From 2a819538e63c3ea865f305377792fc9fdede36e7 Mon Sep 17 00:00:00 2001
From: Fabian Peller <fabian.peller-konrad@kit.edu>
Date: Fri, 16 Jun 2023 09:05:38 +0200
Subject: [PATCH] skill updates for profiles and for being able to
simlatenously execute skills
---
.../server/SkillsMemory/SkillsMemory.cpp | 83 ++--
.../armem/server/SkillsMemory/SkillsMemory.h | 42 +-
.../SkillManagerMonitorWidget.ui | 177 +++++----
.../SkillManagerMonitorWidgetController.cpp | 202 +++++-----
.../SkillManagerMonitorWidgetController.h | 5 +-
.../skills/SkillManagerInterface.ice | 67 +++-
.../interface/skills/SkillMemoryInterface.ice | 9 +-
.../skills/SkillProviderInterface.ice | 38 +-
.../server/segment/SkillEventSegment.cpp | 53 +--
.../server/segment/SkillEventSegment.h | 11 +-
.../manager/SkillManagerComponentPlugin.cpp | 255 ++++++++-----
.../manager/SkillManagerComponentPlugin.h | 36 +-
.../libraries/skills/provider/SkillID.cpp | 49 ++-
.../libraries/skills/provider/SkillID.h | 13 +-
.../skills/provider/SkillParameterization.cpp | 6 +-
.../skills/provider/SkillParameterization.h | 10 +-
.../provider/SkillProviderComponentPlugin.cpp | 71 ++--
.../provider/SkillProviderComponentPlugin.h | 15 +-
.../libraries/skills/provider/SkillProxy.h | 3 -
.../skills/provider/SkillStatusUpdate.cpp | 361 ++++++++++++++----
.../skills/provider/SkillStatusUpdate.h | 134 ++++++-
.../detail/SkillImplementationWrapper.cpp | 220 +++++++----
.../detail/SkillImplementationWrapper.h | 26 +-
23 files changed, 1251 insertions(+), 635 deletions(-)
diff --git a/source/RobotAPI/components/armem/server/SkillsMemory/SkillsMemory.cpp b/source/RobotAPI/components/armem/server/SkillsMemory/SkillsMemory.cpp
index 75882cf47..7ebd7960d 100644
--- a/source/RobotAPI/components/armem/server/SkillsMemory/SkillsMemory.cpp
+++ b/source/RobotAPI/components/armem/server/SkillsMemory/SkillsMemory.cpp
@@ -27,19 +27,19 @@
#include <ArmarXCore/core/ArmarXManager.h>
#include <ArmarXCore/core/ArmarXObjectScheduler.h>
#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
-#include <ArmarXCore/core/time/TimeUtil.h>
#include <ArmarXCore/core/logging/Logging.h>
+#include <ArmarXCore/core/time/TimeUtil.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/armem/server/MemoryToIceAdapter.h>
namespace armarx
{
- SkillsMemory::SkillsMemory():
+ SkillsMemory::SkillsMemory() :
ReadWritePluginUser(),
StatechartListenerComponentPluginUser(),
SkillManagerComponentPluginUser(),
@@ -50,10 +50,11 @@ namespace armarx
{
}
-
- armarx::PropertyDefinitionsPtr SkillsMemory::createPropertyDefinitions()
+ armarx::PropertyDefinitionsPtr
+ SkillsMemory::createPropertyDefinitions()
{
- armarx::PropertyDefinitionsPtr defs = new ComponentPropertyDefinitions(getConfigIdentifier());
+ armarx::PropertyDefinitionsPtr defs =
+ new ComponentPropertyDefinitions(getConfigIdentifier());
const std::string prefix = "mem.";
statechartListenerProviderSegment.defineProperties(defs, prefix + "statechartlistener.");
@@ -64,14 +65,14 @@ namespace armarx
return defs;
}
-
- std::string SkillsMemory::getDefaultName() const
+ std::string
+ SkillsMemory::getDefaultName() const
{
return "SkillMemory";
}
-
- void SkillsMemory::onInitComponent()
+ void
+ SkillsMemory::onInitComponent()
{
statechartListenerProviderSegment.init();
executableSkillCoreSegment.init();
@@ -79,24 +80,23 @@ namespace armarx
skillEventCoreSegment.init();
}
-
- void SkillsMemory::onConnectComponent()
+ void
+ SkillsMemory::onConnectComponent()
{
}
-
- void SkillsMemory::onDisconnectComponent()
+ void
+ SkillsMemory::onDisconnectComponent()
{
-
}
-
- void SkillsMemory::onExitComponent()
+ void
+ SkillsMemory::onExitComponent()
{
}
-
- armem::data::CommitResult SkillsMemory::commit(const armem::data::Commit& commit, const Ice::Current& current)
+ armem::data::CommitResult
+ SkillsMemory::commit(const armem::data::Commit& commit, const Ice::Current& current)
{
// This function is overloaded to check for skill executions
// First pass arg to parent func to ensure that data is written into memory and that clients are notified
@@ -107,13 +107,15 @@ namespace armarx
for (const auto& up : commit.updates)
{
- if (up.entityID.coreSegmentName == skills::segment::SkillExecutionRequestCoreSegment::CoreSegmentName)
+ if (up.entityID.coreSegmentName ==
+ skills::segment::SkillExecutionRequestCoreSegment::CoreSegmentName)
{
for (const auto& instance : up.instancesData)
{
ARMARX_CHECK_NOT_NULL(instance);
- skills::manager::dto::SkillExecutionRequest exInfo = skillExecutionRequestCoreSegment.convertCommit(instance);
+ skills::manager::dto::SkillExecutionRequest exInfo =
+ skillExecutionRequestCoreSegment.convertCommit(instance);
SkillManagerComponentPluginUser::executeSkill(exInfo, current);
}
}
@@ -122,7 +124,9 @@ namespace armarx
return result;
}
- void SkillsMemory::addProvider(const skills::manager::dto::ProviderInfo& info, const Ice::Current ¤t)
+ void
+ SkillsMemory::addProvider(const skills::manager::dto::ProviderInfo& info,
+ const Ice::Current& current)
{
SkillManagerComponentPluginUser::addProvider(info, current);
@@ -130,7 +134,8 @@ namespace armarx
executableSkillCoreSegment.addSkillProvider(info);
}
- void SkillsMemory::removeProvider(const std::string& skillProviderName, const Ice::Current ¤t)
+ void
+ SkillsMemory::removeProvider(const std::string& skillProviderName, const Ice::Current& current)
{
executableSkillCoreSegment.removeSkillProvider(skillProviderName);
@@ -138,36 +143,52 @@ namespace armarx
SkillManagerComponentPluginUser::removeProvider(skillProviderName, current);
}
- skills::provider::dto::SkillStatusUpdate SkillsMemory::executeSkill(const skills::manager::dto::SkillExecutionRequest& info, const Ice::Current ¤t)
+ skills::manager::dto::SkillStatusUpdate
+ SkillsMemory::executeSkill(const skills::manager::dto::SkillExecutionRequest& info,
+ const Ice::Current& current)
{
skills::manager::dto::SkillExecutionRequest requestCopy = info;
if (requestCopy.skillId.providerName == "*")
{
// sanitize the provider name if set to 'any'
- requestCopy.skillId.providerName = getFirstProviderNameThatHasSkill(requestCopy.skillId.skillName);
+ requestCopy.skillId.providerName =
+ getFirstProviderNameThatHasSkill(requestCopy.skillId.skillName);
}
skillExecutionRequestCoreSegment.addSkillExecutionRequest(requestCopy);
return SkillManagerComponentPluginUser::executeSkill(requestCopy, current);
}
- void SkillsMemory::updateStatusForSkill(const skills::provider::dto::SkillStatusUpdate& update, const Ice::Current ¤t)
+ void
+ SkillsMemory::updateStatusForSkill(const skills::provider::dto::SkillStatusUpdate& update,
+ const std::string& providerName,
+ const Ice::Current& current)
{
- skillEventCoreSegment.addSkillUpdateEvent(update);
+ skillEventCoreSegment.addSkillUpdateEvent(update, providerName);
}
-
+ skills::provider::dto::SkillStatusUpdateList
+ SkillsMemory::getLatestSkillExecutionStatuses(int n, const Ice::Current& current)
+ {
+ return {};
+ }
/*
* Statechart stuff
*/
- void SkillsMemory::reportStatechartTransitionWithParameters(const ProfilerStatechartTransitionWithParameters& x, const Ice::Current&)
+ void
+ SkillsMemory::reportStatechartTransitionWithParameters(
+ const ProfilerStatechartTransitionWithParameters& x,
+ const Ice::Current&)
{
statechartListenerProviderSegment.reportStatechartTransitionWithParameters(x);
}
- void SkillsMemory::reportStatechartTransitionWithParametersList(const ProfilerStatechartTransitionWithParametersList& x, const Ice::Current&)
+ void
+ SkillsMemory::reportStatechartTransitionWithParametersList(
+ const ProfilerStatechartTransitionWithParametersList& x,
+ const Ice::Current&)
{
statechartListenerProviderSegment.reportStatechartTransitionWithParametersList(x);
}
-}
+} // namespace armarx
diff --git a/source/RobotAPI/components/armem/server/SkillsMemory/SkillsMemory.h b/source/RobotAPI/components/armem/server/SkillsMemory/SkillsMemory.h
index 91506c16f..d0b92b485 100644
--- a/source/RobotAPI/components/armem/server/SkillsMemory/SkillsMemory.h
+++ b/source/RobotAPI/components/armem/server/SkillsMemory/SkillsMemory.h
@@ -30,16 +30,14 @@
#include <ArmarXCore/observers/ObserverObjectFactories.h>
#include <RobotAPI/interface/skills/SkillMemoryInterface.h>
-
-#include <RobotAPI/libraries/skills/manager/SkillManagerComponentPlugin.h>
-#include <RobotAPI/libraries/armem_skills/server/StatechartListenerComponentPlugin.h>
#include <RobotAPI/libraries/armem/server/plugins/ReadWritePluginUser.h>
-
#include <RobotAPI/libraries/armem_skills/aron/Statechart.aron.generated.h>
-#include <RobotAPI/libraries/armem_skills/server/segment/StatechartListenerSegment.h>
+#include <RobotAPI/libraries/armem_skills/server/StatechartListenerComponentPlugin.h>
#include <RobotAPI/libraries/armem_skills/server/segment/ExecutableSkillLibrarySegment.h>
-#include <RobotAPI/libraries/armem_skills/server/segment/SkillExecutionRequestSegment.h>
#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/manager/SkillManagerComponentPlugin.h>
namespace armarx
{
@@ -63,27 +61,37 @@ namespace armarx
virtual public SkillManagerComponentPluginUser
{
public:
-
SkillsMemory();
/// @see armarx::ManagedIceObject::getDefaultName()
std::string getDefaultName() const override;
// Override StatechartListener
- void reportStatechartTransitionWithParameters(const ProfilerStatechartTransitionWithParameters&, const Ice::Current&) override;
- void reportStatechartTransitionWithParametersList(const ProfilerStatechartTransitionWithParametersList&, const Ice::Current&) override;
+ void
+ reportStatechartTransitionWithParameters(const ProfilerStatechartTransitionWithParameters&,
+ const Ice::Current&) override;
+ void reportStatechartTransitionWithParametersList(
+ const ProfilerStatechartTransitionWithParametersList&,
+ const Ice::Current&) override;
// Override SkillManager to add memory functions
- void addProvider(const skills::manager::dto::ProviderInfo& info, const Ice::Current ¤t) override;
- void removeProvider(const std::string&, const Ice::Current ¤t) override;
- skills::provider::dto::SkillStatusUpdate executeSkill(const skills::manager::dto::SkillExecutionRequest& info, const Ice::Current ¤t) override;
- void updateStatusForSkill(const skills::provider::dto::SkillStatusUpdate& statusUpdate, const Ice::Current ¤t) override;
+ void addProvider(const skills::manager::dto::ProviderInfo& info,
+ const Ice::Current& current) override;
+ void removeProvider(const std::string&, const Ice::Current& current) override;
+ skills::manager::dto::SkillStatusUpdate
+ executeSkill(const skills::manager::dto::SkillExecutionRequest& info,
+ const Ice::Current& current) override;
+ void updateStatusForSkill(const skills::provider::dto::SkillStatusUpdate& statusUpdate,
+ const std::string& providerName,
+ const Ice::Current& current) override;
+ skills::provider::dto::SkillStatusUpdateList
+ getLatestSkillExecutionStatuses(int n, const Ice::Current& current) override;
// WritingInterface interface
- armem::data::CommitResult commit(const armem::data::Commit& commit, const Ice::Current&) override;
+ armem::data::CommitResult commit(const armem::data::Commit& commit,
+ const Ice::Current&) override;
protected:
-
/// @see armarx::ManagedIceObject::onInitComponent()
void onInitComponent() override;
@@ -101,12 +109,12 @@ namespace armarx
private:
-
static constexpr const char* MemoryName = "Skill";
struct Properties
{
};
+
Properties p;
skills::segment::StatechartListenerProviderSegment statechartListenerProviderSegment;
@@ -114,4 +122,4 @@ namespace armarx
skills::segment::SkillEventCoreSegment skillEventCoreSegment;
skills::segment::SkillExecutionRequestCoreSegment skillExecutionRequestCoreSegment;
};
-}
+} // namespace armarx
