From 037144a8424d5ae71a7778c4f1ee380e864d7640 Mon Sep 17 00:00:00 2001
From: Julian Tusch <urhrf@student.kit.edu>
Date: Sun, 7 Apr 2024 19:52:06 +0200
Subject: [PATCH] split skillmanager into plugin and pluginuser, fixed errors
---
.../libraries/skills/manager/CMakeLists.txt | 2 +
.../manager/SkillManagerComponentPlugin.cpp | 265 ------------------
.../manager/SkillManagerComponentPlugin.h | 108 +------
.../SkillManagerComponentPluginUser.cpp | 262 +++++++++++++++++
.../manager/SkillManagerComponentPluginUser.h | 112 ++++++++
5 files changed, 378 insertions(+), 371 deletions(-)
create mode 100644 source/RobotAPI/libraries/skills/manager/SkillManagerComponentPluginUser.cpp
create mode 100644 source/RobotAPI/libraries/skills/manager/SkillManagerComponentPluginUser.h
diff --git a/source/RobotAPI/libraries/skills/manager/CMakeLists.txt b/source/RobotAPI/libraries/skills/manager/CMakeLists.txt
index b45f4a929..7348013e3 100644
--- a/source/RobotAPI/libraries/skills/manager/CMakeLists.txt
+++ b/source/RobotAPI/libraries/skills/manager/CMakeLists.txt
@@ -17,8 +17,10 @@ armarx_add_library(
SOURCES
SkillManagerComponentPlugin.cpp
+ SkillManagerComponentPluginUser.cpp
HEADERS
SkillManagerComponentPlugin.h
+ SkillManagerComponentPluginUser.h
)
add_library(RobotAPI::skills::manager ALIAS RobotAPISkillsManager)
diff --git a/source/RobotAPI/libraries/skills/manager/SkillManagerComponentPlugin.cpp b/source/RobotAPI/libraries/skills/manager/SkillManagerComponentPlugin.cpp
index da4772517..c6550db94 100644
--- a/source/RobotAPI/libraries/skills/manager/SkillManagerComponentPlugin.cpp
+++ b/source/RobotAPI/libraries/skills/manager/SkillManagerComponentPlugin.cpp
@@ -1,9 +1,7 @@
#include "SkillManagerComponentPlugin.h"
-#include <any>
#include <optional>
#include <string>
-#include <IceUtil/UUID.h>
#include <ArmarXCore/core/Component.h>
#include <ArmarXCore/core/time/DateTime.h>
#include <ArmarXCore/core/time/ice_conversions.h>
@@ -478,7 +476,6 @@ namespace armarx::plugins
}
//** Fluxio related methods
- // TODO: trash
std::vector<skills::FluxioSkill>
SkillManagerComponentPlugin::getSkillList()
@@ -523,7 +520,6 @@ namespace armarx::plugins
}
skills::FluxioSkill SkillManagerComponentPlugin::getSkill(const std::string& id){
- // TODO: take out the trash
skills::FluxioSkill ret;
return ret;
}
@@ -733,264 +729,3 @@ namespace armarx::plugins
}
} // namespace armarx::plugins
-
-namespace armarx
-{
- SkillManagerComponentPluginUser::SkillManagerComponentPluginUser()
- {
- addPlugin(plugin);
- }
-
- void
- SkillManagerComponentPluginUser::addProvider(const skills::manager::dto::ProviderInfo& info,
- const Ice::Current&)
- {
- auto i = skills::ProviderInfo::FromIce(info);
- this->plugin->addProvider(i);
- }
-
- void
- SkillManagerComponentPluginUser::removeProvider(
- const skills::manager::dto::ProviderID& provider,
- const Ice::Current&)
- {
- auto i = skills::ProviderID::FromIce(provider);
- this->plugin->removeProvider(i);
- }
-
- skills::manager::dto::SkillStatusUpdate
- SkillManagerComponentPluginUser::executeSkill(
- const skills::manager::dto::SkillExecutionRequest& info,
- const Ice::Current&)
- {
- auto e = skills::SkillExecutionRequest::FromIce(info);
- return this->plugin->executeSkill(e).toManagerIce();
- }
-
- skills::manager::dto::SkillExecutionID
- SkillManagerComponentPluginUser::executeSkillAsync(
- const skills::manager::dto::SkillExecutionRequest& info,
- const Ice::Current& current)
- {
- auto e = skills::SkillExecutionRequest::FromIce(info);
- return this->plugin->executeSkillAsync(e).toManagerIce();
- }
-
- skills::provider::dto::ParameterUpdateResult
- SkillManagerComponentPluginUser::updateSkillParameters(
