From 157f46b9d331a9b6dbd969a3c08f24faa6bdb157 Mon Sep 17 00:00:00 2001
From: Julian Tusch <urhrf@student.kit.edu>
Date: Thu, 18 Apr 2024 19:44:47 +0200
Subject: [PATCH] work in progress - this will crash still
---
.../skills/SkillManagerInterface.ice | 13 ++--
.../libraries/skills/manager/CMakeLists.txt | 2 +
.../skills/manager/FluxioExecutor.cpp | 51 ++++++++++++++
.../libraries/skills/manager/FluxioExecutor.h | 32 +++++++++
.../manager/SkillManagerComponentPlugin.cpp | 67 +++++++++++++++++++
.../manager/SkillManagerComponentPlugin.h | 6 ++
.../SkillManagerComponentPluginUser.cpp | 11 +++
.../manager/SkillManagerComponentPluginUser.h | 3 +
8 files changed, 180 insertions(+), 5 deletions(-)
create mode 100644 source/RobotAPI/libraries/skills/manager/FluxioExecutor.cpp
create mode 100644 source/RobotAPI/libraries/skills/manager/FluxioExecutor.h
diff --git a/source/RobotAPI/interface/skills/SkillManagerInterface.ice b/source/RobotAPI/interface/skills/SkillManagerInterface.ice
index 03259f997..d4c1cf655 100644
--- a/source/RobotAPI/interface/skills/SkillManagerInterface.ice
+++ b/source/RobotAPI/interface/skills/SkillManagerInterface.ice
@@ -223,10 +223,13 @@ module armarx
//** Fluxio related methods **//
//****************************//
+ optional(3) string
+ executeFluxioSkill(string skillId); // executes a fluxio skill
+
dto::FluxioSkillList
getSkillList(); // returns skills of all providers
- optional(3) dto::FluxioSkill
+ optional(4) dto::FluxioSkill
getSkill(string id); // returns a single skill
bool
@@ -249,7 +252,7 @@ module armarx
dto::FluxioProfileList
getProfileList(); // returns all profiles
- optional(4) dto::FluxioProfile
+ optional(5) dto::FluxioProfile
getProfile(string id); // returns a single profile
dto::FluxioProfile
@@ -261,13 +264,13 @@ module armarx
dto::FluxioProviderList
getProviderList(); // returns all providers
- optional(5) dto::FluxioProvider
+ optional(6) dto::FluxioProvider
getProvider(string id); // returns a single provider
- optional(6) dto::FluxioSkillList
+ optional(7) dto::FluxioSkillList
getSkillsOfProvider(string id); // returns all skills of a provider
- optional(7) dto::FluxioSkill
+ optional(8) dto::FluxioSkill
addSkillToProvider(string userId, string providerId, dto::FluxioSkill skill); // adds a new skill to a provider
};
}
diff --git a/source/RobotAPI/libraries/skills/manager/CMakeLists.txt b/source/RobotAPI/libraries/skills/manager/CMakeLists.txt
index 7348013e3..5556a5c42 100644
--- a/source/RobotAPI/libraries/skills/manager/CMakeLists.txt
+++ b/source/RobotAPI/libraries/skills/manager/CMakeLists.txt
@@ -18,9 +18,11 @@ armarx_add_library(
SOURCES
SkillManagerComponentPlugin.cpp
SkillManagerComponentPluginUser.cpp
+ FluxioExecutor.cpp
HEADERS
SkillManagerComponentPlugin.h
SkillManagerComponentPluginUser.h
+ FluxioExecutor.h
)
add_library(RobotAPI::skills::manager ALIAS RobotAPISkillsManager)
diff --git a/source/RobotAPI/libraries/skills/manager/FluxioExecutor.cpp b/source/RobotAPI/libraries/skills/manager/FluxioExecutor.cpp
new file mode 100644
index 000000000..b1767bbc0
--- /dev/null
+++ b/source/RobotAPI/libraries/skills/manager/FluxioExecutor.cpp
@@ -0,0 +1,51 @@
+#include "FluxioExecutor.h"
+
+#include "RobotAPI/libraries/skills/core/ProviderID.h"
+#include "RobotAPI/libraries/skills/core/SkillDescription.h"
+#include "RobotAPI/libraries/skills/core/SkillExecutionID.h"
