RandomChaining.cpp

#include <cstdlib>
#include "RandomChaining.h"

#include <thread>
#include <chrono>

namespace armarx::skills::provider
{
  namespace util
  {
    int randomgen(int max, int min) //Pass in range
    {
      srand(time(NULL));  //Changed from rand(). srand() seeds rand for you.
      int random = rand() % max + min;
      return random;
    }
  }

    RandomChainingSkill::RandomChainingSkill() : SimpleSkill(GetSkillDescription())
    {
    }

    SkillDescription
    RandomChainingSkill::GetSkillDescription()
    {
        return SkillDescription{.skillId = armarx::skills::SkillID{.skillName = "RandomChainingSkill"},
                                .description =
                                    "This skill calls 100 random subskills from the skillProviderExample excluding the segfault skill.",
                                .timeout = armarx::core::time::Duration::MilliSeconds(50000)};
    }

    Skill::MainResult
    RandomChainingSkill::main(const MainInput& in)
    {
      std::vector<std::string> subskillNames = {"Timeout", "ChainingSkill", "Foo", "HelloWorld", "IncompleteSkill", "ShowMeCallbacks"};

      ARMARX_CHECK(subskillNames.size() > 0);

      for (unsigned int i = 0; i < 100; ++i)
      {
        this->throwIfSkillShouldTerminate();

        auto index = util::randomgen(subskillNames.size() -1, 0);

        auto subskillName = subskillNames[index];

        SkillProxy prx(
            manager,
            skills::SkillID{.providerId = *getSkillId().providerId, .skillName = subskillName});

        if (util::randomgen(10, 0) < 2)
        {
          callSubskill(prx);
        }
        else 
        {
          callSubskillAsync(prx);

          auto sleep_milliseconds = util::randomgen(1000, 0);

          ARMARX_INFO << "SLEEP FOR " << sleep_milliseconds << "ms";
          std::this_thread::sleep_for(std::chrono::milliseconds(sleep_milliseconds));
        }
      }

      return {TerminatedSkillStatus::Succeeded, nullptr};
    }
} // namespace armarx::skills::provider