- const skills::manager::dto::SkillExecutionID& info,
- const aron::data::dto::DictPtr& params,
- const Ice::Current& current)
- {
- skills::provider::dto::ParameterUpdateResult ret;
- auto a = armarx::aron::data::Dict::FromAronDictDTO(params);
- auto e = skills::SkillExecutionID::FromIce(info);
- ret.success = this->plugin->updateSkillParameters(e, a);
- return ret;
- }
-
- skills::provider::dto::AbortSkillResult
- SkillManagerComponentPluginUser::abortSkill(const skills::manager::dto::SkillExecutionID& id,
- const Ice::Current& current)
- {
- skills::provider::dto::AbortSkillResult ret;
- auto i = skills::SkillExecutionID::FromIce(id);
- ret.success = this->plugin->abortSkill(i);
- return ret;
- }
-
- skills::provider::dto::AbortSkillResult
- SkillManagerComponentPluginUser::abortSkillAsync(
- const skills::manager::dto::SkillExecutionID& id,
- const Ice::Current& /*unused*/)
- {
- skills::provider::dto::AbortSkillResult ret;
- auto i = skills::SkillExecutionID::FromIce(id);
- ret.success = this->plugin->abortSkillAsync(i);
- return ret;
- }
-
- void
- SkillManagerComponentPluginUser::updateStatusForSkill(
- const skills::provider::dto::SkillStatusUpdate& statusUpdate,
- const skills::callback::dto::ProviderID& pid,
- const Ice::Current&)
- {
- (void)statusUpdate;
- (void)pid;
- // If you want to use the status, implement this method!
- }
-
- skills::manager::dto::SkillDescriptionMap
- SkillManagerComponentPluginUser::getSkillDescriptions(const Ice::Current& current)
- {
- skills::manager::dto::SkillDescriptionMap ret;
-
- auto m = this->plugin->getSkillDescriptions();
-
- for (const auto& [k, v] : m)
- {
- ret.insert({k.toManagerIce(), v.toManagerIce()});
- }
-
- return ret;
- }
-
- IceUtil::Optional<skills::manager::dto::SkillDescription>
- SkillManagerComponentPluginUser::getSkillDescription(const skills::manager::dto::SkillID& id,
- const Ice::Current& current)
- {
- auto e = skills::SkillID::FromIce(id);
- auto o = this->plugin->getSkillDescription(e);
- if (o.has_value())
- {
- return o->toManagerIce();
- }
- return {};
- }
-
- //** Fluxio related methods
-
- skills::manager::dto::FluxioSkillList
- SkillManagerComponentPluginUser::getSkillList(const Ice::Current& current)
- {
- skills::manager::dto::FluxioSkillList ret;
-
- auto l = this->plugin->getSkillList();
-
- for (const auto& s : l)
- {
- ret.push_back(s.toManagerIce());
- }
-
- return ret;
- }
-
- skills::manager::dto::FluxioSkill
- SkillManagerComponentPluginUser::getSkill(const std::string& id,const Ice::Current& current){
- return this->plugin->getSkill(id).toManagerIce();
- }
-
- void SkillManagerComponentPluginUser::updateSkill(const skills::manager::dto::FluxioSkill& skill,const Ice::Current& current){
- this->plugin->updateSkill(skills::FluxioSkill::FromIce(skill));
- }
-
- void SkillManagerComponentPluginUser::removeSkill(const std::string& id,const Ice::Current& current){
- this->plugin->removeSkill(id);
- }
-
- bool SkillManagerComponentPluginUser::getSkillMutex(const std::string& skillId, const std::string& userId,const Ice::Current& current){
- return this->plugin->getSkillMutex(skillId, userId);
- }
-
- void SkillManagerComponentPluginUser::deleteSkillMutex(const std::string& skillId, const std::string& userId,const Ice::Current& current){
- this->plugin->deleteSkillMutex(skillId, userId);
- }
-
- void SkillManagerComponentPluginUser::removeSkillParameter(const std::string& skillId, const std::string& parameterId,const Ice::Current& current){
- this->plugin->removeSkillParameter(skillId, parameterId);
- }
-
- skills::manager::dto::FluxioProfileList
- SkillManagerComponentPluginUser::getProfileList(const Ice::Current& current){
- skills::manager::dto::FluxioProfileList ret;
