add saveSkill and loadSkills to skillsmemory

source/RobotAPI/components/armem/server/SkillsMemory/SkillsMemory.cpp

@@ -28,14 +28,18 @@
 #include <ArmarXCore/core/ArmarXObjectScheduler.h>
 #include <ArmarXCore/core/exceptions/local/ExpressionException.h>
 #include <ArmarXCore/core/logging/Logging.h>
+#include <ArmarXCore/core/time/LocalTimeServer.h>
 #include <ArmarXCore/core/time/TimeUtil.h>
 
 #include "RobotAPI/libraries/armem_skills/server/segment/ComposedSkillLibrarySegment.h"
+#include "RobotAPI/libraries/skills/manager/SkillManagerComponentPluginUser.h"
+#include <RobotAPI/interface/skills/SkillManagerInterface.h>
 #include <RobotAPI/libraries/armem/core/error.h>
 #include <RobotAPI/libraries/armem/core/wm/memory_definitions.h>
 #include <RobotAPI/libraries/armem/server/MemoryToIceAdapter.h>
 #include <RobotAPI/libraries/armem/server/wm/memory_definitions.h>
 #include <RobotAPI/libraries/armem_skills/aron_conversions.h>
+#include <RobotAPI/libraries/skills/core/aron/FluxioSkill.aron.generated.h>
 
 namespace armarx
 {
@@ -227,4 +231,18 @@ namespace armarx
     {
         statechartListenerProviderSegment.reportStatechartTransitionWithParametersList(x);
     }
+
+    //****************************//
+    //** Fluxio related methods **//
+    //****************************//
+
+    void SkillsMemory::saveSkill(const skills::manager::arondto::FluxioSkill& skill)
+    {
+        composedSkillCoreSegment.addSkill(skill);
+    }
+
+    std::optional<std::vector<skills::manager::arondto::FluxioSkill>> SkillsMemory::loadSkills()
+    {
+        return composedSkillCoreSegment.getSkills();
+    }
 } // namespace armarx

source/RobotAPI/components/armem/server/SkillsMemory/SkillsMemory.h

@@ -23,6 +23,7 @@
 #pragma once
 
 // Base Class
+#include <vector>
 #include <ArmarXCore/core/Component.h>
 
 // ArmarX
@@ -39,6 +40,7 @@
 #include <RobotAPI/libraries/armem_skills/server/segment/SkillEventSegment.h>
 #include <RobotAPI/libraries/armem_skills/server/segment/SkillExecutionRequestSegment.h>
 #include <RobotAPI/libraries/armem_skills/server/segment/StatechartListenerSegment.h>
+#include <RobotAPI/libraries/skills/core/aron/FluxioSkill.aron.generated.h>
 #include <RobotAPI/libraries/skills/manager/SkillManagerComponentPlugin.h>
 
 namespace armarx
@@ -107,6 +109,14 @@ namespace armarx
         armem::data::CommitResult commit(const armem::data::Commit& commit,
                                          const Ice::Current&) override;
 
+        //****************************//
+        //** Fluxio related methods **//
+        //****************************//
+
+        void saveSkill(const skills::manager::arondto::FluxioSkill& skillt) override;
+
+        std::optional<std::vector<skills::manager::arondto::FluxioSkill>> loadSkills() override;
+
     protected:
         /// @see armarx::ManagedIceObject::onInitComponent()
         void onInitComponent() override;

source/RobotAPI/libraries/armem_skills/server/segment/ComposedSkillLibrarySegment.cpp

 #include "ComposedSkillLibrarySegment.h"
 
+#include <optional>
+
 #include <SimoxUtility/algorithm/string.h>
 
 #include <ArmarXCore/core/time/ice_conversions.h>
 
+#include "RobotAPI/libraries/armem/client/Query.h"
+#include "RobotAPI/libraries/armem/client/forward_declarations.h"
+#include "RobotAPI/libraries/armem/client/query/Builder.h"
+#include "RobotAPI/libraries/armem/core/wm/memory_definitions.h"
 #include <RobotAPI/libraries/armem/server/MemoryToIceAdapter.h>
 #include <RobotAPI/libraries/armem_skills/aron/Skill.aron.generated.h>
 #include <RobotAPI/libraries/armem_skills/aron_conversions.h>
@@ -21,7 +27,7 @@ namespace armarx::skills::segment
 
     void
     ComposedSkillLibraryCoreSegment::defineProperties(PropertyDefinitionsPtr defs,
-                                                        const std::string& prefix)
+                                                      const std::string& prefix)
     {
         this->setDefaultMaxHistorySize(3);
         Base::defineProperties(defs, prefix);
@@ -34,36 +40,46 @@ namespace armarx::skills::segment
     }
 
     void
-    ComposedSkillLibraryCoreSegment::addSkillProvider(const skills::ProviderInfo& info)
+    ComposedSkillLibraryCoreSegment::addSkill(const skills::manager::arondto::FluxioSkill& skill)
     {
         // add skills
-        auto skills = info.providedSkills;
-        auto provId = id().withProviderSegmentName(info.providerId.providerName);
-
-        for (const auto& [s, d] : skills)
-        {
-            armarx::skills::arondto::SkillDescription skillDescription;
-            armem::toAron(skillDescription, d);
+        auto provId = id().withProviderSegmentName(skill.skillProviderId.id);
 