diff --git a/source/RobotAPI/gui-plugins/SkillManagerPlugin/SkillManagerMonitorWidget.ui b/source/RobotAPI/gui-plugins/SkillManagerPlugin/SkillManagerMonitorWidget.ui
index 7c25a1b84..70005fd88 100644
--- a/source/RobotAPI/gui-plugins/SkillManagerPlugin/SkillManagerMonitorWidget.ui
+++ b/source/RobotAPI/gui-plugins/SkillManagerPlugin/SkillManagerMonitorWidget.ui
@@ -20,8 +20,38 @@
<string>SkillManagerMonitorWidget</string>
</property>
<layout class="QGridLayout" name="gridLayout_3">
- <item row="0" column="0">
+ <item row="3" column="0">
+ <widget class="QCheckBox" name="autoUpdateCheckBox">
+ <property name="text">
+ <string>Auto Update</string>
+ </property>
+ </widget>
+ </item>
+ <item row="3" column="3">
+ <widget class="QPushButton" name="refreshNowPushButton">
+ <property name="text">
+ <string>Refresh Now</string>
+ </property>
+ </widget>
+ </item>
+ <item row="3" column="2">
+ <widget class="QDoubleSpinBox" name="doubleSpinBoxUpdateFreq"/>
+ </item>
+ <item row="3" column="1">
+ <widget class="QLabel" name="label">
+ <property name="text">
+ <string>Update Frequency:</string>
+ </property>
+ <property name="alignment">
+ <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+ </property>
+ </widget>
+ </item>
+ <item row="4" column="0" colspan="4">
<widget class="QSplitter" name="splitter_2">
+ <property name="enabled">
+ <bool>true</bool>
+ </property>
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Preferred">
<horstretch>0</horstretch>
@@ -34,25 +64,49 @@
<property name="childrenCollapsible">
<bool>false</bool>
</property>
- <widget class="QGroupBox" name="groupBoxActiveSkills">
+ <widget class="QGroupBox" name="groupBoxSkillExecutions">
<property name="sizePolicy">
- <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
+ <sizepolicy hsizetype="Preferred" vsizetype="Expanding">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="title">
- <string>Active Skills</string>
+ <string>Executions</string>
</property>
<layout class="QGridLayout" name="gridLayout_4">
- <item row="0" column="0">
- <widget class="QListWidget" name="listWidgetActiveSkills">
- <property name="sizePolicy">
- <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
+ <item row="1" column="0" colspan="3">
+ <widget class="QTreeWidget" name="treeWidget">
+ <column>
+ <property name="text">
+ <string>ID</string>
+ </property>
+ </column>
+ <column>
+ <property name="text">
+ <string>Skill</string>
+ </property>
+ </column>
+ <column>
+ <property name="text">
+ <string>Scheduled</string>
+ </property>
+ </column>
+ <column>
+ <property name="text">
+ <string>Started</string>
+ </property>
+ </column>
+ <column>
+ <property name="text">
+ <string>Finished</string>
+ </property>
+ </column>
+ <column>
+ <property name="text">
+ <string>Executor</string>
+ </property>
+ </column>
</widget>
</item>
</layout>
@@ -78,16 +132,6 @@
<string>Manager</string>
</property>
<layout class="QGridLayout" name="gridLayout">
- <item row="3" column="1">
- <widget class="QDoubleSpinBox" name="doubleSpinBoxUpdateFreq"/>
- </item>
- <item row="3" column="0">
- <widget class="QLabel" name="label">
- <property name="text">
- <string>Update Frequency:</string>
- </property>
- </widget>
- </item>
<item row="4" column="0" colspan="3">
<widget class="QTreeWidget" name="treeWidgetSkills">
<column>
@@ -100,30 +144,14 @@
<string>HasType</string>
</property>
</column>
- <column>
- <property name="text">
- <string>State</string>
- </property>
- </column>
- </widget>
- </item>
- <item row="2" column="0">
- <widget class="QCheckBox" name="autoUpdateCheckBox">
- <property name="text">
- <string>Auto Update</string>
- </property>
- </widget>
- </item>
- <item row="2" column="2">
- <widget class="QPushButton" name="refreshNowPushButton">
- <property name="text">
- <string>Refresh Now</string>
- </property>
</widget>
</item>
</layout>
</widget>
<widget class="QGroupBox" name="groupBoxSkillDetails">
+ <property name="enabled">
+ <bool>true</bool>
+ </property>
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Expanding">
<horstretch>0</horstretch>
@@ -134,7 +162,35 @@
<string>Skill Details</string>
</property>
<layout class="QGridLayout" name="gridLayout_2">
- <item row="1" column="0" colspan="4">
+ <item row="8" column="3">
+ <widget class="QPushButton" name="pushButtonExecuteSkill">
+ <property name="text">
+ <string>Request Execution</string>
+ </property>
+ </widget>
+ </item>
+ <item row="0" column="0">
+ <widget class="QPushButton" name="pushButtonPaste">
+ <property name="text">
+ <string>Set args from clipboard</string>
+ </property>
+ </widget>
+ </item>
+ <item row="8" column="0">
+ <widget class="QPushButton" name="pushButtonStopSkill">
+ <property name="text">
+ <string>Stop current skill</string>
+ </property>
+ </widget>
+ </item>
+ <item row="0" column="3">
+ <widget class="QPushButton" name="pushButtonReset">
+ <property name="text">
+ <string>Reset args</string>
+ </property>
+ </widget>
+ </item>
+ <item row="3" column="0" colspan="4">
<widget class="QTreeWidget" name="treeWidgetSkillDetails">
<property name="contextMenuPolicy">
<enum>Qt::CustomContextMenu</enum>
@@ -164,34 +220,6 @@
</column>
</widget>
</item>
- <item row="6" column="3">
- <widget class="QPushButton" name="pushButtonExecuteSkill">
- <property name="text">
- <string>Request Execution</string>
- </property>
- </widget>
- </item>
- <item row="0" column="0">
- <widget class="QPushButton" name="pushButtonPaste">
- <property name="text">
- <string>Set from clipboard</string>
- </property>
- </widget>
- </item>
- <item row="6" column="0">
- <widget class="QPushButton" name="pushButtonStopSkill">
- <property name="text">
- <string>Stop current skill</string>
- </property>
- </widget>
- </item>
- <item row="0" column="3">
- <widget class="QPushButton" name="pushButtonReset">
- <property name="text">
- <string>Reset args</string>
- </property>
- </widget>
- </item>
<item row="0" column="1">
<widget class="QPushButton" name="pushButtonCopy">
<property name="text">
@@ -199,6 +227,15 @@
</property>
</widget>
</item>
+ <item row="1" column="1" colspan="3">
+ <widget class="QComboBox" name="profileComboBox">
+ <item>
+ <property name="text">
+ <string><No Profile></string>
+ </property>
+ </item>
+ </widget>
+ </item>
</layout>
</widget>
</widget>
diff --git a/source/RobotAPI/gui-plugins/SkillManagerPlugin/SkillManagerMonitorWidgetController.cpp b/source/RobotAPI/gui-plugins/SkillManagerPlugin/SkillManagerMonitorWidgetController.cpp
index c3dcb38aa..70fdd6812 100644
--- a/source/RobotAPI/gui-plugins/SkillManagerPlugin/SkillManagerMonitorWidgetController.cpp
+++ b/source/RobotAPI/gui-plugins/SkillManagerPlugin/SkillManagerMonitorWidgetController.cpp
@@ -82,14 +82,15 @@ namespace armarx
{
widget.setupUi(getWidget());
- widget.doubleSpinBoxUpdateFreq->setValue(5.0);
- widget.doubleSpinBoxUpdateFreq->setMinimum(0);
- widget.doubleSpinBoxUpdateFreq->setMaximum(100);
+ double default_hz = 2;
+ widget.doubleSpinBoxUpdateFreq->setValue(default_hz);
+ widget.doubleSpinBoxUpdateFreq->setMinimum(0.5);
+ widget.doubleSpinBoxUpdateFreq->setMaximum(20);
widget.doubleSpinBoxUpdateFreq->setSingleStep(0.5);
widget.doubleSpinBoxUpdateFreq->setSuffix(" Hz");
refreshSkillsResultTimer = new QTimer(this);
- refreshSkillsResultTimer->setInterval(1000 / 2); // Keep this stable.
+ updateTimerFrequency();
refreshSkillsResultTimer->start();
connect(widget.doubleSpinBoxUpdateFreq,
@@ -99,7 +100,7 @@ namespace armarx
connect(refreshSkillsResultTimer,
&QTimer::timeout,
this,
- &SkillManagerMonitorWidgetController::refreshSkillsPeriodically);
+ &SkillManagerMonitorWidgetController::refreshSkillsAndExecutions);
connect(widget.pushButtonCopy,
&QPushButton::clicked,
@@ -175,28 +176,21 @@ namespace armarx
}
void
- SkillManagerMonitorWidgetController::refreshSkillsPeriodically()
+ SkillManagerMonitorWidgetController::refreshSkillsAndExecutions()
{
if (widget.autoUpdateCheckBox->isChecked())
{
refreshSkills();
+ refreshExecutions();
}
}
void
SkillManagerMonitorWidgetController::refreshSkills()
{
- static std::map<skills::provider::dto::Execution::Status, std::string>
- ExecutionStatus2String = {
- {skills::provider::dto::Execution::Status::Aborted, "Aborted"},
- {skills::provider::dto::Execution::Status::Failed, "Failed"},
- {skills::provider::dto::Execution::Status::Idle, "Not yet started"},
- {skills::provider::dto::Execution::Status::Running, "Running"},
- {skills::provider::dto::Execution::Status::Scheduled, "Scheduled"},
- {skills::provider::dto::Execution::Status::Succeeded, "Succeeded"}};
-
if (!manager)
{
+ // check if null
return;
}
@@ -204,9 +198,10 @@ namespace armarx
// remove non-existing ones
try
{
- ARMARX_DEBUG << "GET REMOVED PROVIDERS AND REMOVE FROM MAP";
- std::scoped_lock l(skillMutex);
+ std::scoped_lock l(updateMutex);
+
auto managerSkills = manager->getSkillDescriptions();
+
std::vector<std::string> removedProviders;
for (auto it = skills.begin(); it != skills.end();)
{
@@ -225,21 +220,18 @@ namespace armarx
}
// add new ones
- ARMARX_DEBUG << "GET NEW PROVIDERS AND ADD THEM TO MAP";
std::vector<std::string> newProviders;
for (const auto& [providerName, providerSkills] : managerSkills)
{
if (skills.find(providerName) == skills.end())
{
- ARMARX_DEBUG << "ADD " << providerName;
skills.insert(std::make_pair(providerName, providerSkills));
newProviders.push_back(providerName);
}
}
- /* CHECK TREE VIEW */
+ /* UPDATE TREE VIEW */
// remove providers from tree
- ARMARX_DEBUG << "REMOVE PROVIDERS FROM TREE VIEW";
int i = 0;
while (i < widget.treeWidgetSkills->topLevelItemCount())
{
@@ -249,7 +241,6 @@ namespace armarx
item->text(0).toStdString());
it != removedProviders.end())
{
- ARMARX_DEBUG << "REMOVE PROVIDER " << *it;
delete widget.treeWidgetSkills->takeTopLevelItem(i);
}
else
@@ -259,7 +250,6 @@ namespace armarx
}
// add new providers
- ARMARX_DEBUG << "ADD NEW PROVIDERS TO TREE VIEW";
for (const auto& [providerName, providerSkills] : skills)
{
if (auto it = std::find(newProviders.begin(), newProviders.end(), providerName);
@@ -269,87 +259,105 @@ namespace armarx
item->setText(0, QString::fromStdString(providerName));
for (const auto& [name, sk] : providerSkills)
{
- ARMARX_DEBUG << "ADD PROVIDER " << *it;
auto itsk = new QTreeWidgetItem(item);
item->addChild(itsk);
itsk->setText(0, QString::fromStdString(name));
}
}
}
+ }
+ catch (...)
+ {
+ // perhaps the manager died during the method?
+ }
+ }
- // update status and active skills window
- ARMARX_DEBUG << "UPDATE STATI AND ACTIVE SKILL";
- std::map<skills::SkillID, std::string> activeSkillsAndPrefixes;
- auto managerStatuses = manager->getSkillExecutionStatuses();
- for (int i = 0; i < widget.treeWidgetSkills->topLevelItemCount(); ++i)
- {
- try
- {
- QTreeWidgetItem* item = widget.treeWidgetSkills->topLevelItem(i);
- auto providerName = item->text(0).toStdString();
-
- ARMARX_DEBUG << "UPDATE STATI FOR PROVIDER " << providerName;
- auto allStatusesForProvider = managerStatuses.at(providerName);
-
- for (int j = 0; j < item->childCount(); ++j)
- {
- QTreeWidgetItem* skillItem = item->child(j);
- skills::SkillID currentSkillId(providerName,
- skillItem->text(0).toStdString());
-
- ARMARX_DEBUG << "UPDATE STATI FOR SKILL " << currentSkillId.skillName;
- auto statusForSkill = allStatusesForProvider.at(currentSkillId.skillName);
- skillItem->setText(2,
- QString::fromStdString(ExecutionStatus2String.at(
- statusForSkill.header.status)));
-
- if (not statusForSkill.header.executorName
- .empty()) // it means that the skill was called by someone
- {
- ARMARX_DEBUG << "ADD SKILL TO ACTIVE " << currentSkillId.skillName;
- activeSkillsAndPrefixes.insert(
- {currentSkillId, statusForSkill.header.executorName});
- }
- }
- }
- catch (...)