-
- auto l = this->plugin->getProfileList();
-
- for (const auto& s : l)
- {
- ret.push_back(s.toManagerIce());
- }
-
- return ret;
- }
-
- IceUtil::Optional<skills::manager::dto::FluxioProfile>
- SkillManagerComponentPluginUser::getProfile(const std::string& id,const Ice::Current& current){
- auto profile = this->plugin->getProfile(id);
-
- if (profile.has_value()) {
- return profile->toManagerIce();
- }
- return {};
- }
-
- skills::manager::dto::FluxioProfile SkillManagerComponentPluginUser::createProfile(skills::manager::dto::FluxioProfile profile,const Ice::Current& current){
- profile.id = IceUtil::generateUUID();
- this->plugin->createProfile(skills::FluxioProfile::FromIce(profile));
- return profile;
- }
-
- void SkillManagerComponentPluginUser::updateProfile(skills::manager::dto::FluxioProfile profile,const Ice::Current& current){
- this->plugin->updateProfile(skills::FluxioProfile::FromIce(profile));
- }
-
- skills::manager::dto::FluxioProviderList
- SkillManagerComponentPluginUser::getProviderList(const Ice::Current& current){
- skills::manager::dto::FluxioProviderList ret;
-
- auto l = this->plugin->getProviderList();
-
- for (const auto& s : l)
- {
- ret.push_back(s.toManagerIce());
- }
-
- return ret;
- }
-
- skills::manager::dto::FluxioProvider
- SkillManagerComponentPluginUser::getProvider(const std::string& id,const Ice::Current& current){
- return this->plugin->getProvider(id).toManagerIce();
- }
-
- skills::manager::dto::FluxioSkillList
- SkillManagerComponentPluginUser::getSkillsOfProvider(const std::string& id,const Ice::Current& current){
- skills::manager::dto::FluxioSkillList ret;
-
- auto l = this->plugin->getSkillsOfProvider(id);
-
- for (const auto& s : l)
- {
- ret.push_back(s.toManagerIce());
- }
-
- return ret;
- }
-
- skills::manager::dto::FluxioSkill
- SkillManagerComponentPluginUser::addSkillToProvider(const std::string& providerId,const skills::manager::dto::FluxioSkill& skill,const Ice::Current& current){
- return this->plugin->addSkillToProvider(providerId, skills::FluxioSkill::FromIce(skill)).toManagerIce();
- }
-
- //** end of Fluxio related methods
-
- IceUtil::Optional<skills::manager::dto::SkillStatusUpdate>
- SkillManagerComponentPluginUser::getSkillExecutionStatus(
- const skills::manager::dto::SkillExecutionID& executionId,
- const Ice::Current& current)
- {
- auto e = skills::SkillExecutionID::FromIce(executionId);
- auto o = this->plugin->getSkillExecutionStatus(e);
- if (o.has_value())
- {
- return o->toManagerIce();
- }
- return {};
- }
-
- skills::manager::dto::SkillStatusUpdateMap
- SkillManagerComponentPluginUser::getSkillExecutionStatuses(const Ice::Current& current)
- {
- skills::manager::dto::SkillStatusUpdateMap ret;
-
- auto m = this->plugin->getSkillExecutionStatuses();
-
- for (const auto& [k, v] : m)
- {
- ret.insert({k.toManagerIce(), v.toManagerIce()});
- }
-
- return ret;
- }
-} // namespace armarx
diff --git a/source/RobotAPI/libraries/skills/manager/SkillManagerComponentPlugin.h b/source/RobotAPI/libraries/skills/manager/SkillManagerComponentPlugin.h
index b4fc10dd5..dce823d2f 100644
--- a/source/RobotAPI/libraries/skills/manager/SkillManagerComponentPlugin.h
+++ b/source/RobotAPI/libraries/skills/manager/SkillManagerComponentPlugin.h
@@ -1,12 +1,11 @@
#pragma once
-#include <any>
#include <mutex>
-#include <list>
#include <string>
#include <ArmarXCore/core/ComponentPlugin.h>
#include <ArmarXCore/core/ManagedIceObject.h>
+#include "SkillManagerComponentPluginUser.h"
#include <RobotAPI/interface/skills/SkillManagerInterface.h>
#include <RobotAPI/libraries/skills/core/FluxioIdentificator.h>
@@ -71,7 +70,7 @@ namespace armarx::plugins
void removeSkill(const std::string& id);