-            armem::Commit commit;
-            auto& entityUpdate = commit.add();
-            entityUpdate.confidence = 1.0;
-            entityUpdate.referencedTime = armem::Time::Now();
-            entityUpdate.sentTime = armem::Time::Now();
-            entityUpdate.arrivedTime = armem::Time::Now();
-            entityUpdate.instancesData = {skillDescription.toAron()};
-            entityUpdate.entityID = provId.withEntityName(d.skillId.skillName);
+        armem::Commit commit;
+        auto& entityUpdate = commit.add();
+        entityUpdate.confidence = 1.0;
+        entityUpdate.referencedTime = armem::Time::Now();
+        entityUpdate.sentTime = armem::Time::Now();
+        entityUpdate.arrivedTime = armem::Time::Now();
+        entityUpdate.instancesData = {skill.toAron()};
+        entityUpdate.entityID = provId.withEntityName(skill.id);
 
-            // Commit data to memory and notify
-            iceMemory.commit(commit);
-        }
+        // Commit data to memory and notify
+        iceMemory.commit(commit);
     }
 
-    void
-    ComposedSkillLibraryCoreSegment::removeSkillProvider(const std::string& providerName)
+    std::optional<std::vector<skills::manager::arondto::FluxioSkill>>
+    ComposedSkillLibraryCoreSegment::getSkills() const
     {
-        skills.erase(providerName);
+        std::vector<skills::manager::arondto::FluxioSkill> ret;
+        armarx::armem::client::query::Builder qb;
+        qb.allLatestInCoreSegment(id());
+        armem::client::QueryResult qresult = iceMemory.query(qb.buildQueryInput());
+        if (!qresult.success)
+        {
+            ARMARX_WARNING << "Query failed: " << qresult.errorMessage;
+            return std::nullopt;
+        }
+
+        const armem::wm::Memory& data = qresult.memory;
+
+        data.forEachInstance(
+            [&ret](const armem::wm::EntityInstance& instance)
+            {
+                auto skill = instance.dataAs<skills::manager::arondto::FluxioSkill>();
+                ret.push_back(skill);
+            });
 
-        // TODO also add info about removed provider to memory?
+        return ret;
     }
 } // namespace armarx::skills::segment

source/RobotAPI/libraries/armem_skills/server/segment/ComposedSkillLibrarySegment.h

@@ -12,6 +12,7 @@
 #include <RobotAPI/interface/skills/SkillProviderInterface.h>
 #include <RobotAPI/libraries/armem_skills/aron/Skill.aron.generated.h>
 #include <RobotAPI/libraries/skills/core/ProviderInfo.h>
+#include <RobotAPI/libraries/skills/core/aron/FluxioSkill.aron.generated.h>
 
 namespace armarx::skills::segment
 {
@@ -27,12 +28,8 @@ namespace armarx::skills::segment
         void defineProperties(PropertyDefinitionsPtr defs, const std::string& prefix);
         void init();
 
-        void addSkillProvider(const skills::ProviderInfo& info);
-        void removeSkillProvider(const std::string& providerName);
+        void addSkill(const skills::manager::arondto::FluxioSkill& skill);
 
-        size_t size() const;
-
-    private:
-        std::map<std::string, std::map<std::string, skills::manager::dto::ProviderInfo>> skills;
+        std::optional<std::vector<skills::manager::arondto::FluxioSkill>> getSkills() const;
     };
 } // namespace armarx::skills::segment

source/RobotAPI/libraries/skills/core/FluxioSkill.cpp

@@ -762,8 +762,8 @@ namespace armarx
             return nullptr;
         }
 
-        std::optional<aron::data::dto::DictPtr>
-        FluxioSkill::toAronDTO() const
+        std::optional<manager::arondto::FluxioSkill>
+        FluxioSkill::toAronXml() const
         {
             if (skillProviderPtr == nullptr)
             {
@@ -832,7 +832,18 @@ namespace armarx
 
             ret.timeout = timeout;
 
