diff --git a/source/RobotAPI/libraries/skills/core/executor/FluxioCompositeExecutor.cpp b/source/RobotAPI/libraries/skills/core/executor/FluxioCompositeExecutor.cpp
index 88e72c19d6d60350a6d8ac7c7fc2fb14df193518..d60649b2fe5e301264c5f5cc7fcba1ab58be9b6d 100644
--- a/source/RobotAPI/libraries/skills/core/executor/FluxioCompositeExecutor.cpp
+++ b/source/RobotAPI/libraries/skills/core/executor/FluxioCompositeExecutor.cpp
@@ -17,8 +17,17 @@
namespace armarx::skills
{
- FluxioCompositeExecutor::FluxioCompositeExecutor(std::string& id, skills::FluxioSkill* skill) :
- FluxioExecutor(id, false), skill(skill)
+ FluxioCompositeExecutor::FluxioCompositeExecutor(
+ std::string& id,
+ skills::FluxioSkill* skill,
+ const std::function<void(const std::string& executionId)>&& abortFluxioSkillFunc,
+ const std::function<FluxioExecutor*(const std::string& skillId,
+ const std::string& executorName)>&&
+ executeFluxioSkillFunc) :
+ FluxioExecutor(id, false),
+ skill(skill),
+ abortFluxioSkill(abortFluxioSkillFunc),
+ executeFluxioSkill(executeFluxioSkillFunc)
{
}
@@ -220,7 +229,7 @@ namespace armarx::skills
}
// start skill execution
- auto* executorPtr = plugin->executeFluxioSkill(subSkillNode->skillPtr->id, executorName);
+ auto* executorPtr = executeFluxioSkill(subSkillNode->skillPtr->id, executorName);
if (executorPtr == nullptr)
{
ARMARX_WARNING << "Failed to execute subskill " << subSkillNode->skillPtr->id;
@@ -390,7 +399,7 @@ namespace armarx::skills
// there is no execution for the merger yet, let´s start one
subExecutionsMap[controlNode->nodeId] =
- new FluxioMergerExecutor(IceUtil::generateUUID(), plugin, paramIds);
+ new FluxioMergerExecutor(IceUtil::generateUUID(), paramIds);
mergerExecutorPtr =
dynamic_cast<FluxioMergerExecutor*>(subExecutionsMap[controlNode->nodeId]);
diff --git a/source/RobotAPI/libraries/skills/core/executor/FluxioCompositeExecutor.h b/source/RobotAPI/libraries/skills/core/executor/FluxioCompositeExecutor.h
index 2064a79d53c87d8ead2cdb2abbb1c80892359512..5fc27bb61cfd921c895d5c99fb4a11bee044c753 100644
--- a/source/RobotAPI/libraries/skills/core/executor/FluxioCompositeExecutor.h
+++ b/source/RobotAPI/libraries/skills/core/executor/FluxioCompositeExecutor.h
@@ -19,7 +19,13 @@ namespace armarx::skills
class FluxioCompositeExecutor : public FluxioExecutor
{
public:
- FluxioCompositeExecutor(std::string& id, skills::FluxioSkill* skill);
+ FluxioCompositeExecutor(
+ std::string& id,
+ skills::FluxioSkill* skill,
+ const std::function<void(const std::string& executionId)>&& abortFluxioSkillFunc,
+ const std::function<FluxioExecutor*(const std::string& skillId,
+ const std::string& executorName)>&&
+ executeFluxioSkillFunc);
void run(const std::string executorName, armarx::aron::data::DictPtr parameters) override;
void abort() override;
std::optional<std::vector<skills::FluxioSkillStatusUpdate>> getStatusUpdate() override;
@@ -48,5 +54,9 @@ namespace armarx::skills
void setStatus(skills::SkillStatus status) override;
void pollSubStatuses();
std::map<std::string, FluxioExecutor*> subExecutionsMap; // key is node id
+ const std::function<void(const std::string& executionId)> abortFluxioSkill;
+ const std::function<FluxioExecutor*(const std::string& skillId,
+ const std::string& executorName)>
+ executeFluxioSkill;
};
} // namespace armarx::skills
diff --git a/source/RobotAPI/libraries/skills/core/executor/FluxioNativeExecutor.cpp b/source/RobotAPI/libraries/skills/core/executor/FluxioNativeExecutor.cpp
index a88e2df115a1ab49d7f13750d17f1d5e92f680e0..e3b2f03fbd531c571b4b5d36349b49b250b1ec15 100644
--- a/source/RobotAPI/libraries/skills/core/executor/FluxioNativeExecutor.cpp