bool getSkillMutex(const std::string& skillId, const std::string& userId);
-
+
void deleteSkillMutex(const std::string& skillId, const std::string& userId);
void removeSkillParameter(const std::string& skillId, const std::string& parameterId);
@@ -114,106 +113,3 @@ namespace armarx::plugins
friend class armarx::SkillManagerComponentPluginUser;
};
} // namespace armarx::plugins
-
-namespace armarx
-{
- class SkillManagerComponentPluginUser :
- virtual public ManagedIceObject,
- virtual public skills::manager::dti::SkillManagerInterface
- {
- public:
- SkillManagerComponentPluginUser();
-
- void addProvider(const skills::manager::dto::ProviderInfo& providerInfo,
- const Ice::Current& current) override;
- void removeProvider(const skills::manager::dto::ProviderID& provider,
- const Ice::Current& current) override;
-
- skills::manager::dto::SkillStatusUpdate
- executeSkill(const skills::manager::dto::SkillExecutionRequest& info,
- const Ice::Current& current) override;
-
- skills::manager::dto::SkillExecutionID
- executeSkillAsync(const skills::manager::dto::SkillExecutionRequest& skillExecutionRequest,
- const Ice::Current& current) override;
-
- skills::provider::dto::ParameterUpdateResult
- updateSkillParameters(const skills::manager::dto::SkillExecutionID& executionId,
- const aron::data::dto::DictPtr& params,
- const Ice::Current& current) override;
-
- void updateStatusForSkill(const skills::provider::dto::SkillStatusUpdate& update,
- const skills::callback::dto::ProviderID& id,
- const Ice::Current& current) override;
-
- skills::provider::dto::AbortSkillResult
- abortSkill(const skills::manager::dto::SkillExecutionID& id,
- const Ice::Current& current) override;
-
- skills::provider::dto::AbortSkillResult
- abortSkillAsync(const skills::manager::dto::SkillExecutionID& id,
- const Ice::Current& current) override;
-
-
- skills::manager::dto::SkillDescriptionMap
- getSkillDescriptions(const Ice::Current& current) override;
-
- IceUtil::Optional<skills::manager::dto::SkillDescription>
- getSkillDescription(const skills::manager::dto::SkillID& id,
- const Ice::Current& current) override;
-
-
- //** Fluxio related methods
-
- skills::manager::dto::FluxioSkillList
- getSkillList(const Ice::Current& current) override;
-
- skills::manager::dto::FluxioSkill
- getSkill(const std::string& id,const Ice::Current& current) override;
-
- void updateSkill(const skills::manager::dto::FluxioSkill& skill,const Ice::Current& current) override;
-
- void removeSkill(const std::string& id,const Ice::Current& current) override;
-
- bool getSkillMutex(const std::string& skillId, const std::string& userId,const Ice::Current& current) override;
-
- void deleteSkillMutex(const std::string& skillId, const std::string& userId,const Ice::Current& current) override;
-
- void removeSkillParameter(const std::string& skillId, const std::string& parameterId,const Ice::Current& current) override;
-
- skills::manager::dto::FluxioProfileList
- getProfileList(const Ice::Current& current) override;
-
- IceUtil::Optional<skills::manager::dto::FluxioProfile>
- getProfile(const std::string& id,const Ice::Current& current) override;
-
- skills::manager::dto::FluxioProfile
- createProfile(skills::manager::dto::FluxioProfile profile,const Ice::Current& current) override;
-
- void updateProfile(skills::manager::dto::FluxioProfile profile,const Ice::Current& current) override;
-
- skills::manager::dto::FluxioProviderList
- getProviderList(const Ice::Current& current) override;
-
- skills::manager::dto::FluxioProvider
- getProvider(const std::string& id,const Ice::Current& current) override;
-
- skills::manager::dto::FluxioSkillList