- {
- // Perhaps the skill provider died after the check at the beginning of this method
- continue;
- }
- }
+ void
+ SkillManagerMonitorWidgetController::refreshExecutions()
+ {
+ static std::map<skills::provider::dto::Execution::Status, std::string>
+ ExecutionStatus2String = {
+ // Terminating
+ {skills::provider::dto::Execution::Status::Aborted, "Aborted"},
+ {skills::provider::dto::Execution::Status::Failed, "Failed"},
+ {skills::provider::dto::Execution::Status::Succeeded, "Succeeded"},
- // finally update the view of active skills
- ARMARX_DEBUG << "UPDATE ACTIVE SKILLS";
- widget.listWidgetActiveSkills->clear();
- for (const auto& [id, prefix] : activeSkillsAndPrefixes)
- {
- auto prefixedStr = id.toString(prefix);
- bool longest = true;
- for (
- const auto& [id2, prefix2] :
- activeSkillsAndPrefixes) // check if there is a deeper skill currently executing
- {
- auto prefixedStr2 = id.toString(prefix2);
- if (prefixedStr == prefixedStr2)
- {
- continue;
- }
+ // Others
+ {skills::provider::dto::Execution::Status::Idle, "Not yet started"},
+ {skills::provider::dto::Execution::Status::Running, "Running"},
+ {skills::provider::dto::Execution::Status::Scheduled, "Scheduled"}};
- if (simox::alg::starts_with(prefixedStr2, prefixedStr))
- {
- longest = false;
- break;
- }
- }
+ if (!manager)
+ {
+ // check if null
+ return;
+ }
- if (longest)
- {
- widget.listWidgetActiveSkills->addItem(
- QString::fromStdString(id.toString() + ": " + id.toString(prefix)));
- }
- }
+ try
+ {
+ // std::scoped_lock l(updateMutex);
+
+ // auto managerStatuses = manager->getSkillExecutionStatuses();
+
+ // // update status and active skills window
+ // std::map<skills::SkillID, std::string> activeSkillsAndPrefixes;
+ // for (int i = 0; i < widget.treeWidgetSkills->topLevelItemCount(); ++i)
+ // {
+ // QTreeWidgetItem* item = widget.treeWidgetSkills->topLevelItem(i);
+ // auto providerName = item->text(0).toStdString();
+
+
+ // auto allStatusesForProvider = managerStatuses.at(providerName);
+
+ // for (int j = 0; j < item->childCount(); ++j)
+ // {
+ // QTreeWidgetItem* skillItem = item->child(j);
+ // skills::SkillID currentSkillId(providerName, skillItem->text(0).toStdString());
+
+ // auto statusForSkill = allStatusesForProvider.at(currentSkillId.skillName);
+ // skillItem->setText(2,
+ // QString::fromStdString(ExecutionStatus2String.at(
+ // statusForSkill.header.status)));
+
+ // if (not statusForSkill.header.executorName
+ // .empty()) // it means that the skill was called by someone
+ // {
+ // activeSkillsAndPrefixes.insert(
+ // {currentSkillId, statusForSkill.header.executorName});
+ // }
+ // }
+ // }
+
+ // widget.listWidgetActiveSkills->clear();
+ // for (const auto& [id, prefix] : activeSkillsAndPrefixes)
+ // {
+ // auto prefixedStr = id.toString(prefix);
+ // bool longest = true;
+ // for (
+ // const auto& [id2, prefix2] :
+ // activeSkillsAndPrefixes) // check if there is a deeper skill currently executing
+ // {
+ // auto prefixedStr2 = id.toString(prefix2);
+ // if (prefixedStr == prefixedStr2)
+ // {
+ // continue;
+ // }
+
+ // if (simox::alg::starts_with(prefixedStr2, prefixedStr))
+ // {
+ // longest = false;
+ // break;
+ // }
+ // }
+
+ // if (longest)
+ // {
+ // widget.listWidgetActiveSkills->addItem(
+ // QString::fromStdString(id.toString() + ": " + id.toString(prefix)));
+ // }
+ // }
}
+
catch (...)
{
// perhaps the manager died during the method?
@@ -364,7 +372,7 @@ namespace armarx
return;
}
- std::scoped_lock l(skillMutex);
+ std::scoped_lock l(updateMutex);
const auto& skillDescriptions = skills.at(selectedSkill.providerName);
if (!skillDescriptions.count(selectedSkill.skillName))
{
@@ -391,7 +399,7 @@ namespace armarx
void
SkillManagerMonitorWidgetController::stopSkill()
{
- std::scoped_lock l(skillMutex);
+ std::scoped_lock l(updateMutex);
if (selectedSkill.providerName.empty() or selectedSkill.skillName.empty())
{
return;
@@ -412,7 +420,7 @@ namespace armarx
SkillManagerMonitorWidgetController::skillSelectionChanged(QTreeWidgetItem* current,
QTreeWidgetItem*)
{
- std::scoped_lock l(skillMutex);
+ std::scoped_lock l(updateMutex);
widget.groupBoxSkillDetails->setEnabled(false);
if (!current)
@@ -487,7 +495,7 @@ namespace armarx
{QString::fromStdString("Arguments")});
auto aron_args = aron::type::Object::FromAronObjectDTO(skillDesc.acceptedType);
auto default_args =
- nullptr; //aron::data::Dict::FromAronDictDTO(skillDesc.defaultParams); TODO!
+ nullptr; //aron::data::Dict::FromAronDictDTO(skillDesc.defaultParams); TODO! fabian.peller
aronTreeWidgetController = std::make_shared<AronTreeWidgetController>(
widget.treeWidgetSkillDetails, skillsArgumentsTreeWidgetItem, aron_args, default_args);
diff --git a/source/RobotAPI/gui-plugins/SkillManagerPlugin/SkillManagerMonitorWidgetController.h b/source/RobotAPI/gui-plugins/SkillManagerPlugin/SkillManagerMonitorWidgetController.h
index f1ad1bb72..d6e93d978 100644
--- a/source/RobotAPI/gui-plugins/SkillManagerPlugin/SkillManagerMonitorWidgetController.h
+++ b/source/RobotAPI/gui-plugins/SkillManagerPlugin/SkillManagerMonitorWidgetController.h
@@ -81,7 +81,8 @@ namespace armarx
void updateTimerFrequency();
void refreshSkills();
- void refreshSkillsPeriodically();
+ void refreshExecutions();
+ void refreshSkillsAndExecutions();
void copyCurrentConfig();
void pasteCurrentConfig();
@@ -108,7 +109,7 @@ namespace armarx
};
// Data taken from observer (snapshot of it)
- mutable std::mutex skillMutex;
+ mutable std::mutex updateMutex;
skills::manager::dto::SkillDescriptionMapMap skills = {};
// User Input
diff --git a/source/RobotAPI/interface/skills/SkillManagerInterface.ice b/source/RobotAPI/interface/skills/SkillManagerInterface.ice
index 088d28561..17a07d8bc 100644
--- a/source/RobotAPI/interface/skills/SkillManagerInterface.ice
+++ b/source/RobotAPI/interface/skills/SkillManagerInterface.ice
@@ -32,13 +32,52 @@ module armarx
{
module dto
{
- // Inputs
+ // A skill ID. Must be unique within one SkillManager
+ struct SkillID
+ {
+ string providerName;
+ string skillName;
+ };
+
+ // The minimum information that is needed to uniquely identifying a past skill execution
+ struct SkillExecutionID
+ {
+ SkillID skillId; // the id of the skill
+ string
+ executorName; // the name of the component/lib/skill that called the execution of the skill
+ armarx::core::time::dto::DateTime
+ executionStartedTime; // The time a skill was triggered
+ };
+
+ // Status updates of a skill (similar to the status update of the providers except the skillID)
+ struct SkillStatusUpdateHeader
+ {
+ SkillExecutionID executionId;
+ aron::data::dto::Dict usedParams; // the used parameterization
+ callback::dti::SkillProviderCallbackInterface*
+ usedCallbackInterface; // the used callback interface. Probably a prx to the manager
+ provider::dto::Execution::Status status; // the current status of the skill
+ };
+
+ // (similar to the status update of the providers except the skillID)
+ struct SkillStatusUpdate
+ {
+ SkillStatusUpdateHeader header;
+ aron::data::dto::Dict
+ data; // data, attached to the status update. If send via a callback, this data may be used by the callback interface
+ };
+
+ sequence<SkillStatusUpdate> SkillStatusUpdateList;
+
struct SkillExecutionRequest
{
+ SkillID
+ skillId; // The id of a skill to request. Note that the skill or provider name can be regexes.
string executorName; // Who called the request
- provider::dto::SkillID skillId; // The id of a skill to request. Note that the skill or provider name can be regexes.
- aron::data::dto::Dict params; // the parameters for the skill. Can be nullptr if the skill does not require parameters
+ aron::data::dto::Dict
+ params; // the parameters for the skill. Can be nullptr if the skill does not require parameters
};
+
struct ProviderInfo
{
string providerName;
@@ -48,24 +87,32 @@ module armarx
// Provider data types
dictionary<string, provider::dto::SkillDescriptionMap> SkillDescriptionMapMap;
- dictionary<string, provider::dto::SkillStatusUpdateMap> SkillStatusUpdateMapMap;
}
module dti
{
- interface SkillManagerInterface extends callback::dti::SkillProviderCallbackInterface
+ interface SkillManagerInterface extends
+ callback::dti::SkillProviderCallbackInterface
{
- // There is by design no method to get the ProviderInfo. You should only communicate with the manager
+ // !! There is by design no method to get the ProviderInfo. You should only communicate with the manager !!
void addProvider(dto::ProviderInfo providerInfo);
+
void removeProvider(string providerName);
- dto::SkillDescriptionMapMap getSkillDescriptions();
- dto::SkillStatusUpdateMapMap getSkillExecutionStatuses();
+ dto::SkillDescriptionMapMap
+ getSkillDescriptions(); // get all skilldescriptions from all providers
- provider::dto::SkillStatusUpdate executeSkill(dto::SkillExecutionRequest skillExecutionInfo);
- void abortSkill(string providerName, string skillName);
+ dto::SkillStatusUpdate
+ getSkillExecutionStatus(dto::SkillExecutionID executionId);
+
+ dto::SkillStatusUpdateList
+ getSkillExecutionStatuses(); // returns the current executions from all providers
+ dto::SkillStatusUpdate
+ executeSkill(dto::SkillExecutionRequest skillExecutionInfo);
+
+ void abortSkill(string providerName, string skillName);
};
}
}
diff --git a/source/RobotAPI/interface/skills/SkillMemoryInterface.ice b/source/RobotAPI/interface/skills/SkillMemoryInterface.ice
index c8e3212ef..09e5db871 100644
--- a/source/RobotAPI/interface/skills/SkillMemoryInterface.ice
+++ b/source/RobotAPI/interface/skills/SkillMemoryInterface.ice
@@ -24,10 +24,10 @@
#include <ArmarXCore/interface/core/Profiler.ice>
-#include <RobotAPI/interface/skills/SkillProviderInterface.ice>
+#include <RobotAPI/interface/armem/server/MemoryInterface.ice>
#include <RobotAPI/interface/skills/SkillManagerInterface.ice>
+#include <RobotAPI/interface/skills/SkillProviderInterface.ice>
#include <RobotAPI/interface/skills/StatechartListenerInterface.ice>
-#include <RobotAPI/interface/armem/server/MemoryInterface.ice>
module armarx
{
@@ -35,8 +35,11 @@ module armarx
{
module dti
{
- interface SkillMemoryInterface extends armem::server::MemoryInterface, dti::StatechartListenerInterface, manager::dti::SkillManagerInterface
+ interface SkillMemoryInterface extends armem::server::MemoryInterface,
+ dti::StatechartListenerInterface, manager::dti::SkillManagerInterface
{
+ provider::dto::SkillStatusUpdateList getLatestSkillExecutionStatuses(
+ int n); // returns latest n statusupdates of all providers
};
}
}
diff --git a/source/RobotAPI/interface/skills/SkillProviderInterface.ice b/source/RobotAPI/interface/skills/SkillProviderInterface.ice
index b7aad029e..300054875 100644
--- a/source/RobotAPI/interface/skills/SkillProviderInterface.ice
+++ b/source/RobotAPI/interface/skills/SkillProviderInterface.ice
@@ -22,6 +22,8 @@
#pragma once
+#include <ArmarXCore/interface/core/time.ice>
+
#include <RobotAPI/interface/aron.ice>
@@ -51,13 +53,6 @@ module armarx
{
sequence<string> StringList;
- // A skill ID. Must be unique within one SkillManager
- struct SkillID
- {
- string providerName;
- string skillName;
- };
-
// A parameterization profile
struct SkillProfile
{
@@ -100,23 +95,31 @@ module armarx
{
enum Status
{
- Idle, // a skill can only be idled if it has never been scheduled
+ Idle,
Scheduled,
Running,
- // terminating values
+ // terminating values, after execution a skill goes back to idle
Failed,
Succeeded,
Aborted
};
}
- // Status updates of a skill
- struct SkillStatusUpdateHeader
+ // The minimum information that is needed to uniquely identifying a past skill execution
+ struct SkillExecutionID
{
- SkillID skillId; // the id of the skill
+ string skillName; // the name of the skill
string
executorName; // the name of the component/lib/skill that called the execution of the skill
+ armarx::core::time::dto::DateTime
+ executionStartedTime; // The time a skill was triggered
+ };
+
+ // Status updates of a skill
+ struct SkillStatusUpdateHeader
+ {
+ SkillExecutionID executionId;
aron::data::dto::Dict usedParams; // the used parameterization
callback::dti::SkillProviderCallbackInterface*
usedCallbackInterface; // the used callback interface. Probably a prx to the manager
@@ -130,7 +133,7 @@ module armarx
data; // data, attached to the status update. If send via a callback, this data may be used by the callback interface
};
- dictionary<string, SkillStatusUpdate> SkillStatusUpdateMap;
+ sequence<SkillStatusUpdate> SkillStatusUpdateList;
}
module dti
@@ -139,8 +142,10 @@ module armarx
{
dto::SkillDescription getSkillDescription(string name);
dto::SkillDescriptionMap getSkillDescriptions();
- dto::SkillStatusUpdate getSkillExecutionStatus(string name);
- dto::SkillStatusUpdateMap getSkillExecutionStatuses();
+ dto::SkillStatusUpdate
+ getSkillExecutionStatus(dto::SkillExecutionID executionId);
+ dto::SkillStatusUpdateList
+ getSkillExecutionStatuses(); // returns all current skill executions chronologically
// execute skill will ALWAYS fully execute the skill and wait, until the skill is finished.