+++ b/source/RobotAPI/libraries/skills/core/executor/FluxioNativeExecutor.cpp
@@ -10,10 +10,21 @@
namespace armarx::skills
{
- FluxioNativeExecutor::FluxioNativeExecutor(std::string& id,
- skills::SkillID& skillId,
- std::string& fluxioUUID) :
- FluxioExecutor(id, true), skillId(skillId), fluxioUUID(fluxioUUID)
+ FluxioNativeExecutor::FluxioNativeExecutor(
+ std::string& id,
+ skills::SkillID& skillId,
+ std::string& fluxioUUID,
+ const std::function<bool(const skills::SkillExecutionID&)>&& abortSkillFunc,
+ const std::function<skills::SkillExecutionID(const skills::SkillExecutionRequest&)>&&
+ executeSkillAsyncFunc,
+ const std::function<std::optional<skills::SkillStatusUpdate>(
+ const skills::SkillExecutionID&)>&& getSkillExecutionStatusFunc) :
+ FluxioExecutor(id, true),
+ skillId(skillId),
+ fluxioUUID(fluxioUUID),
+ abortSkill(abortSkillFunc),
+ executeSkillAsync(executeSkillAsyncFunc),
+ getSkillExecutionStatus(getSkillExecutionStatusFunc)
{
}
@@ -26,7 +37,7 @@ namespace armarx::skills
req.parameters = parameters;
req.executorName = executorName;
- auto eid = this->plugin->executeSkillAsync(req);
+ auto eid = executeSkillAsync(req);
this->executionId = eid;
}
@@ -34,7 +45,7 @@ namespace armarx::skills
void
FluxioNativeExecutor::abort()
{
- if (!this->executionId.has_value() || this->plugin == nullptr)
+ if (!this->executionId.has_value())
{
// error
ARMARX_WARNING << "Execution ID or plugin is not set";
@@ -42,13 +53,13 @@ namespace armarx::skills
}
// TODO: check last execution status
- this->plugin->abortSkill(this->executionId.value());
+ abortSkill(this->executionId.value());
}
std::optional<std::vector<skills::FluxioSkillStatusUpdate>>
FluxioNativeExecutor::getStatusUpdate()
{
- if (!this->executionId.has_value() || this->plugin == nullptr)
+ if (!this->executionId.has_value())
{
// error
ARMARX_WARNING << "Execution ID or plugin is not set";
@@ -57,7 +68,7 @@ namespace armarx::skills
auto executionId = this->executionId.value();
- auto status = this->plugin->getSkillExecutionStatus(executionId);
+ auto status = getSkillExecutionStatus(executionId);
if (!status.has_value())
{
diff --git a/source/RobotAPI/libraries/skills/core/executor/FluxioNativeExecutor.h b/source/RobotAPI/libraries/skills/core/executor/FluxioNativeExecutor.h
index fc312fb4b7924af1aea785f573757f737c72e398..3b8288cac2887a7fdb446a7152f4e32912dc4b3f 100644
--- a/source/RobotAPI/libraries/skills/core/executor/FluxioNativeExecutor.h
+++ b/source/RobotAPI/libraries/skills/core/executor/FluxioNativeExecutor.h
@@ -3,6 +3,10 @@
#include <optional>
#include <string>
+#include "RobotAPI/libraries/skills/core/SkillExecutionRequest.h"
+#include "RobotAPI/libraries/skills/core/SkillID.h"
+#include "RobotAPI/libraries/skills/core/SkillStatusUpdate.h"
+
#include "../FluxioSkillStatusUpdate.h"
#include "../SkillExecutionID.h"
#include "FluxioExecutor.h"
@@ -12,7 +16,15 @@ namespace armarx::skills
class FluxioNativeExecutor : public FluxioExecutor
{
public:
- FluxioNativeExecutor(std::string& id, skills::SkillID& skillId, std::string& fluxioUUID);
+ FluxioNativeExecutor(
+ std::string& id,
+ skills::SkillID& skillId,
+ std::string& fluxioUUID,
+ const std::function<bool(const skills::SkillExecutionID&)>&& abortSkillFunc,
+ const std::function<skills::SkillExecutionID(const skills::SkillExecutionRequest&)>&&
+ executeSkillAsyncFunc,
+ const std::function<std::optional<skills::SkillStatusUpdate>(
+ const skills::SkillExecutionID&)>&& getSkillExecutionStatusFunc);
void run(const std::string executorName, armarx::aron::data::DictPtr parameters) override;
void abort() override;
@@ -23,7 +35,11 @@ namespace armarx::skills
skills::SkillID skillId;