- getSkillsOfProvider(const std::string& id,const Ice::Current& current) override;
-
- skills::manager::dto::FluxioSkill
- addSkillToProvider(const std::string& providerId,const skills::manager::dto::FluxioSkill& skill,const Ice::Current& current) override;
-
- //** end of Fluxio related methods
-
- IceUtil::Optional<skills::manager::dto::SkillStatusUpdate>
- getSkillExecutionStatus(const skills::manager::dto::SkillExecutionID& executionId,
- const Ice::Current& current) override;
-
- skills::manager::dto::SkillStatusUpdateMap
- getSkillExecutionStatuses(const Ice::Current& current) override;
-
- private:
- armarx::plugins::SkillManagerComponentPlugin* plugin = nullptr;
- };
-} // namespace armarx
diff --git a/source/RobotAPI/libraries/skills/manager/SkillManagerComponentPluginUser.cpp b/source/RobotAPI/libraries/skills/manager/SkillManagerComponentPluginUser.cpp
new file mode 100644
index 000000000..0a11040af
--- /dev/null
+++ b/source/RobotAPI/libraries/skills/manager/SkillManagerComponentPluginUser.cpp
@@ -0,0 +1,262 @@
+#include "SkillManagerComponentPluginUser.h"
+
+namespace armarx
+{
+ SkillManagerComponentPluginUser::SkillManagerComponentPluginUser()
+ {
+ addPlugin(plugin);
+ }
+
+ void
+ SkillManagerComponentPluginUser::addProvider(const skills::manager::dto::ProviderInfo& info,
+ const Ice::Current&)
+ {
+ auto i = skills::ProviderInfo::FromIce(info);
+ this->plugin->addProvider(i);
+ }
+
+ void
+ SkillManagerComponentPluginUser::removeProvider(
+ const skills::manager::dto::ProviderID& provider,
+ const Ice::Current&)
+ {
+ auto i = skills::ProviderID::FromIce(provider);
+ this->plugin->removeProvider(i);
+ }
+
+ skills::manager::dto::SkillStatusUpdate
+ SkillManagerComponentPluginUser::executeSkill(
+ const skills::manager::dto::SkillExecutionRequest& info,
+ const Ice::Current&)
+ {
+ auto e = skills::SkillExecutionRequest::FromIce(info);
+ return this->plugin->executeSkill(e).toManagerIce();
+ }
+
+ skills::manager::dto::SkillExecutionID
+ SkillManagerComponentPluginUser::executeSkillAsync(
+ const skills::manager::dto::SkillExecutionRequest& info,
+ const Ice::Current& current)
+ {
+ auto e = skills::SkillExecutionRequest::FromIce(info);
+ return this->plugin->executeSkillAsync(e).toManagerIce();
+ }
+
+ skills::provider::dto::ParameterUpdateResult
+ SkillManagerComponentPluginUser::updateSkillParameters(
+ const skills::manager::dto::SkillExecutionID& info,
+ const aron::data::dto::DictPtr& params,
+ const Ice::Current& current)
+ {
+ skills::provider::dto::ParameterUpdateResult ret;
+ auto a = armarx::aron::data::Dict::FromAronDictDTO(params);
+ auto e = skills::SkillExecutionID::FromIce(info);
+ ret.success = this->plugin->updateSkillParameters(e, a);
+ return ret;
+ }
+
+ skills::provider::dto::AbortSkillResult
+ SkillManagerComponentPluginUser::abortSkill(const skills::manager::dto::SkillExecutionID& id,
+ const Ice::Current& current)
+ {
+ skills::provider::dto::AbortSkillResult ret;
+ auto i = skills::SkillExecutionID::FromIce(id);
+ ret.success = this->plugin->abortSkill(i);
+ return ret;
+ }
+
+ skills::provider::dto::AbortSkillResult
+ SkillManagerComponentPluginUser::abortSkillAsync(
+ const skills::manager::dto::SkillExecutionID& id,
+ const Ice::Current& /*unused*/)
+ {
+ skills::provider::dto::AbortSkillResult ret;
+ auto i = skills::SkillExecutionID::FromIce(id);
+ ret.success = this->plugin->abortSkillAsync(i);
+ return ret;
+ }
+
+ void
+ SkillManagerComponentPluginUser::updateStatusForSkill(
+ const skills::provider::dto::SkillStatusUpdate& statusUpdate,
+ const skills::callback::dto::ProviderID& pid,
+ const Ice::Current&)
+ {
+ (void)statusUpdate;
+ (void)pid;
+ // If you want to use the status, implement this method!