// Use the _begin() method, if you want to call a skill async
@@ -167,7 +172,8 @@ module armarx
interface SkillProviderCallbackInterface
{
// used for callbacks from providers to update their skill execution status
- void updateStatusForSkill(provider::dto::SkillStatusUpdate statusUpdate);
+ void updateStatusForSkill(provider::dto::SkillStatusUpdate statusUpdate,
+ string providerName);
}
}
}
diff --git a/source/RobotAPI/libraries/armem_skills/server/segment/SkillEventSegment.cpp b/source/RobotAPI/libraries/armem_skills/server/segment/SkillEventSegment.cpp
index 1fa0989e8..8eb81c164 100644
--- a/source/RobotAPI/libraries/armem_skills/server/segment/SkillEventSegment.cpp
+++ b/source/RobotAPI/libraries/armem_skills/server/segment/SkillEventSegment.cpp
@@ -1,49 +1,58 @@
#include "SkillEventSegment.h"
-#include <RobotAPI/libraries/armem/server/MemoryToIceAdapter.h>
#include <SimoxUtility/algorithm/string.h>
-#include <RobotAPI/libraries/aron/converter/json/NLohmannJSONConverter.h>
-
+#include <RobotAPI/libraries/armem/server/MemoryToIceAdapter.h>
#include <RobotAPI/libraries/armem_skills/aron/Skill.aron.generated.h>
+#include <RobotAPI/libraries/aron/converter/json/NLohmannJSONConverter.h>
+#include <RobotAPI/libraries/skills/provider/SkillStatusUpdate.h>
namespace armarx::skills::segment
{
- SkillEventCoreSegment::SkillEventCoreSegment(armem::server::MemoryToIceAdapter& iceMemory):
- Base(iceMemory, CoreSegmentName, armarx::skills::arondto::SkillExecutionRequest::ToAronType())
+ SkillEventCoreSegment::SkillEventCoreSegment(armem::server::MemoryToIceAdapter& iceMemory) :
+ Base(iceMemory,
+ CoreSegmentName,
+ armarx::skills::arondto::SkillExecutionRequest::ToAronType())
{
}
- void SkillEventCoreSegment::defineProperties(PropertyDefinitionsPtr defs, const std::string &prefix)
+ void
+ SkillEventCoreSegment::defineProperties(PropertyDefinitionsPtr defs, const std::string& prefix)
{
// No properties! (meaning no name and no max size)
}
- void SkillEventCoreSegment::init()
+ void
+ SkillEventCoreSegment::init()
{
Base::init();
}
- void SkillEventCoreSegment::addSkillUpdateEvent(const skills::provider::dto::SkillStatusUpdate& update)
+ void
+ SkillEventCoreSegment::addSkillUpdateEvent(
+ const skills::provider::dto::SkillStatusUpdate& update,
+ const std::string& providerName)
{
// add update for skill to memory
- static std::map<armarx::skills::provider::dto::Execution::Status, std::string> ExecutionStatus2String = {
- {armarx::skills::provider::dto::Execution::Status::Idle, "Idle"},
- {armarx::skills::provider::dto::Execution::Status::Scheduled, "Scheduled"},
- {armarx::skills::provider::dto::Execution::Status::Running, "Running"},
- {armarx::skills::provider::dto::Execution::Status::Aborted, "Aborted"},
- {armarx::skills::provider::dto::Execution::Status::Failed, "Failed"},
- {armarx::skills::provider::dto::Execution::Status::Succeeded, "Succeeded"}
- };
+ static std::map<armarx::skills::provider::dto::Execution::Status, std::string>
+ ExecutionStatus2String = {
+ {armarx::skills::provider::dto::Execution::Status::Idle, "Idle"},
+ {armarx::skills::provider::dto::Execution::Status::Scheduled, "Scheduled"},
+ {armarx::skills::provider::dto::Execution::Status::Running, "Running"},
+ {armarx::skills::provider::dto::Execution::Status::Aborted, "Aborted"},
+ {armarx::skills::provider::dto::Execution::Status::Failed, "Failed"},
+ {armarx::skills::provider::dto::Execution::Status::Succeeded, "Succeeded"}};
+
+ auto up = skills::SkillStatusUpdate::FromIce(update, providerName);
// create commit about new update
armarx::skills::arondto::SkillExecutionEvent event;
- event.providerName = update.header.skillId.providerName;
- event.skillName = update.header.skillId.skillName;
+ event.providerName = up.executionId.skillId.providerName;
+ event.skillName = up.executionId.skillId.skillName;
event.status = ExecutionStatus2String.at(update.header.status);
- event.params = aron::data::Dict::FromAronDictDTO(update.header.usedParams);
- event.data = aron::data::Dict::FromAronDictDTO(update.data);
+ event.params = up.usedParameterization.usedInputParams;
+ event.data = up.data;
armem::MemoryID commitId = id();
commitId.providerSegmentName = event.providerName;
@@ -55,9 +64,9 @@ namespace armarx::skills::segment
auto& entityUpdate = comm.add();
entityUpdate.confidence = 1.0;
entityUpdate.referencedTime = armem::Time::Now();
- entityUpdate.instancesData = { aron };
+ entityUpdate.instancesData = {aron};
entityUpdate.entityID = commitId;
iceMemory.commit(comm);
}
-}
+} // namespace armarx::skills::segment
diff --git a/source/RobotAPI/libraries/armem_skills/server/segment/SkillEventSegment.h b/source/RobotAPI/libraries/armem_skills/server/segment/SkillEventSegment.h
index 93df4bf7a..7d67fc2d6 100644
--- a/source/RobotAPI/libraries/armem_skills/server/segment/SkillEventSegment.h
+++ b/source/RobotAPI/libraries/armem_skills/server/segment/SkillEventSegment.h
@@ -8,13 +8,11 @@
// ArmarX
#include <RobotAPI/interface/skills/SkillManagerInterface.h>
#include <RobotAPI/interface/skills/SkillProviderInterface.h>
-
#include <RobotAPI/libraries/armem_skills/aron/Skill.aron.generated.h>
namespace armarx::skills::segment
{
- class SkillEventCoreSegment :
- public armem::server::segment::SpecializedCoreSegment
+ class SkillEventCoreSegment : public armem::server::segment::SpecializedCoreSegment
{
using Base = armem::server::segment::SpecializedCoreSegment;
@@ -23,11 +21,12 @@ namespace armarx::skills::segment
SkillEventCoreSegment(armem::server::MemoryToIceAdapter& iceMemory);
- void defineProperties(PropertyDefinitionsPtr defs, const std::string &prefix);
+ void defineProperties(PropertyDefinitionsPtr defs, const std::string& prefix);
void init();
- void addSkillUpdateEvent(const skills::provider::dto::SkillStatusUpdate& update);
+ void addSkillUpdateEvent(const skills::provider::dto::SkillStatusUpdate& update,
+ const std::string& providerName);
private:
};
-}
+} // namespace armarx::skills::segment
diff --git a/source/RobotAPI/libraries/skills/manager/SkillManagerComponentPlugin.cpp b/source/RobotAPI/libraries/skills/manager/SkillManagerComponentPlugin.cpp
index 2908d2e77..5fbc2e925 100644
--- a/source/RobotAPI/libraries/skills/manager/SkillManagerComponentPlugin.cpp
+++ b/source/RobotAPI/libraries/skills/manager/SkillManagerComponentPlugin.cpp
@@ -1,8 +1,12 @@
#include "SkillManagerComponentPlugin.h"
#include <ArmarXCore/core/Component.h>
+#include <ArmarXCore/core/time/DateTime.h>
+#include <ArmarXCore/core/time/ice_conversions.h>
-#include "../error/Exception.h"
+#include <RobotAPI/libraries/skills/error/Exception.h>
+#include <RobotAPI/libraries/skills/provider/SkillID.h>
+#include <RobotAPI/libraries/skills/provider/SkillStatusUpdate.h>
namespace armarx::plugins
{
@@ -68,6 +72,7 @@ namespace armarx
std::string
SkillManagerComponentPluginUser::getFirstProviderNameThatHasSkill(const std::string& skillName)
{
+ // NON LOCKING! WE ASSERT THAT THE CALLER HOLDS LOCK
for (const auto& [providerName, providerPrx] : skillProviderMap)
{
auto allSkills = providerPrx->getSkillDescriptions();
@@ -85,12 +90,16 @@ namespace armarx
using SkillProviderInterfacePrxMap =
std::map<std::string, skills::provider::dti::SkillProviderInterfacePrx>;
- skills::provider::dto::SkillStatusUpdate
+ skills::manager::dto::SkillStatusUpdate
SkillManagerComponentPluginUser::executeSkill(
const skills::manager::dto::SkillExecutionRequest& info,
const Ice::Current&)
{
+ std::unique_lock l(skillProviderMapMutex);
+
std::string providerName = "INVALID PROVIDER NAME";
+
+ // TODO: Really support regexes!
if (info.skillId.providerName == "*")
{
providerName = getFirstProviderNameThatHasSkill(info.skillId.skillName);
@@ -100,68 +109,61 @@ namespace armarx
providerName = info.skillId.providerName;
}
- SkillProviderInterfacePrxMap skillProviderMap;
- {
- std::scoped_lock l(skillProviderMapMutex);
- skillProviderMap = this->skillProviderMap;
- }
- bool remove = false;
if (auto it = skillProviderMap.find(providerName); it != skillProviderMap.end())
{
- const auto& n = it->first;
- const auto& s = it->second;
+ const auto& provider = it->second;
+
+ if (!provider)
+ {
+ ARMARX_WARNING << __PRETTY_FUNCTION__ << ": Found disconnected skill provider '"
+ << providerName << "'. Removing it from skills.";
+ skillProviderMap.erase(it);
+
+ throw skills::error::SkillException(
+ __PRETTY_FUNCTION__,
+ "Skill execution failed. Could not execute a skill of provider '" +
+ providerName + "' because the provider does not exist.");
+ }
try
{
- if (s)
- {
- skills::callback::dti::SkillProviderCallbackInterfacePrx myPrx;
- getProxy(myPrx, -1);
+ skills::callback::dti::SkillProviderCallbackInterfacePrx myPrx;
+ getProxy(myPrx, -1);
- skills::provider::dto::SkillExecutionRequest exInfo;
- exInfo.skillName = info.skillId.skillName;
- exInfo.executorName = info.executorName;
- exInfo.callbackInterface = myPrx;
- exInfo.params = info.params;
+ skills::provider::dto::SkillExecutionRequest exInfo;
+ exInfo.skillName = info.skillId.skillName;
+ exInfo.executorName = info.executorName;
+ exInfo.callbackInterface = myPrx;
+ exInfo.params = info.params;
- return s->executeSkill(exInfo);
- }
- else
- {
- remove = true;
- }
+ auto async = provider->begin_executeSkill(exInfo);
+ l.unlock(); // allow parallel e.g. stopping
+ auto up = provider->end_executeSkill(async);
+
+ // convert to manager view
+ return skills::SkillStatusUpdate::FromIce(up, providerName).toIce();
}
catch (...)
{
- remove = true;
- }
-
+ ARMARX_WARNING << __PRETTY_FUNCTION__
+ << ": Found disconnected or buggy skill provider '" << providerName
+ << "' during execution. Removing it from skills.";
+ skillProviderMap.erase(it);
- if (remove)
- {
- std::scoped_lock l(skillProviderMapMutex);
- // No copy!
- SkillProviderInterfacePrxMap& skillProviderMap = this->skillProviderMap;
- if (auto it = skillProviderMap.find(providerName); it != skillProviderMap.end())
- {
- ARMARX_WARNING << __PRETTY_FUNCTION__
- << ": Found disconnected or buggy skill provider '" << n
- << "' during execution. Removing it from skills.";
- it = skillProviderMap.erase(it);
- }
+ throw skills::error::SkillException(
+ __PRETTY_FUNCTION__,
+ "Skill execution failed. Could not execute a skill of provider '" +
+ providerName + "' because the provider does not exist.");
}
}
else
{
- ARMARX_ERROR << "Could not execute a skill of provider '" + providerName +
- "' because the provider does not exist.";
throw skills::error::SkillException(
__PRETTY_FUNCTION__,
"Skill execution failed. Could not execute a skill of provider '" + providerName +
"' because the provider does not exist.");
}
- return {}; // Never happens
}
void
@@ -169,32 +171,30 @@ namespace armarx
const std::string& skillName,
const Ice::Current& current)
{
- SkillProviderInterfacePrxMap skillProviderMap;
- {
- std::scoped_lock l(skillProviderMapMutex);
- skillProviderMap = this->skillProviderMap;
- }
-
+ std::unique_lock l(skillProviderMapMutex);
if (auto it = skillProviderMap.find(providerName); it != skillProviderMap.end())
{
- const auto& n = it->first;
- const auto& s = it->second;
+ const auto& providerName = it->first;
+ const auto& provider = it->second;
+
+ if (!provider)
+ {
+ ARMARX_WARNING << __PRETTY_FUNCTION__ << ": Found disconnected skill provider '"
+ << providerName << "'. Removing it from skills.";
+ skillProviderMap.erase(it);
+ return;
+ }
+
try
{
- if (s)
- {
- s->abortSkill(skillName);
- }
- else
- {
- ARMARX_WARNING << __PRETTY_FUNCTION__ << ": Found disconnected skill provider '"
- << n << "'. Removing it from skills on next execute.";
- }
+ auto async = provider->begin_abortSkill(skillName);
+ l.unlock(); // allow parallel e.g. stopping
+ return provider->end_abortSkill(async);
}
catch (...)
{
- ARMARX_WARNING << __PRETTY_FUNCTION__ << ": Found buggy skill provider '" << n
- << "'. Removing it from skills on next execute.";
+ ARMARX_WARNING << __PRETTY_FUNCTION__ << ": Found buggy skill provider '"
+ << providerName << "'. Removing it from skills on next execute.";
}
}
}
@@ -202,9 +202,11 @@ namespace armarx
void
SkillManagerComponentPluginUser::updateStatusForSkill(
const skills::provider::dto::SkillStatusUpdate& statusUpdate,
+ const std::string& providerName,
const Ice::Current&)
{
(void)statusUpdate;
+ (void)providerName;
// If you want to use the status, implement this method!