+#include "RobotAPI/libraries/skills/core/SkillExecutionRequest.h"
+#include "RobotAPI/libraries/skills/core/SkillID.h"
+
+namespace armarx::plugins
+{
+ void
+ FluxioNativeExecutor::setPlugin(armarx::plugins::SkillManagerComponentPlugin* plugin)
+ {
+ this->plugin = plugin;
+ }
+
+ void
+ FluxioNativeExecutor::run(std::string& executorName, armarx::aron::data::DictPtr& parameters)
+ {
+ skills::SkillID skillId = skills::SkillID{.providerId =
+ skills::ProviderID{.providerName = this->skill->skillProviderPtr->id},
+ .skillName = this->skill->id};
+
+ const auto& skillDescr = this->plugin->getSkillDescription(skillId);
+ if (!skillDescr.has_value())
+ {
+ // error
+ return;
+ }
+
+ skills::SkillExecutionRequest req;
+ req.skillId = skillId;
+ req.parameters = skillDescr->rootProfileDefaults;
+ req.executorName = executorName;
+
+ // FIXME: this may not work
+ *executionId = this->plugin->executeSkillAsync(req);
+ }
+
+ std::optional<skills::SkillStatusUpdate>
+ FluxioNativeExecutor::getStatusUpdate()
+ {
+ if (this->executionId == nullptr || this->plugin == nullptr)
+ {
+ // error
+ return std::nullopt;
+ }
+
+ return this->plugin->getSkillExecutionStatus(*this->executionId);
+ }
+} // namespace armarx::plugins
diff --git a/source/RobotAPI/libraries/skills/manager/FluxioExecutor.h b/source/RobotAPI/libraries/skills/manager/FluxioExecutor.h
new file mode 100644
index 000000000..9e606daa8
--- /dev/null
+++ b/source/RobotAPI/libraries/skills/manager/FluxioExecutor.h
@@ -0,0 +1,32 @@
+#pragma once
+
+#include <string>
+
+#include "RobotAPI/libraries/skills/core/FluxioSkill.h"
+#include "RobotAPI/libraries/skills/core/SkillExecutionID.h"
+#include "RobotAPI/libraries/skills/core/SkillStatusUpdate.h"
+#include "SkillManagerComponentPlugin.h"
+
+namespace armarx::plugins
+{
+ class SkillManagerComponentPlugin; // forward declaration
+
+ class FluxioNativeExecutor
+ {
+ public:
+ std::string id;
+ std::string* executorName = nullptr;
+ skills::FluxioSkill* skill;
+ skills::SkillExecutionID* executionId = nullptr;
+ void run(std::string& executorName,
+ armarx::aron::data::DictPtr& parameters);
+ std::optional<skills::SkillStatusUpdate> getStatusUpdate();
+
+ void setPlugin(armarx::plugins::SkillManagerComponentPlugin* plugin);
+
+ // TODO: abort etc.
+
+ private:
+ armarx::plugins::SkillManagerComponentPlugin* plugin = nullptr;
+ };
+} // namespace armarx::skills
diff --git a/source/RobotAPI/libraries/skills/manager/SkillManagerComponentPlugin.cpp b/source/RobotAPI/libraries/skills/manager/SkillManagerComponentPlugin.cpp
index e0f7a170d..24c04ab50 100644
--- a/source/RobotAPI/libraries/skills/manager/SkillManagerComponentPlugin.cpp
+++ b/source/RobotAPI/libraries/skills/manager/SkillManagerComponentPlugin.cpp
@@ -13,6 +13,7 @@
#include <ArmarXCore/core/time/Duration.h>
#include <ArmarXCore/core/time/ice_conversions.h>
+#include "RobotAPI/libraries/skills/core/FluxioParameter.h"
#include "RobotAPI/libraries/skills/core/FluxioProfile.h"
#include "RobotAPI/libraries/skills/core/FluxioProvider.h"
#include "RobotAPI/libraries/skills/core/FluxioSkill.h"
@@ -548,6 +549,8 @@ namespace armarx::plugins
// convert to manager view
auto statusUpdate = skills::SkillStatusUpdate::FromIce(
provider_statusUpdate_ice.value(), providerId);
+
+ ARMARX_WARNING << "Status update: " << statusUpdate.result;
return statusUpdate;
}
catch (...)