+ }
+
+ skills::manager::dto::SkillDescriptionMap
+ SkillManagerComponentPluginUser::getSkillDescriptions(const Ice::Current& current)
+ {
+ skills::manager::dto::SkillDescriptionMap ret;
+
+ auto m = this->plugin->getSkillDescriptions();
+
+ for (const auto& [k, v] : m)
+ {
+ ret.insert({k.toManagerIce(), v.toManagerIce()});
+ }
+
+ return ret;
+ }
+
+ IceUtil::Optional<skills::manager::dto::SkillDescription>
+ SkillManagerComponentPluginUser::getSkillDescription(const skills::manager::dto::SkillID& id,
+ const Ice::Current& current)
+ {
+ auto e = skills::SkillID::FromIce(id);
+ auto o = this->plugin->getSkillDescription(e);
+ if (o.has_value())
+ {
+ return o->toManagerIce();
+ }
+ return {};
+ }
+
+ //** Fluxio related methods
+
+ skills::manager::dto::FluxioSkillList
+ SkillManagerComponentPluginUser::getSkillList(const Ice::Current& current)
+ {
+ skills::manager::dto::FluxioSkillList ret;
+
+ auto l = this->plugin->getSkillList();
+
+ for (const auto& s : l)
+ {
+ ret.push_back(s.toManagerIce());
+ }
+
+ return ret;
+ }
+
+ skills::manager::dto::FluxioSkill
+ SkillManagerComponentPluginUser::getSkill(const std::string& id,const Ice::Current& current){
+ return this->plugin->getSkill(id).toManagerIce();
+ }
+
+ void SkillManagerComponentPluginUser::updateSkill(const skills::manager::dto::FluxioSkill& skill,const Ice::Current& current){
+ this->plugin->updateSkill(skills::FluxioSkill::FromIce(skill));
+ }
+
+ void SkillManagerComponentPluginUser::removeSkill(const std::string& id,const Ice::Current& current){
+ this->plugin->removeSkill(id);
+ }
+
+ bool SkillManagerComponentPluginUser::getSkillMutex(const std::string& skillId, const std::string& userId,const Ice::Current& current){
+ return this->plugin->getSkillMutex(skillId, userId);
+ }
+
+ void SkillManagerComponentPluginUser::deleteSkillMutex(const std::string& skillId, const std::string& userId,const Ice::Current& current){
+ this->plugin->deleteSkillMutex(skillId, userId);
+ }
+
+ void SkillManagerComponentPluginUser::removeSkillParameter(const std::string& skillId, const std::string& parameterId,const Ice::Current& current){
+ this->plugin->removeSkillParameter(skillId, parameterId);
+ }
+
+ skills::manager::dto::FluxioProfileList
+ SkillManagerComponentPluginUser::getProfileList(const Ice::Current& current){
+ skills::manager::dto::FluxioProfileList ret;
+
+ auto l = this->plugin->getProfileList();
+
+ for (const auto& s : l)
+ {
+ ret.push_back(s.toManagerIce());
+ }
+
+ return ret;
+ }
+
+ IceUtil::Optional<skills::manager::dto::FluxioProfile>
+ SkillManagerComponentPluginUser::getProfile(const std::string& id,const Ice::Current& current){
+ auto profile = this->plugin->getProfile(id);
+
+ if (profile.has_value()) {
+ return profile->toManagerIce();
+ }
+ return {};
+ }
+
+ skills::manager::dto::FluxioProfile SkillManagerComponentPluginUser::createProfile(const skills::manager::dto::FluxioProfile& profile,const Ice::Current& current){
+ profile.id = IceUtil::generateUUID();
+ this->plugin->createProfile(skills::FluxioProfile::FromIce(profile));
+ return profile;
+ }
+
+ void SkillManagerComponentPluginUser::updateProfile(const skills::manager::dto::FluxioProfile& profile,const Ice::Current& current){
+ this->plugin->updateProfile(skills::FluxioProfile::FromIce(profile));