}
@@ -216,62 +218,127 @@ namespace armarx
std::scoped_lock l(skillProviderMapMutex);
for (auto it = skillProviderMap.cbegin(); it != skillProviderMap.cend();)
{
- const auto& n = it->first;
- const auto& s = it->second;
+ const auto& providerName = it->first;
+ const auto& provider = it->second;
+
+ if (!provider)
+ {
+ ARMARX_WARNING << __PRETTY_FUNCTION__ << ": Found disconnected skill provider '"
+ << providerName << "'. Removing it from skills.";
+ it = skillProviderMap.erase(it);
+ continue;
+ }
+
try
{
- if (s)
- {
- skills::provider::dto::SkillDescriptionMap m = s->getSkillDescriptions();
- ret.insert({n, m});
- ++it;
- }
- else
- {
- ARMARX_WARNING << __PRETTY_FUNCTION__ << ": Found disconnected skill provider '"
- << n << "'. Removing it from skills.";
- it = skillProviderMap.erase(it);
- }
+ skills::provider::dto::SkillDescriptionMap m = provider->getSkillDescriptions();
+ ret.insert({providerName, m});
+ ++it;
}
catch (...)
{
- ARMARX_WARNING << __PRETTY_FUNCTION__ << ": Found buggy skill provider '" << n
- << "'. Removing it from skills.";
+ ARMARX_WARNING << __PRETTY_FUNCTION__ << ": Found buggy skill provider '"
+ << providerName << "'. Removing it from skills.";
it = skillProviderMap.erase(it);
}
}
return ret;
}
- skills::manager::dto::SkillStatusUpdateMapMap
+ skills::manager::dto::SkillStatusUpdate
+ SkillManagerComponentPluginUser::getSkillExecutionStatus(
+ const skills::manager::dto::SkillExecutionID& executionId,
+ const Ice::Current& current)
+ {
+ skills::SkillExecutionId execId = skills::SkillExecutionId::FromIce(executionId);
+
+ std::unique_lock l(skillProviderMapMutex);
+ if (auto it = skillProviderMap.find(execId.skillId.providerName);
+ it != skillProviderMap.end())
+ {
+ const auto& providerName = it->first;
+ const auto& provider = it->second;
+
+ if (!provider)
+ {
+ ARMARX_WARNING << __PRETTY_FUNCTION__ << ": Found disconnected skill provider '"
+ << providerName << "'. Removing it from skills.";
+ skillProviderMap.erase(it);
+
+ throw skills::error::SkillException(__PRETTY_FUNCTION__,
+ "Skill execution failed. Could not query a "
+ "status update of a skill of provider '" +
+ providerName +
+ "' because the provider does not exist.");
+ }
+
+ try
+ {
+ auto async = provider->begin_getSkillExecutionStatus(execId.toIceProviderView());
+ l.unlock(); // allow parallel e.g. stopping
+ auto up = provider->end_getSkillExecutionStatus(async);
+
+ // convert to manager view
+ return skills::SkillStatusUpdate::FromIce(up, providerName).toIce();
+ }
+ catch (...)
+ {
+ ARMARX_WARNING << __PRETTY_FUNCTION__
+ << ": Found disconnected or buggy skill provider '" << providerName
+ << "' during execution. Removing it from skills.";
+ skillProviderMap.erase(it);
+
+ throw skills::error::SkillException(__PRETTY_FUNCTION__,
+ "Skill execution failed. Could not query a "
+ "status update of a skill of provider '" +
+ providerName +
+ "' because the provider does not exist.");
+ }
+ }
+ else
+ {
+ // no actove skill. Return idle
+ skills::SkillStatusUpdate idle;
+ idle.executionId = execId;
+ return idle.toIce();
+ }
+ }
+
+ skills::manager::dto::SkillStatusUpdateList
SkillManagerComponentPluginUser::getSkillExecutionStatuses(const Ice::Current& current)
{
- skills::manager::dto::SkillStatusUpdateMapMap ret;
+ skills::manager::dto::SkillStatusUpdateList ret;
std::scoped_lock l(skillProviderMapMutex);
for (auto it = skillProviderMap.cbegin(); it != skillProviderMap.cend();)
{
- const auto& n = it->first;
- const auto& s = it->second;
+ const auto& providerName = it->first;
+ const auto& provider = it->second;
+
+ if (!provider)
+ {
+ ARMARX_WARNING << __PRETTY_FUNCTION__ << ": Found disconnected skill provider '"
+ << providerName << "'. Removing it from skills.";
+ it = skillProviderMap.erase(it);
+ continue;
+ }
+
try
{
- if (s)
- {
- skills::provider::dto::SkillStatusUpdateMap m = s->getSkillExecutionStatuses();
- ret.insert({n, m});
- it++;
- }
- else
+ skills::provider::dto::SkillStatusUpdateList m =
+ provider->getSkillExecutionStatuses();
+
+ for (const auto& up : m)
{
- ARMARX_WARNING << __PRETTY_FUNCTION__ << ": Found disconnected skill provider '"
- << n << "'. Removing it from skills.";
- it = skillProviderMap.erase(it);
+ // convert provider view to manager view
+ ret.push_back(skills::SkillStatusUpdate::FromIce(up, providerName).toIce());
}
+ it++;
}
catch (...)
{
- ARMARX_WARNING << __PRETTY_FUNCTION__ << ": Found buggy skill provider '" << n
- << "'. Removing it from skills.";
+ ARMARX_WARNING << __PRETTY_FUNCTION__ << ": Found buggy skill provider '"
+ << providerName << "'. Removing it from skills.";
it = skillProviderMap.erase(it);
}
}
diff --git a/source/RobotAPI/libraries/skills/manager/SkillManagerComponentPlugin.h b/source/RobotAPI/libraries/skills/manager/SkillManagerComponentPlugin.h
index 7b14adf04..cd3a576de 100644
--- a/source/RobotAPI/libraries/skills/manager/SkillManagerComponentPlugin.h
+++ b/source/RobotAPI/libraries/skills/manager/SkillManagerComponentPlugin.h
@@ -20,26 +20,40 @@ namespace armarx::plugins
void postCreatePropertyDefinitions(PropertyDefinitionsPtr& properties) override;
};
-}
+} // namespace armarx::plugins
namespace armarx
{
class SkillManagerComponentPluginUser :
- virtual public ManagedIceObject,
- virtual public skills::manager::dti::SkillManagerInterface
+ virtual public ManagedIceObject,
+ virtual public skills::manager::dti::SkillManagerInterface
{
public:
SkillManagerComponentPluginUser();
- void addProvider(const skills::manager::dto::ProviderInfo& providerInfo, const Ice::Current ¤t) override;
- void removeProvider(const std::string&, const Ice::Current ¤t) override;
+ void addProvider(const skills::manager::dto::ProviderInfo& providerInfo,
+ const Ice::Current& current) override;
+ void removeProvider(const std::string&, const Ice::Current& current) override;
- skills::provider::dto::SkillStatusUpdate executeSkill(const skills::manager::dto::SkillExecutionRequest& info, const Ice::Current ¤t) override;
- void updateStatusForSkill(const skills::provider::dto::SkillStatusUpdate& update, const Ice::Current ¤t) override;
- void abortSkill(const std::string& providerName, const std::string& skillName, const Ice::Current ¤t) override;
+ skills::manager::dto::SkillStatusUpdate
+ executeSkill(const skills::manager::dto::SkillExecutionRequest& info,
+ const Ice::Current& current) override;
+ void updateStatusForSkill(const skills::provider::dto::SkillStatusUpdate& update,
+ const std::string& providerName,
+ const Ice::Current& current) override;
+ void abortSkill(const std::string& providerName,
+ const std::string& skillName,
+ const Ice::Current& current) override;
- skills::manager::dto::SkillDescriptionMapMap getSkillDescriptions(const Ice::Current ¤t) override;
- skills::manager::dto::SkillStatusUpdateMapMap getSkillExecutionStatuses(const Ice::Current ¤t) override;
+ skills::manager::dto::SkillDescriptionMapMap
+ getSkillDescriptions(const Ice::Current& current) override;
+
+ skills::manager::dto::SkillStatusUpdate
+ getSkillExecutionStatus(const skills::manager::dto::SkillExecutionID& executionId,
+ const Ice::Current& current) override;
+
+ skills::manager::dto::SkillStatusUpdateList
+ getSkillExecutionStatuses(const Ice::Current& current) override;
protected:
std::string getFirstProviderNameThatHasSkill(const std::string& skillName);
@@ -51,4 +65,4 @@ namespace armarx
std::mutex skillProviderMapMutex;
std::map<std::string, skills::provider::dti::SkillProviderInterfacePrx> skillProviderMap;
};
-}
+} // namespace armarx
diff --git a/source/RobotAPI/libraries/skills/provider/SkillID.cpp b/source/RobotAPI/libraries/skills/provider/SkillID.cpp
index 07c6248b2..a384261f8 100644
--- a/source/RobotAPI/libraries/skills/provider/SkillID.cpp
+++ b/source/RobotAPI/libraries/skills/provider/SkillID.cpp
@@ -4,42 +4,63 @@ namespace armarx
{
namespace skills
{
- SkillID::SkillID(const std::string& providerName, const std::string& skillName) : providerName(providerName), skillName(skillName)
+ SkillID::SkillID(const std::string& providerName, const std::string& skillName) :
+ providerName(providerName), skillName(skillName)
{
- if (simox::alg::contains(providerName, NAME_SEPARATOR) || simox::alg::contains(skillName, NAME_SEPARATOR))
+ if (simox::alg::contains(providerName, NAME_SEPARATOR) ||
+ simox::alg::contains(skillName, NAME_SEPARATOR))
{
- throw error::SkillException(__PRETTY_FUNCTION__, std::string("A skill provider or a skill contains the blacklisted token '") + NAME_SEPARATOR + "'.");
+ throw error::SkillException(
+ __PRETTY_FUNCTION__,
+ std::string("A skill provider or a skill contains the blacklisted token '") +
+ NAME_SEPARATOR + "'.");
}
- if (simox::alg::contains(providerName, PREFIX_SEPARATOR) || simox::alg::contains(skillName, PREFIX_SEPARATOR))
+ if (simox::alg::contains(providerName, PREFIX_SEPARATOR) ||
+ simox::alg::contains(skillName, PREFIX_SEPARATOR))
{
- throw error::SkillException(__PRETTY_FUNCTION__, std::string("A skill provider or a skill contains the blacklisted token '") + PREFIX_SEPARATOR + "'.");
+ throw error::SkillException(
+ __PRETTY_FUNCTION__,
+ std::string("A skill provider or a skill contains the blacklisted token '") +
+ PREFIX_SEPARATOR + "'.");
}
}
- bool SkillID::operator==(const SkillID& other) const
+ bool
+ SkillID::operator==(const SkillID& other) const
{
- return toString() == other.toString();
+ return providerName == other.providerName && skillName == other.skillName;
}
- bool SkillID::operator<(const SkillID& other) const
+ bool
+ SkillID::operator!=(const SkillID& other) const
+ {
+ return not(*this == other);
+ }
+
+ bool
+ SkillID::operator<(const SkillID& other) const
{
return toString() < other.toString();
}
- provider::dto::SkillID SkillID::toIce() const
+ manager::dto::SkillID
+ SkillID::toIce() const
{
return {providerName, skillName};
}
- std::string SkillID::toString(const std::string& prefix) const
+ std::string
+ SkillID::toString(const std::string& prefix) const
{
- return (prefix.empty() ? std::string("") : (prefix + PREFIX_SEPARATOR)) + providerName + NAME_SEPARATOR + skillName;
+ return (prefix.empty() ? std::string("") : (prefix + PREFIX_SEPARATOR)) + providerName +
+ NAME_SEPARATOR + skillName;
}
- }
+ } // namespace skills
- std::ostream& skills::operator<<(std::ostream& os, const SkillID& id)
+ std::ostream&
+ skills::operator<<(std::ostream& os, const SkillID& id)
{
return os << "'" << id.toString() << "'";
}
-}
+} // namespace armarx
diff --git a/source/RobotAPI/libraries/skills/provider/SkillID.h b/source/RobotAPI/libraries/skills/provider/SkillID.h
index 320a6e946..3eb1fd6f4 100644
--- a/source/RobotAPI/libraries/skills/provider/SkillID.h
+++ b/source/RobotAPI/libraries/skills/provider/SkillID.h
@@ -5,10 +5,10 @@
#include <SimoxUtility/algorithm/string.h>
-#include "../error/Exception.h"
-
+#include <RobotAPI/interface/skills/SkillManagerInterface.h>
#include <RobotAPI/libraries/aron/core/data/variant/container/Dict.h>
-#include <RobotAPI/interface/skills/SkillProviderInterface.h>
+
+#include "../error/Exception.h"
namespace armarx
{
@@ -27,12 +27,13 @@ namespace armarx
SkillID(const std::string& providerName, const std::string& skillName);
bool operator==(const SkillID& other) const;
+ bool operator!=(const SkillID& other) const;
bool operator<(const SkillID& other) const;
- provider::dto::SkillID toIce() const;
+ manager::dto::SkillID toIce() const;
std::string toString(const std::string& prefix = "") const;
};
std::ostream& operator<<(std::ostream& os, const SkillID& id);
- }
-}
+ } // namespace skills
+} // namespace armarx
diff --git a/source/RobotAPI/libraries/skills/provider/SkillParameterization.cpp b/source/RobotAPI/libraries/skills/provider/SkillParameterization.cpp
index f977b2ac5..d0ec681e2 100644
--- a/source/RobotAPI/libraries/skills/provider/SkillParameterization.cpp
+++ b/source/RobotAPI/libraries/skills/provider/SkillParameterization.cpp
@@ -4,9 +4,5 @@ namespace armarx
{
namespace skills
{
- aron::data::dto::DictPtr SkillParameterization::toIce() const
- {
- return aron::data::Dict::ToAronDictDTO(usedInputParams);
- }
}
-}
+} // namespace armarx
diff --git a/source/RobotAPI/libraries/skills/provider/SkillParameterization.h b/source/RobotAPI/libraries/skills/provider/SkillParameterization.h
index 72ec6d2eb..65261a5cb 100644
--- a/source/RobotAPI/libraries/skills/provider/SkillParameterization.h
+++ b/source/RobotAPI/libraries/skills/provider/SkillParameterization.h
@@ -12,10 +12,8 @@ namespace armarx
{
struct SkillParameterization
{
- aron::data::DictPtr usedInputParams = nullptr;
- callback::dti::SkillProviderCallbackInterfacePrx usedCallbackInterface = nullptr;
-
- aron::data::dto::DictPtr toIce() const;
+ aron::data::DictPtr usedInputParams = nullptr;
+ callback::dti::SkillProviderCallbackInterfacePrx usedCallbackInterface = nullptr;
};
- }
-}
+ } // namespace skills
+} // namespace armarx
diff --git a/source/RobotAPI/libraries/skills/provider/SkillProviderComponentPlugin.cpp b/source/RobotAPI/libraries/skills/provider/SkillProviderComponentPlugin.cpp
index c76da1410..e4ca565aa 100644
--- a/source/RobotAPI/libraries/skills/provider/SkillProviderComponentPlugin.cpp
+++ b/source/RobotAPI/libraries/skills/provider/SkillProviderComponentPlugin.cpp
@@ -29,8 +29,6 @@ namespace armarx::plugins
{
impl.skill->manager = manager;
impl.skill->providerName = providerName;
-
- impl.statusUpdate.skillId = {providerName, skillName};
}
// register self to manager
@@ -80,17 +78,9 @@ namespace armarx::plugins
}
std::string skillName = skill->description.skillName;
- if (connected) // TODO: fix so that skills can be added anytime!!!