std::string fluxioUUID;
void setStatus(skills::SkillStatus status) override;
-
- //std::function<void(skills::SkillID&)> foo;
+ const std::function<bool(const skills::SkillExecutionID&)> abortSkill;
+ const std::function<skills::SkillExecutionID(const skills::SkillExecutionRequest&)>
+ executeSkillAsync;
+ const std::function<std::optional<skills::SkillStatusUpdate>(
+ const skills::SkillExecutionID&)>
+ getSkillExecutionStatus;
};
} // namespace armarx::skills
diff --git a/source/RobotAPI/libraries/skills/manager/SkillManagerComponentPlugin.cpp b/source/RobotAPI/libraries/skills/manager/SkillManagerComponentPlugin.cpp
index 28abe0c8fd385a3da916e2ea1c7a0e2b6d8f337a..985558d8ed38b4e3c681a1605b1ab2a2383e07da 100644
--- a/source/RobotAPI/libraries/skills/manager/SkillManagerComponentPlugin.cpp
+++ b/source/RobotAPI/libraries/skills/manager/SkillManagerComponentPlugin.cpp
@@ -619,7 +619,7 @@ namespace armarx::plugins
//****************************//
skills::FluxioExecutor*
- SkillManagerComponentPlugin::executeFluxioSkill(std::string skillId,
+ SkillManagerComponentPlugin::executeFluxioSkill(const std::string& skillId,
const std::string& executorName)
{
const auto& skill = getSkill(skillId);
@@ -636,8 +636,18 @@ namespace armarx::plugins
// currently empty parameters
armarx::aron::data::DictPtr emptyParameters = {};
+ const auto& executeFluxioSkillFunc =
+ [this](const std::string& skillId, const std::string& executorName)
+ { return this->executeFluxioSkill(skillId, executorName); };
+
+ const auto& abortFluxioSkill = [this](const std::string& executionId)
+ { this->abortFluxioSkill(executionId); };
+
fluxioDC.fluxioExecutors[executionId] =
- new skills::FluxioCompositeExecutor(executionId, &fluxioDC.skills[skillId]);
+ new skills::FluxioCompositeExecutor(executionId,
+ &fluxioDC.skills[skillId],
+ std::move(abortFluxioSkill),
+ std::move(executeFluxioSkillFunc));
std::thread(
[this, executionId, executorName, emptyParameters]()
@@ -658,10 +668,26 @@ namespace armarx::plugins
return nullptr;
}
+ const auto& abortSkillFunc = [this](const skills::SkillExecutionID& executionId)
+ { return this->abortSkill(executionId); };
+
+ const auto& executeSkillAsyncFunc = [this](const skills::SkillExecutionRequest& req)
+ { return this->executeSkillAsync(req); };
+
+ const auto& getSkillExecutionStatusFunc =
+ [this](const skills::SkillExecutionID& executionId)
+ { return this->getSkillExecutionStatus(executionId); };
+
+
// FIXME: do not use new, instead use smart pointer
std::string fluxioSkillUUID = skill->id;
fluxioDC.fluxioExecutors[executionId] =
- new skills::FluxioNativeExecutor(executionId, sID, fluxioSkillUUID);
+ new skills::FluxioNativeExecutor(executionId,
+ sID,
+ fluxioSkillUUID,
+ std::move(abortSkillFunc),
+ std::move(executeSkillAsyncFunc),
+ std::move(getSkillExecutionStatusFunc));
fluxioDC.fluxioExecutors[executionId]->run(executorName,
skillDescr->rootProfileDefaults);
}
diff --git a/source/RobotAPI/libraries/skills/manager/SkillManagerComponentPlugin.h b/source/RobotAPI/libraries/skills/manager/SkillManagerComponentPlugin.h
index 6f8a782065779e8e4b36d5ba0091c846f6c44b9d..d99c2860106fd8cfc50d986c4e1d8d0834174a8e 100644
--- a/source/RobotAPI/libraries/skills/manager/SkillManagerComponentPlugin.h
+++ b/source/RobotAPI/libraries/skills/manager/SkillManagerComponentPlugin.h
@@ -75,7 +75,7 @@ namespace armarx::plugins
//** Fluxio related methods **//
//****************************//
- skills::FluxioExecutor* executeFluxioSkill(std::string skillId,
+ skills::FluxioExecutor* executeFluxioSkill(const std::string& skillId,
const std::string& executorName);
void abortFluxioSkill(const std::string& executionId);