-            return ret.toAronDTO();
+            return ret;
         }
+
+        std::optional<aron::data::dto::DictPtr>
+        FluxioSkill::toAronDTO() const {
+            const std::optional<manager::arondto::FluxioSkill> ret = toAronXml();
+            if (!ret.has_value()) {
+                return std::nullopt;
+            }
+
+            return toAronXml()->toAronDTO();
+        }
+
     } // namespace skills
 } // namespace armarx

source/RobotAPI/libraries/skills/core/FluxioSkill.h

@@ -11,6 +11,7 @@
 #include <RobotAPI/interface/skills/SkillManagerInterface.h>
 #include <RobotAPI/libraries/skills/core/aron/FluxioIdentificator.aron.generated.h>
 #include <RobotAPI/libraries/skills/core/aron/FluxioNode.aron.generated.h>
+#include <RobotAPI/libraries/skills/core/aron/FluxioSkill.aron.generated.h>
 
 #include "FluxioEdge.h"
 #include "FluxioNode.h"
@@ -46,6 +47,7 @@ namespace armarx
 
             std::optional<manager::dto::FluxioSkill> toManagerIce() const;
             std::optional<aron::data::dto::DictPtr> toAronDTO() const;
+            std::optional<manager::arondto::FluxioSkill> toAronXml() const;
             manager::dto::FluxioIdentificator toFluxioIdentificatorIce() const;
             manager::arondto::FluxioIdentificator toFluxioIdentificatorAron() const;
             bool updateFromIce(const manager::dto::FluxioSkill& i,
@@ -54,10 +56,10 @@ namespace armarx
                                std::map<std::string, FluxioSkill>& skillsMap,
                                std::map<std::string, aron::type::ObjectPtr>& typesMap);
             bool updateFromAron(const aron::data::dto::DictPtr& i,
-                               std::map<std::string, FluxioProvider>& providersMap,
-                               std::map<std::string, FluxioProfile>& profilesMap,
-                               std::map<std::string, FluxioSkill>& skillsMap,
-                               std::map<std::string, aron::type::ObjectPtr>& typesMap);
+                                std::map<std::string, FluxioProvider>& providersMap,
+                                std::map<std::string, FluxioProfile>& profilesMap,
+                                std::map<std::string, FluxioSkill>& skillsMap,
+                                std::map<std::string, aron::type::ObjectPtr>& typesMap);
             void deleteParameter(const std::string& parameterId, const std::string& skillId);
             void removeSubSkillNodesAndEdges(const std::string& skillId);
 

source/RobotAPI/libraries/skills/manager/SkillManagerComponentPluginUser.cpp

@@ -3,6 +3,7 @@
 #include <mutex>
 #include <optional>
 #include <string>
+#include <vector>
 
 #include <Ice/Exception.h>
 #include <Ice/OutputStream.h>
@@ -23,6 +24,7 @@
 #include "RobotAPI/libraries/skills/manager/SkillManagerComponentPlugin.h"
 #include <RobotAPI/interface/aron/Aron.h>
 #include <RobotAPI/interface/skills/SkillManagerInterface.h>
+#include <RobotAPI/libraries/skills/core/aron/FluxioSkill.aron.generated.h>
 
 namespace armarx
 {
@@ -692,6 +694,26 @@ namespace armarx
             return {};
         }
 
+        const std::optional<skills::manager::arondto::FluxioSkill> aronSkill =
+            s->toAronXml();
+
+        if (!aronSkill.has_value())
+        {
+            ARMARX_WARNING << "Skill with id " << skill.id << " could not be converted to Aron";
+            return {};
+        }
+
+        saveSkill(aronSkill.value());
+
         return ret.value();
     }
+
+    void SkillManagerComponentPluginUser::saveSkill(const skills::manager::arondto::FluxioSkill& skill) {
+        // Implemented in derived class
+    }
+
+    std::optional<std::vector<skills::manager::arondto::FluxioSkill>> SkillManagerComponentPluginUser::loadSkills() {
+        // Implemented in derived class
+        return {};
+    }
 } // namespace armarx

source/RobotAPI/libraries/skills/manager/SkillManagerComponentPluginUser.h

 #pragma once
 
 #include <memory>
+#include <vector>
 
 #include <Ice/Current.h>
 
 #include <RobotAPI/interface/aron/Aron.h>
 #include <RobotAPI/interface/skills/SkillManagerInterface.h>
+#include <RobotAPI/libraries/skills/core/aron/FluxioSkill.aron.generated.h>
 
 #include "SkillManagerComponentPlugin.h"
 
@@ -149,6 +151,9 @@ namespace armarx
                            const skills::manager::dto::FluxioSkill& skill,
                            const Ice::Current& current) override;
 
+        virtual void saveSkill(const skills::manager::arondto::FluxioSkill& skill);
+        virtual std::optional<std::vector<skills::manager::arondto::FluxioSkill>> loadSkills();
+
     private:
         armarx::plugins::SkillManagerComponentPlugin* plugin = nullptr;
     };