- {
- ARMARX_WARNING << "The SkillProvider already registered to a manager. The skill '" +
- skillName +
- "' therefore cannot be added anymore. Please only add skills in "
- "the onInit method.";
- return;
- }
// lock skills map
- const std::unique_lock l(skillsMutex);
+ const std::unique_lock l(skillImplementationsMapMutex);
if (skillImplementations.find(skillName) != skillImplementations.end())
{
ARMARX_WARNING << "Try to add a skill '" + skillName +
@@ -100,7 +90,14 @@ namespace armarx::plugins
ARMARX_INFO << "Adding skill and set owning provider name" << skillName;
auto s = skillImplementations.emplace(skillName, std::move(skill));
- s.first->second.statusUpdate.skillId = skills::SkillID(parent().getName(), skillName);
+
+ if (connected)
+ {
+ // if skill is added after onConnect we have to set the proxies manually.
+ std::string providerName = parent().getName();
+ s.first->second.skill->manager = manager;
+ s.first->second.skill->providerName = providerName;
+ }
}
skills::detail::SkillImplementationWrapper&
@@ -108,19 +105,23 @@ namespace armarx::plugins
{
ARMARX_CHECK_GREATER(skillImplementations.count(name), 0)
<< "Skill '" + name + "' not found.";
- const std::unique_lock l(skillsMutex);
+ const std::unique_lock l(skillImplementationsMapMutex);
return skillImplementations.at(name);
}
- skills::provider::dto::SkillStatusUpdateMap
+ skills::provider::dto::SkillStatusUpdateList
SkillProviderComponentPlugin::getSkillExecutionStatuses() const
{
- skills::provider::dto::SkillStatusUpdateMap skillUpdates;
- const std::unique_lock l(skillsMutex);
+ skills::provider::dto::SkillStatusUpdateList skillUpdates;
+ const std::unique_lock l(skillImplementationsMapMutex);
for (const auto& [key, impl] : skillImplementations)
{
- const std::shared_lock l2(impl.skillStatusMutex);
- skillUpdates.insert({key, impl.statusUpdate.toIce()});
+ const std::shared_lock l2(impl.skillStatusesMutex);
+ for (const auto& [execId, up] : impl.statusUpdates)
+ {
+ (void)execId;
+ skillUpdates.push_back(up.toIceProviderView());
+ }
}
return skillUpdates;
}
@@ -129,7 +130,7 @@ namespace armarx::plugins
SkillProviderComponentPlugin::getSkillDescriptions() const
{
skills::provider::dto::SkillDescriptionMap skillDesciptions;
- const std::unique_lock l(skillsMutex);
+ const std::unique_lock l(skillImplementationsMapMutex);
for (const auto& [key, impl] : skillImplementations)
{
skillDesciptions.insert({key, impl.skill->description.toIce()});
@@ -175,16 +176,29 @@ namespace armarx
}
skills::provider::dto::SkillStatusUpdate
- SkillProviderComponentPluginUser::getSkillExecutionStatus(const std::string& skill,
- const Ice::Current& /*unused*/)
+ SkillProviderComponentPluginUser::getSkillExecutionStatus(
+ const skills::provider::dto::SkillExecutionID& executionId,
+ const Ice::Current& /*unused*/)
{
- auto& skillWrapper = plugin->getSkill(skill);
+ auto execId = skills::SkillExecutionId::FromIce(executionId, getName());
+
+ auto& skillWrapper = plugin->getSkill(executionId.skillName);
- const std::shared_lock l(skillWrapper.skillStatusMutex);
- return skillWrapper.statusUpdate.toIce();
+ const std::shared_lock l(skillWrapper.skillStatusesMutex);
+ if (auto it = skillWrapper.statusUpdates.find(execId);
+ it != skillWrapper.statusUpdates.end())
+ {
+ return it->second.toIceProviderView();
+ }
+ else
+ {
+ skills::SkillStatusUpdate idle;
+ idle.executionId = execId;
+ return idle.toIceProviderView();
+ }
}
- skills::provider::dto::SkillStatusUpdateMap
+ skills::provider::dto::SkillStatusUpdateList
SkillProviderComponentPluginUser::getSkillExecutionStatuses(const Ice::Current& /*unused*/)
{
return plugin->getSkillExecutionStatuses();
@@ -196,7 +210,7 @@ namespace armarx
const skills::provider::dto::SkillExecutionRequest& info,
const Ice::Current& /*unused*/)
{
- // The skill will be executed in a different thread
+ // The skill will be executed in a seperate thread
std::thread execution;
// setup input args for skill execution
@@ -215,7 +229,7 @@ namespace armarx
{
// execute waits until the previous execution finishes.
auto x = wrapper.setupAndExecuteSkill(info.executorName, usedParameterization);
- ret = x.toIce();
+ ret = x.toIceProviderView();
});
} // release lock. We don't know how long the skill needs to finish and we have to release the lock for being able to abort the execution
@@ -227,7 +241,8 @@ namespace armarx
}
void
- SkillProviderComponentPluginUser::abortSkill(const std::string& skillName, const Ice::Current& /*unused*/)
+ SkillProviderComponentPluginUser::abortSkill(const std::string& skillName,
+ const Ice::Current& /*unused*/)
{
auto& wrapper = plugin->getSkill(skillName);
wrapper.skill->notifySkillToStopASAP();
diff --git a/source/RobotAPI/libraries/skills/provider/SkillProviderComponentPlugin.h b/source/RobotAPI/libraries/skills/provider/SkillProviderComponentPlugin.h
index 6b74dd1e2..d6bfe6e05 100644
--- a/source/RobotAPI/libraries/skills/provider/SkillProviderComponentPlugin.h
+++ b/source/RobotAPI/libraries/skills/provider/SkillProviderComponentPlugin.h
@@ -1,11 +1,11 @@
#pragma once
+#include <experimental/memory>
#include <functional>
#include <queue>
#include <shared_mutex>
#include <thread>
#include <type_traits>
-#include <experimental/memory>
#include <ArmarXCore/core/ComponentPlugin.h>
#include <ArmarXCore/core/ManagedIceObject.h>
@@ -23,10 +23,12 @@
// Helper wrapper for execution
#include "detail/SkillImplementationWrapper.h"
+
namespace armarx
{
class SkillProviderComponentPluginUser; // forward declaration
}
+
namespace armarx::plugins
{
class SkillProviderComponentPlugin : public ComponentPlugin
@@ -61,15 +63,16 @@ namespace armarx::plugins
return static_cast<T*>(skillPtr);
}
+ skills::provider::dto::SkillStatusUpdateList getSkillExecutionStatuses() const;
+ skills::provider::dto::SkillDescriptionMap getSkillDescriptions() const;
+
private:
skills::detail::SkillImplementationWrapper& getSkill(const std::string& name);
- skills::provider::dto::SkillStatusUpdateMap getSkillExecutionStatuses() const;
- skills::provider::dto::SkillDescriptionMap getSkillDescriptions() const;
skills::manager::dti::SkillManagerInterfacePrx manager;
skills::provider::dti::SkillProviderInterfacePrx myPrx;
- mutable std::shared_mutex skillsMutex;
+ mutable std::mutex skillImplementationsMapMutex;
bool connected = false;
std::map<std::string, skills::detail::SkillImplementationWrapper> skillImplementations;
@@ -93,9 +96,9 @@ namespace armarx
skills::provider::dto::SkillDescriptionMap
getSkillDescriptions(const Ice::Current& current = Ice::Current()) override;
skills::provider::dto::SkillStatusUpdate
- getSkillExecutionStatus(const std::string& skill,
+ getSkillExecutionStatus(const skills::provider::dto::SkillExecutionID& executionId,
const Ice::Current& current = Ice::Current()) override;
- skills::provider::dto::SkillStatusUpdateMap
+ skills::provider::dto::SkillStatusUpdateList
getSkillExecutionStatuses(const Ice::Current& current = Ice::Current()) override;
skills::provider::dto::SkillStatusUpdate
diff --git a/source/RobotAPI/libraries/skills/provider/SkillProxy.h b/source/RobotAPI/libraries/skills/provider/SkillProxy.h
index 32058b174..c9ea3f09f 100644
--- a/source/RobotAPI/libraries/skills/provider/SkillProxy.h
+++ b/source/RobotAPI/libraries/skills/provider/SkillProxy.h
@@ -41,9 +41,6 @@ namespace armarx
const std::string& profileName,
const aron::data::DictPtr& params = nullptr);
-
- void abortSkill(const std::string& executorName);
-
private:
const manager::dti::SkillManagerInterfacePrx& manager;
diff --git a/source/RobotAPI/libraries/skills/provider/SkillStatusUpdate.cpp b/source/RobotAPI/libraries/skills/provider/SkillStatusUpdate.cpp
index 18c4b8647..8a7ac2ab5 100644
--- a/source/RobotAPI/libraries/skills/provider/SkillStatusUpdate.cpp
+++ b/source/RobotAPI/libraries/skills/provider/SkillStatusUpdate.cpp
@@ -4,7 +4,8 @@ namespace armarx
{
namespace skills
{
- SkillStatus toSkillStatus(const ActiveOrTerminatedSkillStatus& d)
+ SkillStatus
+ toSkillStatus(const ActiveOrTerminatedSkillStatus& d)
{
switch (d)
{
@@ -20,7 +21,8 @@ namespace armarx
throw error::SkillException(__PRETTY_FUNCTION__, "Should not happen!");
}
- SkillStatus toSkillStatus(const TerminatedSkillStatus& d)
+ SkillStatus
+ toSkillStatus(const TerminatedSkillStatus& d)
{
switch (d)
{
@@ -34,72 +36,76 @@ namespace armarx
throw error::SkillException(__PRETTY_FUNCTION__, "Should not happen!");
}
- void toIce(provider::dto::Execution::Status& ret, const SkillStatus& status)
+ void
+ toIce(provider::dto::Execution::Status& ret, const SkillStatus& status)
{
- switch(status)
+ switch (status)
{
case SkillStatus::Idle:
- ret = provider::dto::Execution::Status::Idle;
+ ret = provider::dto::Execution::Status::Idle;
return;
case SkillStatus::Scheduled:
- ret = provider::dto::Execution::Status::Scheduled;
+ ret = provider::dto::Execution::Status::Scheduled;
return;
case SkillStatus::Running:
- ret = provider::dto::Execution::Status::Running;
+ ret = provider::dto::Execution::Status::Running;
return;
case SkillStatus::Failed:
- ret = provider::dto::Execution::Status::Failed;
+ ret = provider::dto::Execution::Status::Failed;
return;
case SkillStatus::Succeeded:
- ret = provider::dto::Execution::Status::Succeeded;
+ ret = provider::dto::Execution::Status::Succeeded;
return;
case SkillStatus::Aborted:
- ret = provider::dto::Execution::Status::Aborted;
+ ret = provider::dto::Execution::Status::Aborted;
return;
}
throw error::SkillException(__PRETTY_FUNCTION__, "Should not happen!");
}
- void toIce(provider::dto::Execution::Status& ret, const ActiveOrTerminatedSkillStatus& status)
+ void
+ toIce(provider::dto::Execution::Status& ret, const ActiveOrTerminatedSkillStatus& status)
{
- switch(status)
+ switch (status)
{
case ActiveOrTerminatedSkillStatus::Running:
- ret = provider::dto::Execution::Status::Running;
+ ret = provider::dto::Execution::Status::Running;
return;
case ActiveOrTerminatedSkillStatus::Failed:
- ret = provider::dto::Execution::Status::Failed;
+ ret = provider::dto::Execution::Status::Failed;
return;
case ActiveOrTerminatedSkillStatus::Succeeded:
- ret = provider::dto::Execution::Status::Succeeded;
+ ret = provider::dto::Execution::Status::Succeeded;
return;
case ActiveOrTerminatedSkillStatus::Aborted:
- ret = provider::dto::Execution::Status::Aborted;
+ ret = provider::dto::Execution::Status::Aborted;
return;
}
throw error::SkillException(__PRETTY_FUNCTION__, "Should not happen!");
}
- void toIce(provider::dto::Execution::Status& ret, const TerminatedSkillStatus& status)
+ void
+ toIce(provider::dto::Execution::Status& ret, const TerminatedSkillStatus& status)
{
- switch(status)
+ switch (status)
{
case TerminatedSkillStatus::Failed:
- ret = provider::dto::Execution::Status::Failed;
+ ret = provider::dto::Execution::Status::Failed;
return;
case TerminatedSkillStatus::Succeeded:
- ret = provider::dto::Execution::Status::Succeeded;
+ ret = provider::dto::Execution::Status::Succeeded;
return;
case TerminatedSkillStatus::Aborted:
- ret = provider::dto::Execution::Status::Aborted;
+ ret = provider::dto::Execution::Status::Aborted;
return;
}
throw error::SkillException(__PRETTY_FUNCTION__, "Should not happen!");
}
- void fromIce(const provider::dto::Execution::Status& status, TerminatedSkillStatus& ret)
+ void
+ fromIce(const provider::dto::Execution::Status& status, TerminatedSkillStatus& ret)
{
- switch(status)
+ switch (status)
{
case provider::dto::Execution::Status::Idle:
