Own MotionPlanningFrame execution workers

[timothyanderson096-ocdealcheck]

Description

Fixes #3836.

Replace the detached Execute and Plan & Execute workers with an owned ExecutionJob that:

• retains a cancellation callback and joins the worker before frame/model teardown
• rejects concurrent execution jobs
• invalidates stale queued completions after cancellation, teardown, or a newer execution
• captures the move group, plan, and Cartesian inputs needed by the worker instead of reading mutable UI state
• dispatches completion updates and remote Plan/Execute/Stop commands through Qt queued connections so widget access remains on the GUI thread

PlanningSceneDisplay::spawnBackgroundJob() remains available for compatibility, but the motion-planning execution paths no longer use detached workers.

Testing

• Focused ExecutionJob lifecycle/concurrency tests cover concurrent-start rejection, cancel-before-join destruction, and stale-completion invalidation.
• Standalone lifecycle test passed with -Wall -Wextra -Werror.
• AddressSanitizer/UndefinedBehaviorSanitizer and ThreadSanitizer runs passed.
• Repository formatting, whitespace, codespell, CMake formatting, and CMake lint checks passed.
• A full ROS/Qt build was not run locally because the required ROS installation is unavailable; CI is expected to provide that integration coverage.

Checklist

• Required by CI: Code is auto formatted using clang-format
• Extend tutorials/documentation — not applicable; no tutorial behaviour changes
• Document API changes in MIGRATION.md — not applicable; no user-facing migration
• Create tests that fail without this PR
• Include a screenshot — not applicable; no visual change

Summary by CodeRabbit

• New Features

  • Improved motion-planning execution with cancellable background jobs.
  • Prevented overlapping executions and ensured outdated results cannot override newer operations.
  • Added safer handling for planning, Cartesian paths, stopping, queued callbacks, and execution failures.

• Bug Fixes

  • Active execution jobs are now cancelled and completed safely when closing or clearing the planning view.
  • Failed executions are reported without preventing subsequent jobs from starting.

• Tests

  • Added coverage for concurrent starts, cancellation, cleanup, worker joining, failure handling, and execution-generation invalidation.

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ℹ️ Recent review info

⚙️ Run configuration

Configuration used: defaults

Review profile: CHILL

Plan: Pro Plus

Run ID: b07e8028-6ee0-4706-bc7a-9f6e5754bec8

📥 Commits

Reviewing files that changed from the base of the PR and between 04aaabf and 38a81bd.

📒 Files selected for processing (4)

• moveit_ros/visualization/motion_planning_rviz_plugin/include/moveit/motion_planning_rviz_plugin/execution_job.hpp
• moveit_ros/visualization/motion_planning_rviz_plugin/include/moveit/motion_planning_rviz_plugin/motion_planning_frame.hpp
• moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_frame_planning.cpp
• moveit_ros/visualization/motion_planning_rviz_plugin/test/execution_job_test.cpp

🚧 Files skipped from review as they are similar to previous changes (4)

• moveit_ros/visualization/motion_planning_rviz_plugin/include/moveit/motion_planning_rviz_plugin/motion_planning_frame.hpp
• moveit_ros/visualization/motion_planning_rviz_plugin/test/execution_job_test.cpp
• moveit_ros/visualization/motion_planning_rviz_plugin/include/moveit/motion_planning_rviz_plugin/execution_job.hpp
• moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_frame_planning.cpp

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📝 Walkthrough

Walkthrough

The RViz motion-planning plugin adds owned, cancellable execution jobs. Planning captures execution state, tracks generations, handles failures, preserves Cartesian plans, and queues UI callbacks on the Qt event loop.

Changes

Execution ownership and GUI dispatch

Layer / File(s)	Summary
ExecutionJob contract and validation moveit_ros/visualization/motion_planning_rviz_plugin/include/.../execution_job.hpp, moveit_ros/visualization/motion_planning_rviz_plugin/test/*, moveit_ros/visualization/motion_planning_rviz_plugin/CMakeLists.txt, moveit_ros/visualization/package.xml	ExecutionJob captures worker exceptions, resets its active state, and supports restart after failures. Tests cover cancellation, generations, joining, and throwing exception handlers.
MotionPlanningFrame ownership and lifecycle moveit_ros/visualization/motion_planning_rviz_plugin/include/.../motion_planning_frame.hpp, moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_frame.cpp	The frame declares failed-execution handling and cancels and waits for active execution before destruction or robot-model clearing.
Generation-aware planning and execution moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_frame_planning.cpp	Execution captures inputs, rejects overlapping jobs, ignores stale completions, handles failures, preserves Cartesian plans, and queues remote callbacks through Qt.

Estimated code review effort: 4 (Complex) | ~45 minutes

Merge Risk: ⚪ Minimal · up to 38a81

This PR replaces detached execution workers with owned, cancellation-aware jobs and queued GUI updates; no actionable merge-blocking risk remains after normal checks and review.

🚥 Pre-merge checks | ✅ 4 | ❌ 1

❌ Failed checks (1 warning)

Check name	Status	Explanation	Resolution
Docstring Coverage	⚠️ Warning	Docstring coverage is 2.78% which is insufficient. The required threshold is 80.00%. Docstring coverage is scoped to functions touched by this diff. Analyzed 36 functions across 5 files.	Write docstrings for the functions missing them to satisfy the coverage threshold.

✅ Passed checks (4 passed)

Check name	Status	Explanation
Description Check	✅ Passed	Check skipped - CodeRabbit’s high-level summary is enabled.
Title check	✅ Passed	The title clearly describes the primary change: MotionPlanningFrame now owns its execution workers.
Linked Issues check	✅ Passed	The changes satisfy issue #3836 by replacing detached execution workers with owned, cancellable jobs, joining them during teardown, rejecting stale completions, and routing GUI updates through queued …
Out of Scope Changes check	✅ Passed	The changes remain within scope. Exception containment, failure reporting, lifecycle tests, and build-test configuration directly support safe execution-worker ownership and teardown.

Full details: Linked Issues check

Explanation

The changes satisfy issue #3836 by replacing detached execution workers with owned, cancellable jobs, joining them during teardown, rejecting stale completions, and routing GUI updates through queued Qt calls. Regression tests cover cancellation, destruction, restartability, and exception handling.

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Actionable comments posted: 1

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Inline comments:
In
`@moveit_ros/visualization/motion_planning_rviz_plugin/include/moveit/motion_planning_rviz_plugin/execution_job.hpp`:
- Around line 76-79: Update the worker lambda in ExecutionJob so the
job(generation) invocation catches exceptions before they escape the thread,
reports the execution failure through the existing error-handling mechanism, and
clears active_ on both success and failure paths. Ensure subsequent start()
calls remain possible after an exception.

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ℹ️ Review info

⚙️ Run configuration

Configuration used: defaults

Review profile: CHILL

Plan: Pro Plus

Run ID: 29616813-baaa-4776-a7b6-8508b146be89

📥 Commits

Reviewing files that changed from the base of the PR and between 1e7a109 and 04aaabf.

📒 Files selected for processing (7)

• moveit_ros/visualization/motion_planning_rviz_plugin/CMakeLists.txt
• moveit_ros/visualization/motion_planning_rviz_plugin/include/moveit/motion_planning_rviz_plugin/execution_job.hpp
• moveit_ros/visualization/motion_planning_rviz_plugin/include/moveit/motion_planning_rviz_plugin/motion_planning_frame.hpp
• moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_frame.cpp
• moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_frame_planning.cpp
• moveit_ros/visualization/motion_planning_rviz_plugin/test/execution_job_test.cpp
• moveit_ros/visualization/package.xml

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