@@ -616,6 +619,31 @@ namespace armarx::plugins
//** Fluxio related methods **//
//****************************//
+ std::optional<std::string>
+ SkillManagerComponentPlugin::executeFluxioSkill(std::string skillId)
+ {
+ const auto& skill = getSkill(skillId);
+ if (!skill.has_value() || !skill.value().native)
+ {
+ ARMARX_WARNING << "Skill with id '" << skillId << "' not found or is not native.";
+ return std::nullopt;
+ }
+
+ std::string executionId = IceUtil::generateUUID();
+ FluxioNativeExecutor executor;
+ executor.setPlugin(this);
+ executor.skill = &fluxioDC.skills[skillId];
+ executor.id = executionId;
+
+ std::string executorName = "Fluxio";
+ armarx::aron::data::DictPtr parameters = {};
+
+ fluxioDC.fluxioExecutors[executionId] = executor;
+ fluxioDC.fluxioExecutors[executionId].run(executorName, parameters);
+
+ return executionId;
+ }
+
/**
* @brief converts parametersType or resultType from skilldescription to fluxio parameters
* @param ret the map to insert the fluxio parameters into
@@ -685,6 +713,45 @@ namespace armarx::plugins
}
s.parameters = {};
+
+ // add default control flow parameters
+ skills::FluxioParameter start;
+ start.id = IceUtil::generateUUID();
+ start.name = "Start";
+ start.description = "Start the skill";
+ start.type = "Event";
+ start.required = true;
+ start.isInput = true;
+
+ skills::FluxioParameter success;
+ success.id = IceUtil::generateUUID();
+ success.name = "Success";
+ success.description = "Skill has been executed successfully";
+ success.type = "Event";
+ success.required = false;
+ success.isInput = false;
+
+ skills::FluxioParameter failure;
+ failure.id = IceUtil::generateUUID();
+ failure.name = "Failure";
+ failure.description = "Skill has failed";
+ failure.type = "Event";
+ failure.required = false;
+ failure.isInput = false;
+
+ skills::FluxioParameter aborted;
+ aborted.id = IceUtil::generateUUID();
+ aborted.name = "Aborted";
+ aborted.description = "Skill has been aborted";
+ aborted.type = "Event";
+ aborted.required = false;
+ aborted.isInput = false;
+
+ s.parameters[start.id] = start;
+ s.parameters[success.id] = success;
+ s.parameters[failure.id] = failure;
+ s.parameters[aborted.id] = aborted;
+
if (skillDescription.parametersType != nullptr)
{
// input parameters
diff --git a/source/RobotAPI/libraries/skills/manager/SkillManagerComponentPlugin.h b/source/RobotAPI/libraries/skills/manager/SkillManagerComponentPlugin.h
index 02a5f98e2..25dae02be 100644
--- a/source/RobotAPI/libraries/skills/manager/SkillManagerComponentPlugin.h
+++ b/source/RobotAPI/libraries/skills/manager/SkillManagerComponentPlugin.h
@@ -20,6 +20,7 @@
#include <RobotAPI/libraries/skills/core/SkillExecutionRequest.h>
#include <RobotAPI/libraries/skills/core/SkillStatusUpdate.h>
+#include "FluxioExecutor.h"
#include "SkillManagerComponentPluginUser.h"
namespace armarx
@@ -29,6 +30,8 @@ namespace armarx
namespace armarx::plugins
{
+ class FluxioNativeExecutor; // forward declaration
+
class SkillManagerComponentPlugin : public ComponentPlugin
{
public:
@@ -70,6 +73,8 @@ namespace armarx::plugins
//** Fluxio related methods **//
//****************************//
+ std::optional<std::string> executeFluxioSkill(std::string skillId);
+
std::vector<skills::FluxioSkill> getSkillList();
std::optional<skills::FluxioSkill> getSkill(const std::string& id);
@@ -110,6 +115,7 @@ namespace armarx::plugins
std::map<std::string, skills::FluxioProvider> providers = {};
std::map<std::string, std::tuple<std::string, armarx::DateTime>> skillMutexMap = {};
const std::int64_t mutexTimeout = 30; // minutes
+ std::map<std::string, FluxioNativeExecutor> fluxioExecutors = {};
};
FluxioDataCollector fluxioDC = {};
diff --git a/source/RobotAPI/libraries/skills/manager/SkillManagerComponentPluginUser.cpp b/source/RobotAPI/libraries/skills/manager/SkillManagerComponentPluginUser.cpp
index 9c8973c88..8ecf87166 100644
--- a/source/RobotAPI/libraries/skills/manager/SkillManagerComponentPluginUser.cpp
+++ b/source/RobotAPI/libraries/skills/manager/SkillManagerComponentPluginUser.cpp
@@ -156,6 +156,17 @@ namespace armarx
//** Fluxio related methods **//
//****************************//
+ IceUtil::Optional<std::string> SkillManagerComponentPluginUser::executeFluxioSkill(const std::string& skillId, const Ice::Current& current)
+ {
+ auto res = this->plugin->executeFluxioSkill(skillId);
+ if( res.has_value() )
+ {
+ return *res;
+ }
+
+ return {};
+ }
+
skills::manager::dto::FluxioSkillList
SkillManagerComponentPluginUser::getSkillList(const Ice::Current& current)
{
diff --git a/source/RobotAPI/libraries/skills/manager/SkillManagerComponentPluginUser.h b/source/RobotAPI/libraries/skills/manager/SkillManagerComponentPluginUser.h
index 68a803c7d..91ebe55c7 100644
--- a/source/RobotAPI/libraries/skills/manager/SkillManagerComponentPluginUser.h
+++ b/source/RobotAPI/libraries/skills/manager/SkillManagerComponentPluginUser.h
@@ -68,6 +68,9 @@ namespace armarx
//** Fluxio related methods **//
//****************************//
+ IceUtil::Optional<std::string> executeFluxioSkill(const std::string& skillId,
+ const Ice::Current& current) override;
+
skills::manager::dto::FluxioSkillList getSkillList(const Ice::Current& current) override;
IceUtil::Optional<skills::manager::dto::FluxioSkill>
--
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