[[fallthrough]];
@@ -108,138 +114,331 @@ namespace armarx
case provider::dto::Execution::Status::Running:
break;
case provider::dto::Execution::Status::Failed:
- ret = TerminatedSkillStatus::Failed;
+ ret = TerminatedSkillStatus::Failed;
return;
case provider::dto::Execution::Status::Succeeded:
- ret = TerminatedSkillStatus::Succeeded;
+ ret = TerminatedSkillStatus::Succeeded;
return;
case provider::dto::Execution::Status::Aborted:
- ret = TerminatedSkillStatus::Aborted;
+ ret = TerminatedSkillStatus::Aborted;
return;
}
- throw error::SkillException(__PRETTY_FUNCTION__, "You entered an invalid execution status type to convert to a terminating status.");
+ throw error::SkillException(
+ __PRETTY_FUNCTION__,
+ "You entered an invalid execution status type to convert to a terminating status.");
}
- void fromIce(const provider::dto::Execution::Status& status, ActiveOrTerminatedSkillStatus& ret)
+ void
+ fromIce(const provider::dto::Execution::Status& status, ActiveOrTerminatedSkillStatus& ret)
{
- switch(status)
+ switch (status)
{
case provider::dto::Execution::Status::Idle:
[[fallthrough]];
case provider::dto::Execution::Status::Scheduled:
break;
case provider::dto::Execution::Status::Running:
- ret = ActiveOrTerminatedSkillStatus::Running;
+ ret = ActiveOrTerminatedSkillStatus::Running;
return;
case provider::dto::Execution::Status::Failed:
- ret = ActiveOrTerminatedSkillStatus::Failed;
+ ret = ActiveOrTerminatedSkillStatus::Failed;
return;
case provider::dto::Execution::Status::Succeeded:
- ret = ActiveOrTerminatedSkillStatus::Succeeded;
+ ret = ActiveOrTerminatedSkillStatus::Succeeded;
return;
case provider::dto::Execution::Status::Aborted:
- ret = ActiveOrTerminatedSkillStatus::Aborted;
+ ret = ActiveOrTerminatedSkillStatus::Aborted;
return;
}
- throw error::SkillException(__PRETTY_FUNCTION__, "You entered an invalid execution status type to convert to a terminating status.");
+ throw error::SkillException(
+ __PRETTY_FUNCTION__,
+ "You entered an invalid execution status type to convert to a terminating status.");
}
- void fromIce(const provider::dto::Execution::Status& status, SkillStatus& ret)
+ void
+ fromIce(const provider::dto::Execution::Status& status, SkillStatus& ret)
{
- switch(status)
+ switch (status)
{
case provider::dto::Execution::Status::Idle:
- ret = SkillStatus::Idle;
+ ret = SkillStatus::Idle;
return;
case provider::dto::Execution::Status::Scheduled:
- ret = SkillStatus::Scheduled;
+ ret = SkillStatus::Scheduled;
return;
case provider::dto::Execution::Status::Running:
- ret = SkillStatus::Running;
+ ret = SkillStatus::Running;
return;
case provider::dto::Execution::Status::Failed:
- ret = SkillStatus::Failed;
+ ret = SkillStatus::Failed;
return;
case provider::dto::Execution::Status::Succeeded:
- ret = SkillStatus::Succeeded;
+ ret = SkillStatus::Succeeded;
return;
case provider::dto::Execution::Status::Aborted:
- ret = SkillStatus::Aborted;
+ ret = SkillStatus::Aborted;
return;
}
throw error::SkillException(__PRETTY_FUNCTION__, "Should not happen!");
}
+ skills::manager::dto::SkillExecutionID
+ SkillExecutionId::toIce() const
+ {
+ skills::manager::dto::SkillExecutionID ret;
+ ret.skillId.skillName = skillId.skillName;
+ ret.skillId.providerName = skillId.providerName;
+ ret.executorName = executorName;
+ armarx::core::time::toIce(ret.executionStartedTime, executionStartedTime);
+ return ret;
+ }
+ skills::provider::dto::SkillExecutionID
+ SkillExecutionId::toIceProviderView() const
+ {
+ skills::provider::dto::SkillExecutionID ret;
+ ret.skillName = skillId.skillName;
+ ret.executorName = executorName;
+ armarx::core::time::toIce(ret.executionStartedTime, executionStartedTime);
+ return ret;
+ }
+ void
+ SkillExecutionId::fromIce(const skills::manager::dto::SkillExecutionID& i)
+ {
+ skillId.skillName = i.skillId.skillName;
+ skillId.providerName = i.skillId.providerName;
+ executorName = i.executorName;
+ armarx::core::time::fromIce(i.executionStartedTime, executionStartedTime);
+ }
- provider::dto::SkillStatusUpdate TerminatedSkillStatusUpdate::toIce() const
+ void
+ SkillExecutionId::fromIce(const skills::provider::dto::SkillExecutionID& i,
+ const std::string& providerName)
{
- provider::dto::SkillStatusUpdate ret;
- ret.header.skillId = skillId.toIce();
- ret.header.executorName = executorName;
- ret.data = aron::data::Dict::ToAronDictDTO(data);
- skills::toIce(ret.header.status, status);
+ skillId.skillName = i.skillName;
+ skillId.providerName = providerName;
+ executorName = i.executorName;
+ armarx::core::time::fromIce(i.executionStartedTime, executionStartedTime);
+ }
+
+ SkillExecutionId
+ SkillExecutionId::FromIce(const skills::manager::dto::SkillExecutionID& i)
+ {
+ SkillExecutionId ret;
+ ret.fromIce(i);
+ return ret;
+ }
+
+ SkillExecutionId
+ SkillExecutionId::FromIce(const skills::provider::dto::SkillExecutionID& i,
+ const std::string& providerName)
+ {
+ SkillExecutionId ret;
+ ret.fromIce(i, providerName);
+ return ret;
+ }
+
+ manager::dto::SkillStatusUpdate
+ SkillStatusUpdateBase::toIce() const
+ {
+ manager::dto::SkillStatusUpdate ret;
+ ret.header.executionId.skillId = executionId.skillId.toIce();
+ ret.header.executionId.executorName = executionId.executorName;
+ armarx::core::time::toIce(ret.header.executionId.executionStartedTime,
+ executionId.executionStartedTime);
+ ret.header.usedParams =
+ aron::data::Dict::ToAronDictDTO(usedParameterization.usedInputParams);
ret.header.usedCallbackInterface = usedParameterization.usedCallbackInterface;
- ret.header.usedParams = usedParameterization.toIce();
+ ret.data = aron::data::Dict::ToAronDictDTO(data);
return ret;
}
- provider::dto::SkillStatusUpdate SkillStatusUpdate::toIce() const
+ provider::dto::SkillStatusUpdate
+ SkillStatusUpdateBase::toIceProviderView() const
{
provider::dto::SkillStatusUpdate ret;
- ret.header.skillId = skillId.toIce();
- ret.header.executorName = executorName;
+ ret.header.executionId.skillName = executionId.skillId.skillName;
+ ret.header.executionId.executorName = executionId.executorName;
+ armarx::core::time::toIce(ret.header.executionId.executionStartedTime,
+ executionId.executionStartedTime);
+ ret.header.usedParams =
+ aron::data::Dict::ToAronDictDTO(usedParameterization.usedInputParams);
+ ret.header.usedCallbackInterface = usedParameterization.usedCallbackInterface;
ret.data = aron::data::Dict::ToAronDictDTO(data);
+ return ret;
+ }
+
+ void
+ SkillStatusUpdateBase::fromIce(const manager::dto::SkillStatusUpdate& update)
+ {
+ executionId.skillId = {update.header.executionId.skillId.providerName,
+ update.header.executionId.skillId.skillName};
+ executionId.executorName = update.header.executionId.executorName;
+ armarx::core::time::fromIce(update.header.executionId.executionStartedTime,
+ executionId.executionStartedTime);
+ usedParameterization.usedInputParams =
+ armarx::aron::data::Dict::FromAronDictDTO(update.header.usedParams);
+ usedParameterization.usedCallbackInterface = update.header.usedCallbackInterface;
+ data = armarx::aron::data::Dict::FromAronDictDTO(update.data);
+ }
+
+ void
+ SkillStatusUpdateBase::fromIce(const provider::dto::SkillStatusUpdate& update,
+ const std::string& providerName)
+ {
+ executionId.skillId = {providerName, update.header.executionId.skillName};
+ executionId.executorName = update.header.executionId.executorName;
+ armarx::core::time::fromIce(update.header.executionId.executionStartedTime,
+ executionId.executionStartedTime);
+ usedParameterization.usedInputParams =
+ armarx::aron::data::Dict::FromAronDictDTO(update.header.usedParams);
+ usedParameterization.usedCallbackInterface = update.header.usedCallbackInterface;
+ data = armarx::aron::data::Dict::FromAronDictDTO(update.data);
+ }
+
+ manager::dto::SkillStatusUpdate
+ TerminatedSkillStatusUpdate::toIce() const
+ {
+ manager::dto::SkillStatusUpdate ret = SkillStatusUpdateBase::toIce();
skills::toIce(ret.header.status, status);
- ret.header.usedCallbackInterface = usedParameterization.usedCallbackInterface;
- ret.header.usedParams = usedParameterization.toIce();
return ret;
}
- provider::dto::SkillStatusUpdate ActiveOrTerminatedSkillStatusUpdate::toIce() const
+ provider::dto::SkillStatusUpdate
+ TerminatedSkillStatusUpdate::toIceProviderView() const
{
- provider::dto::SkillStatusUpdate ret;
- ret.header.skillId = skillId.toIce();
- ret.header.executorName = executorName;
- ret.data = aron::data::Dict::ToAronDictDTO(data);
+ provider::dto::SkillStatusUpdate ret = SkillStatusUpdateBase::toIceProviderView();
skills::toIce(ret.header.status, status);
- ret.header.usedCallbackInterface = usedParameterization.usedCallbackInterface;
- ret.header.usedParams = usedParameterization.toIce();
return ret;
}
- TerminatedSkillStatusUpdate TerminatedSkillStatusUpdate::FromIce(const provider::dto::SkillStatusUpdate& update)
+ manager::dto::SkillStatusUpdate
+ SkillStatusUpdate::toIce() const
+ {
+ manager::dto::SkillStatusUpdate ret = SkillStatusUpdateBase::toIce();
+ skills::toIce(ret.header.status, status);
+ return ret;
+ }
+
+ provider::dto::SkillStatusUpdate
+ SkillStatusUpdate::toIceProviderView() const
+ {
+ provider::dto::SkillStatusUpdate ret = SkillStatusUpdateBase::toIceProviderView();
+ skills::toIce(ret.header.status, status);
+ return ret;
+ }
+
+ manager::dto::SkillStatusUpdate
+ ActiveOrTerminatedSkillStatusUpdate::toIce() const
+ {
+ manager::dto::SkillStatusUpdate ret = SkillStatusUpdateBase::toIce();
+ skills::toIce(ret.header.status, status);
+ return ret;
+ }
+
+ provider::dto::SkillStatusUpdate
+ ActiveOrTerminatedSkillStatusUpdate::toIceProviderView() const
+ {
+ provider::dto::SkillStatusUpdate ret = SkillStatusUpdateBase::toIceProviderView();
+ skills::toIce(ret.header.status, status);
+ return ret;
+ }
+
+ void
+ TerminatedSkillStatusUpdate::fromIce(const manager::dto::SkillStatusUpdate& update)
+ {
+ SkillStatusUpdateBase::fromIce(update);
+ skills::fromIce(update.header.status, status);
+ }
+
+ void
+ TerminatedSkillStatusUpdate::fromIce(const provider::dto::SkillStatusUpdate& update,
+ const std::string& providerName)
+ {
+ SkillStatusUpdateBase::fromIce(update, providerName);
+ skills::fromIce(update.header.status, status);
+ }
+
+ TerminatedSkillStatusUpdate
+ TerminatedSkillStatusUpdate::FromIce(const manager::dto::SkillStatusUpdate& update)
+ {
+ TerminatedSkillStatusUpdate ret;
+ ret.fromIce(update);
+ return ret;
+ }
+
+ TerminatedSkillStatusUpdate
+ TerminatedSkillStatusUpdate::FromIce(const provider::dto::SkillStatusUpdate& update,
+ const std::string& providerName)
{
TerminatedSkillStatusUpdate ret;
- ret.skillId = {update.header.skillId.providerName, update.header.skillId.skillName};
- ret.executorName = update.header.executorName;
- skills::fromIce(update.header.status, ret.status);
- ret.usedParameterization = {aron::data::Dict::FromAronDictDTO(update.header.usedParams), update.header.usedCallbackInterface};
- ret.data = aron::data::Dict::FromAronDictDTO(update.data);
+ ret.fromIce(update, providerName);
return ret;
}
- SkillStatusUpdate SkillStatusUpdate::FromIce(const provider::dto::SkillStatusUpdate& update)
+ void
+ SkillStatusUpdate::fromIce(const manager::dto::SkillStatusUpdate& update)
+ {
+ SkillStatusUpdateBase::fromIce(update);
+ skills::fromIce(update.header.status, status);
+ }
+
+ void
+ SkillStatusUpdate::fromIce(const provider::dto::SkillStatusUpdate& update,
+ const std::string& providerName)
+ {
+ SkillStatusUpdateBase::fromIce(update, providerName);