+ }
+
+ skills::manager::dto::FluxioProviderList
+ SkillManagerComponentPluginUser::getProviderList(const Ice::Current& current){
+ skills::manager::dto::FluxioProviderList ret;
+
+ auto l = this->plugin->getProviderList();
+
+ for (const auto& s : l)
+ {
+ ret.push_back(s.toManagerIce());
+ }
+
+ return ret;
+ }
+
+ skills::manager::dto::FluxioProvider
+ SkillManagerComponentPluginUser::getProvider(const std::string& id,const Ice::Current& current){
+ return this->plugin->getProvider(id).toManagerIce();
+ }
+
+ skills::manager::dto::FluxioSkillList
+ SkillManagerComponentPluginUser::getSkillsOfProvider(const std::string& id,const Ice::Current& current){
+ skills::manager::dto::FluxioSkillList ret;
+
+ auto l = this->plugin->getSkillsOfProvider(id);
+
+ for (const auto& s : l)
+ {
+ ret.push_back(s.toManagerIce());
+ }
+
+ return ret;
+ }
+
+ skills::manager::dto::FluxioSkill
+ SkillManagerComponentPluginUser::addSkillToProvider(const std::string& providerId,const skills::manager::dto::FluxioSkill& skill,const Ice::Current& current){
+ return this->plugin->addSkillToProvider(providerId, skills::FluxioSkill::FromIce(skill)).toManagerIce();
+ }
+
+ //** end of Fluxio related methods
+
+ IceUtil::Optional<skills::manager::dto::SkillStatusUpdate>
+ SkillManagerComponentPluginUser::getSkillExecutionStatus(
+ const skills::manager::dto::SkillExecutionID& executionId,
+ const Ice::Current& current)
+ {
+ auto e = skills::SkillExecutionID::FromIce(executionId);
+ auto o = this->plugin->getSkillExecutionStatus(e);
+ if (o.has_value())
+ {
+ return o->toManagerIce();
+ }
+ return {};
+ }
+
+ skills::manager::dto::SkillStatusUpdateMap
+ SkillManagerComponentPluginUser::getSkillExecutionStatuses(const Ice::Current& current)
+ {
+ skills::manager::dto::SkillStatusUpdateMap ret;
+
+ auto m = this->plugin->getSkillExecutionStatuses();
+
+ for (const auto& [k, v] : m)
+ {
+ ret.insert({k.toManagerIce(), v.toManagerIce()});
+ }
+
+ return ret;
+ }
+} // namespace armarx
diff --git a/source/RobotAPI/libraries/skills/manager/SkillManagerComponentPluginUser.h b/source/RobotAPI/libraries/skills/manager/SkillManagerComponentPluginUser.h
new file mode 100644
index 000000000..69dda5b63
--- /dev/null
+++ b/source/RobotAPI/libraries/skills/manager/SkillManagerComponentPluginUser.h
@@ -0,0 +1,112 @@
+#pragma once
+
+#include "SkillManagerComponentPlugin.h"
+#include <RobotAPI/interface/skills/SkillManagerInterface.h>
+
+namespace armarx::plugins
+{
+ class SkillManagerComponentPlugin; // forward declaration
+}
+
+namespace armarx
+{
+ class SkillManagerComponentPluginUser :
+ virtual public ManagedIceObject,
+ virtual public skills::manager::dti::SkillManagerInterface
+ {
+ public:
+ SkillManagerComponentPluginUser();
+
+ void addProvider(const skills::manager::dto::ProviderInfo& providerInfo,
+ const Ice::Current& current) override;
+ void removeProvider(const skills::manager::dto::ProviderID& provider,
+ const Ice::Current& current) override;
+
+ skills::manager::dto::SkillStatusUpdate
+ executeSkill(const skills::manager::dto::SkillExecutionRequest& info,
+ const Ice::Current& current) override;
+
+ skills::manager::dto::SkillExecutionID
+ executeSkillAsync(const skills::manager::dto::SkillExecutionRequest& skillExecutionRequest,
+ const Ice::Current& current) override;
