/ActionNodeInitialization.java

@@ -24,7 +24,7 @@ public static void initializeAction(@Nullable BehaviorTreeRootNodeState actionSe
                                                                                             HandPoseActionState.class,
                                                                                             indexOfInsertion,
                                                                                             sideOfNewAction));
-         handPoseAction.getState().update();


A lot of getState() methods went away because it's already a state

calvertdw · 2025-01-06T22:58:19Z

...l-behaviors/src/main/java/us/ihmc/behaviors/sequence/actions/FootstepPlanActionExecutor.java

@@ -143,7 +140,7 @@ public void update()

         for (RobotSide side : RobotSide.values)
         {
-            state.copyDefinitionToGoalFoostepToGoalTransform(side);
+            state.copyDefinitionToGoalFootstepToGoalTransform(side);


Foostep -> Footstep

calvertdw · 2025-01-06T22:58:52Z

...viors/src/main/java/us/ihmc/behaviors/sequence/actions/FootstepPlanActionPlanningThread.java

@@ -122,7 +122,7 @@ else if (definition.getPlannerInitialStanceSide().getValue() == InitialStanceSid
      if (!isPreviewPlanner)
         state.getLogger().info("Planning footsteps...");
      FootstepPlannerOutput footstepPlannerOutput = footstepPlanner.handleRequest(footstepPlannerRequest, isPreviewPlanner);
-      FootstepPlan footstepPlan = footstepPlannerOutput.getFootstepPlan();
+      FootstepPlan footstepPlan = footstepPlannerOutput == null ? new FootstepPlan() : footstepPlannerOutput.getFootstepPlan();


Fix NPE bug

calvertdw · 2025-01-06T23:00:25Z

...ehaviors/src/main/java/us/ihmc/behaviors/behaviorTree/trashCan/TrashCanInteractionState.java

      getDefinition().fromMessage(message.getDefinition());

+      super.fromMessage(message.getState());


State fromMessage needs to happen after definition fromMessage. This was a mistake which reared it's head in the new implementation.

calvertdw · 2025-01-06T23:01:52Z

...es/src/main/messages/ihmc_interfaces/behavior_msgs/msg/BehaviorTreeNodeDefinitionMessage.msg

Storing the type of node so we can use it and know it in the case of partial data being sent. Also separating the children modification from data modification.

calvertdw · 2025-01-06T23:02:11Z

...-interfaces/src/main/messages/ihmc_interfaces/behavior_msgs/msg/BehaviorTreeStateMessage.msg

-byte FOOT_POSE_ACTION = 18
+# Used to minimize bandwidth, nodes that are send
+# without their full data.
+byte PARTIAL_DATA = 0


Partial data is now code 0

calvertdw · 2025-01-06T23:02:38Z

...-interfaces/src/main/messages/ihmc_interfaces/behavior_msgs/msg/BehaviorTreeStateMessage.msg

@@ -41,6 +48,8 @@ byte[<=1000] behavior_tree_types
 # it's type.
 uint32[<=1000] behavior_tree_indices

+behavior_msgs/BasicNodeStateMessage[<=500] partial_data_nodes


Good to have the limit at 500 since that's going to determine our max tree size.

calvertdw · 2025-01-06T23:02:58Z

...erfaces/src/main/messages/ihmc_interfaces/ihmc_common_msgs/msg/LatestModificationMessage.msg

Message used for CRDT

calvertdw · 2025-01-06T23:03:27Z

...obotics-toolkit/src/main/java/us/ihmc/robotics/referenceFrames/DetachableReferenceFrame.java

@@ -94,7 +94,7 @@ public void changeFrame(String parentFrameName, RigidBodyTransform transformToPa

   public boolean isChildOfWorld()
   {
-      return referenceFrame.getRootFrame() == ReferenceFrame.getWorldFrame();
+      return referenceFrame != null && referenceFrame.getRootFrame() == ReferenceFrame.getWorldFrame();


calvertdw force-pushed the feature/timestamp-crdt branch 3 times, most recently from 93f80bc to 5b4abd4 Compare December 18, 2024 20:01

calvertdw force-pushed the feature/timestamp-crdt branch 2 times, most recently from d29beb4 to bd090a5 Compare December 30, 2024 17:02

calvertdw and others added 25 commits January 3, 2025 10:33

Remove old prototype version of this algorithm.

f74d9d8

Start integrating timestamp based CRDT algorithm.

88cd834

Keep the update number.

0a45d1a

Swap out RequestConfirmFreezable with LatestTimestampModifiable for t…

bad989e

…he behavior system.

Consolidating frozen terminology to incoming/outgoing modifications.

68fe37a

Update definitions first which is a new requirement.

ccf3209

Change freeze language to modify.

8151685

Rewrite behavior subscription and fix associated bugs.

e79ada7

Avoid NPE.

d9a13d5

WIP: Clear tree regardless on message reception.

d9d95d6

Working through separating modifications to tree topology.

9226005

Remove tree rebuilder, use getRootReferenceModification

0a59b54

Commit some changes before probably changing them again.

30e69a8

Node layer changes before deleting.

6017584

Remove layer interface, improve type parameters, and document.

934c795

Write new subscription sync algorithm and place correct types everywh…

354f4fd

…ere. Need to fix root node types.

Remove root type code. Compiling.

3af1397

Fix insert root bug.

e8cf938

Fix removing nodes from map.

90f8e5f

Tidying up.

046728a

Fix destroying.

817efc9

Improve BehaviorTree structure.

180d180

Rewrite topology operations.

08cae32

Add comments on insertion algorithm.

faa318e

Fix comms.

5aeea6e

calvertdw commented Jan 6, 2025

View reviewed changes

Add doc.

1dfa8f5

calvertdw commented Jan 6, 2025

View reviewed changes

...c/main/java/us/ihmc/behaviors/behaviorTree/topology/BehaviorTreeNodeInsertionDefinition.java

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Rewrote/simplified this a lot.

calvertdw commented Jan 6, 2025

View reviewed changes

...erfaces/src/main/messages/ihmc_interfaces/ihmc_common_msgs/msg/LatestModificationMessage.msg

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Message used for CRDT

calvertdw commented Jan 6, 2025

View reviewed changes

calvertdw requested review from LuigiPenco93, ds58 and TomaszTB January 6, 2025 23:06

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Switch CRDT Synchronization Algorithm to Latest Modification #548

Switch CRDT Synchronization Algorithm to Latest Modification #548

calvertdw commented Dec 17, 2024 •

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		@@ -51,8 +52,12 @@ public BehaviorTreeNodeDefinition(CRDTInfo crdtInfo, WorkspaceResourceDirectory

		this.saveFileDirectory = saveFileDirectory;

		childrenModification = new LatestTimestampModifiable(crdtInfo);

		import java.util.function.Consumer;

		@SuppressWarnings({"unchecked"}) // Sometimes in this class we need to be a little unsafe

		getDefinition().fromMessage(message.getDefinition());

		super.fromMessage(message.getState());

		*/
		@SuppressWarnings({"rawtypes", "unchecked"})

Switch CRDT Synchronization Algorithm to Latest Modification #548

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calvertdw commented Dec 17, 2024 •

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