+
+ skills::provider::dto::ParameterUpdateResult
+ updateSkillParameters(const skills::manager::dto::SkillExecutionID& executionId,
+ const aron::data::dto::DictPtr& params,
+ const Ice::Current& current) override;
+
+ void updateStatusForSkill(const skills::provider::dto::SkillStatusUpdate& update,
+ const skills::callback::dto::ProviderID& id,
+ const Ice::Current& current) override;
+
+ skills::provider::dto::AbortSkillResult
+ abortSkill(const skills::manager::dto::SkillExecutionID& id,
+ const Ice::Current& current) override;
+
+ skills::provider::dto::AbortSkillResult
+ abortSkillAsync(const skills::manager::dto::SkillExecutionID& id,
+ const Ice::Current& current) override;
+
+
+ skills::manager::dto::SkillDescriptionMap
+ getSkillDescriptions(const Ice::Current& current) override;
+
+ IceUtil::Optional<skills::manager::dto::SkillDescription>
+ getSkillDescription(const skills::manager::dto::SkillID& id,
+ const Ice::Current& current) override;
+
+
+ //** Fluxio related methods
+
+ skills::manager::dto::FluxioSkillList
+ getSkillList(const Ice::Current& current) override;
+
+ skills::manager::dto::FluxioSkill
+ getSkill(const std::string& id,const Ice::Current& current) override;
+
+ void updateSkill(const skills::manager::dto::FluxioSkill& skill,const Ice::Current& current) override;
+
+ void removeSkill(const std::string& id,const Ice::Current& current) override;
+
+ bool getSkillMutex(const std::string& skillId, const std::string& userId,const Ice::Current& current) override;
+
+ void deleteSkillMutex(const std::string& skillId, const std::string& userId,const Ice::Current& current) override;
+
+ void removeSkillParameter(const std::string& skillId, const std::string& parameterId,const Ice::Current& current) override;
+
+ skills::manager::dto::FluxioProfileList
+ getProfileList(const Ice::Current& current) override;
+
+ IceUtil::Optional<skills::manager::dto::FluxioProfile>
+ getProfile(const std::string& id,const Ice::Current& current) override;
+
+ skills::manager::dto::FluxioProfile
+ createProfile(const skills::manager::dto::FluxioProfile& profile,const Ice::Current& current) override;
+
+ void updateProfile(const skills::manager::dto::FluxioProfile& profile,const Ice::Current& current) override;
+
+ skills::manager::dto::FluxioProviderList
+ getProviderList(const Ice::Current& current) override;
+
+ skills::manager::dto::FluxioProvider
+ getProvider(const std::string& id,const Ice::Current& current) override;
+
+ skills::manager::dto::FluxioSkillList
+ getSkillsOfProvider(const std::string& id,const Ice::Current& current) override;
+
+ skills::manager::dto::FluxioSkill
+ addSkillToProvider(const std::string& providerId,const skills::manager::dto::FluxioSkill& skill,const Ice::Current& current) override;
+
+ //** end of Fluxio related methods
+
+ IceUtil::Optional<skills::manager::dto::SkillStatusUpdate>
+ getSkillExecutionStatus(const skills::manager::dto::SkillExecutionID& executionId,
+ const Ice::Current& current) override;
+
+ skills::manager::dto::SkillStatusUpdateMap
+ getSkillExecutionStatuses(const Ice::Current& current) override;
+
+ private:
+ armarx::plugins::SkillManagerComponentPlugin* plugin = nullptr;
+ };
+} // namespace armarx
--
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