+ skills::fromIce(update.header.status, status);
+ }
+
+ SkillStatusUpdate
+ SkillStatusUpdate::FromIce(const manager::dto::SkillStatusUpdate& update)
+ {
+ SkillStatusUpdate ret;
+ ret.fromIce(update);
+ return ret;
+ }
+
+ SkillStatusUpdate
+ SkillStatusUpdate::FromIce(const provider::dto::SkillStatusUpdate& update,
+ const std::string& providerName)
{
SkillStatusUpdate ret;
- ret.skillId = {update.header.skillId.providerName, update.header.skillId.skillName};
- ret.executorName = update.header.executorName;
- skills::fromIce(update.header.status, ret.status);
- ret.usedParameterization = {aron::data::Dict::FromAronDictDTO(update.header.usedParams), update.header.usedCallbackInterface};
- ret.data = aron::data::Dict::FromAronDictDTO(update.data);
+ ret.fromIce(update, providerName);
+ return ret;
+ }
+
+ void
+ ActiveOrTerminatedSkillStatusUpdate::fromIce(const manager::dto::SkillStatusUpdate& update)
+ {
+ SkillStatusUpdateBase::fromIce(update);
+ skills::fromIce(update.header.status, status);
+ }
+
+ void
+ ActiveOrTerminatedSkillStatusUpdate::fromIce(const provider::dto::SkillStatusUpdate& update,
+ const std::string& providerName)
+ {
+ SkillStatusUpdateBase::fromIce(update, providerName);
+ skills::fromIce(update.header.status, status);
+ }
+
+ ActiveOrTerminatedSkillStatusUpdate
+ ActiveOrTerminatedSkillStatusUpdate::FromIce(const manager::dto::SkillStatusUpdate& update)
+ {
+ ActiveOrTerminatedSkillStatusUpdate ret;
+ ret.fromIce(update);
return ret;
}
- ActiveOrTerminatedSkillStatusUpdate ActiveOrTerminatedSkillStatusUpdate::FromIce(const provider::dto::SkillStatusUpdate& update)
+ ActiveOrTerminatedSkillStatusUpdate
+ ActiveOrTerminatedSkillStatusUpdate::FromIce(const provider::dto::SkillStatusUpdate& update,
+ const std::string& providerName)
{
ActiveOrTerminatedSkillStatusUpdate ret;
- ret.skillId = {update.header.skillId.providerName, update.header.skillId.skillName};
- ret.executorName = update.header.executorName;
- skills::fromIce(update.header.status, ret.status);
- ret.usedParameterization = {aron::data::Dict::FromAronDictDTO(update.header.usedParams), update.header.usedCallbackInterface};
- ret.data = aron::data::Dict::FromAronDictDTO(update.data);
+ ret.fromIce(update, providerName);
return ret;
}
- }
-}
+ } // namespace skills
+} // namespace armarx
diff --git a/source/RobotAPI/libraries/skills/provider/SkillStatusUpdate.h b/source/RobotAPI/libraries/skills/provider/SkillStatusUpdate.h
index 6e1ec3c16..246577de4 100644
--- a/source/RobotAPI/libraries/skills/provider/SkillStatusUpdate.h
+++ b/source/RobotAPI/libraries/skills/provider/SkillStatusUpdate.h
@@ -3,8 +3,11 @@
#include <string>
#include <vector>
-#include <RobotAPI/libraries/aron/core/data/variant/container/Dict.h>
+#include <ArmarXCore/core/time/DateTime.h>
+#include <ArmarXCore/core/time/ice_conversions.h>
+
#include <RobotAPI/interface/skills/SkillProviderInterface.h>
+#include <RobotAPI/libraries/aron/core/data/variant/container/Dict.h>
#include "SkillID.h"
#include "SkillParameterization.h"
@@ -42,49 +45,144 @@ namespace armarx
SkillStatus toSkillStatus(const TerminatedSkillStatus&);
void toIce(provider::dto::Execution::Status& ret, const SkillStatus& status);
- void toIce(provider::dto::Execution::Status& ret, const ActiveOrTerminatedSkillStatus& status);
+ void toIce(provider::dto::Execution::Status& ret,
+ const ActiveOrTerminatedSkillStatus& status);
void toIce(provider::dto::Execution::Status& ret, const TerminatedSkillStatus& status);
void fromIce(const provider::dto::Execution::Status& status, TerminatedSkillStatus& ret);
- void fromIce(const provider::dto::Execution::Status& status, ActiveOrTerminatedSkillStatus& ret);
+ void fromIce(const provider::dto::Execution::Status& status,
+ ActiveOrTerminatedSkillStatus& ret);
void fromIce(const provider::dto::Execution::Status& status, SkillStatus& ret);
+ struct SkillExecutionId
+ {
+ static const constexpr char* NOT_INITIALIZED = "NOT INITIALIZED YET";
+ SkillID skillId = {NOT_INITIALIZED, NOT_INITIALIZED};
+ std::string executorName = "";
+ armarx::core::time::DateTime executionStartedTime =
+ armarx::core::time::DateTime::Invalid();
+
+ bool
+ operator==(const SkillExecutionId& other) const
+ {
+ if (skillId != other.skillId)
+ {
+ return false;
+ }
+ if (executionStartedTime != other.executionStartedTime)
+ {
+ return false;
+ }
+ if (executorName != other.executorName)
+ {
+ return false;
+ }
+ return true;
+ }
+
+ bool
+ operator<(const SkillExecutionId& other) const
+ {
+ // We explicitly do not compare skillIds as we ONLY want to bring the executionids in some (temporal) order
+ return executionStartedTime < other.executionStartedTime;
+ }
+
+ skills::manager::dto::SkillExecutionID toIce() const;
+
+ skills::provider::dto::SkillExecutionID toIceProviderView() const;
+
+ void fromIce(const skills::manager::dto::SkillExecutionID&);
+
+ void fromIce(const skills::provider::dto::SkillExecutionID&,
+ const std::string& providerName);
+
+ static SkillExecutionId FromIce(const skills::manager::dto::SkillExecutionID&);
+
+ static SkillExecutionId FromIce(const skills::provider::dto::SkillExecutionID&,
+ const std::string& providerName);
+ };
+
struct SkillStatusUpdateBase
{
// header
- SkillID skillId = {"NOT INITIALIZED YET", "NOT INITIALIZED YET"};
- std::string executorName = "";
- SkillParameterization usedParameterization;
+ SkillExecutionId executionId;
+ SkillParameterization usedParameterization;
// data
- aron::data::DictPtr data = nullptr;
+ aron::data::DictPtr data = nullptr;
+
+ manager::dto::SkillStatusUpdate toIce() const;
+
+ provider::dto::SkillStatusUpdate toIceProviderView() const;
+
+ void fromIce(const provider::dto::SkillStatusUpdate& update,
+ const std::string& providerName);
+
+ void fromIce(const manager::dto::SkillStatusUpdate& update);
};
// Will be returned after the execution of a skill
struct TerminatedSkillStatusUpdate : public SkillStatusUpdateBase
{
- TerminatedSkillStatus status = TerminatedSkillStatus::Failed;
+ TerminatedSkillStatus status = TerminatedSkillStatus::Failed;
+
+ manager::dto::SkillStatusUpdate toIce() const;
+
+ provider::dto::SkillStatusUpdate toIceProviderView() const;
+
+ void fromIce(const provider::dto::SkillStatusUpdate& update,
+ const std::string& providerName);
- provider::dto::SkillStatusUpdate toIce() const;
- static TerminatedSkillStatusUpdate FromIce(const provider::dto::SkillStatusUpdate& update);
+ void fromIce(const manager::dto::SkillStatusUpdate& update);
+
+ static TerminatedSkillStatusUpdate
+ FromIce(const provider::dto::SkillStatusUpdate& update,
+ const std::string& providerName);
+
+ static TerminatedSkillStatusUpdate
+ FromIce(const manager::dto::SkillStatusUpdate& update);
};
// Will be returned from periodic skills which can still run
struct ActiveOrTerminatedSkillStatusUpdate : public SkillStatusUpdateBase
{
- ActiveOrTerminatedSkillStatus status = ActiveOrTerminatedSkillStatus::Failed;
+ ActiveOrTerminatedSkillStatus status = ActiveOrTerminatedSkillStatus::Failed;
+
+ manager::dto::SkillStatusUpdate toIce() const;
+
+ provider::dto::SkillStatusUpdate toIceProviderView() const;
+
+ void fromIce(const provider::dto::SkillStatusUpdate& update,
+ const std::string& providerName);
+
+ void fromIce(const manager::dto::SkillStatusUpdate& update);
- provider::dto::SkillStatusUpdate toIce() const;
- static ActiveOrTerminatedSkillStatusUpdate FromIce(const provider::dto::SkillStatusUpdate& update);
+ static ActiveOrTerminatedSkillStatusUpdate
+ FromIce(const provider::dto::SkillStatusUpdate& update,
+ const std::string& providerName);
+
+ static ActiveOrTerminatedSkillStatusUpdate
+ FromIce(const manager::dto::SkillStatusUpdate& update);
};
// Will be used as status updates from skills to the callback interface
struct SkillStatusUpdate : public SkillStatusUpdateBase
{
- SkillStatus status = SkillStatus::Idle;
+ SkillStatus status = SkillStatus::Idle;
+
+ manager::dto::SkillStatusUpdate toIce() const;
+
+ provider::dto::SkillStatusUpdate toIceProviderView() const;
+
+ void fromIce(const provider::dto::SkillStatusUpdate& update,
+ const std::string& providerName);
+
+ void fromIce(const manager::dto::SkillStatusUpdate& update);
+
+ static SkillStatusUpdate FromIce(const provider::dto::SkillStatusUpdate& update,
+ const std::string& providerName);
- provider::dto::SkillStatusUpdate toIce() const;
- static SkillStatusUpdate FromIce(const provider::dto::SkillStatusUpdate& update);
+ static SkillStatusUpdate FromIce(const manager::dto::SkillStatusUpdate& update);
};
- }
-}
+ } // namespace skills
+} // namespace armarx
diff --git a/source/RobotAPI/libraries/skills/provider/detail/SkillImplementationWrapper.cpp b/source/RobotAPI/libraries/skills/provider/detail/SkillImplementationWrapper.cpp
index 81e91b131..32f8358c2 100644
--- a/source/RobotAPI/libraries/skills/provider/detail/SkillImplementationWrapper.cpp
+++ b/source/RobotAPI/libraries/skills/provider/detail/SkillImplementationWrapper.cpp
@@ -4,40 +4,45 @@ namespace armarx
{
namespace skills::detail
{
- SkillImplementationWrapper::SkillImplementationWrapper(std::unique_ptr<skills::Skill>&& skill) :
+ SkillImplementationWrapper::SkillImplementationWrapper(
+ std::unique_ptr<skills::Skill>&& skill) :
skill(std::move(skill))
{
ARMARX_CHECK_NOT_NULL(this->skill);
}
- TerminatedSkillStatusUpdate SkillImplementationWrapper::setupAndExecuteSkill(const std::string& executorName, const skills::SkillParameterization parameterization)
+ TerminatedSkillStatusUpdate
+ SkillImplementationWrapper::setupAndExecuteSkill(
+ const std::string& executorName,
+ const skills::SkillParameterization parameterization)
{
- std::unique_lock l(executingMutex);
-
const std::string skillName = skill->description.skillName;
ARMARX_INFO_S << "Executing skill: " << skillName;
- // reset execution params. This func is also used to clean up once this method returns
- auto resetExecParam = [&](){
- std::unique_lock l2(skillStatusMutex); // skill is not updating
- //statusUpdate.status = skills::provider::dto::Execution::Status::Idle; I decided to not update the status to idle every time the skill stops.
- statusUpdate.data = nullptr;
- statusUpdate.executorName = "";
- };
+ // we can safely assume that no two executions have the same timestamp
+ const skills::SkillExecutionId executionId = {
+ skill->getSkillId(), executorName, armarx::core::time::DateTime::Now()};
// set params and setup variables
- auto setExecParams = [&](){
- std::lock_guard l(skillStatusMutex);
- statusUpdate.usedParameterization = parameterization;
- statusUpdate.executorName = executorName;
- };
+ {
+ std::unique_lock l(skillStatusesMutex);
+ statusUpdates[executionId] =
+ SkillStatusUpdate({{executionId, parameterization}, SkillStatus::Scheduled});
+ }
- resetExecParam();
- setExecParams();
+ // reset execution params. This func is also used to clean up once this method returns
+ auto tidyUpStatusUpdates = [&]()
+ {
+ std::unique_lock l2(skillStatusesMutex);
+ statusUpdates.erase(executionId);
+ };
- auto& aron_params = parameterization.usedInputParams;
- auto updateStatus = [&](const SkillStatus status, const aron::data::DictPtr& data = nullptr){
- std::lock_guard l(skillStatusMutex);
+ const auto& aron_params = parameterization.usedInputParams;
+ auto updateStatus =
+ [&](const SkillStatus status, const aron::data::DictPtr& data = nullptr)
+ {
+ std::unique_lock l(skillStatusesMutex);
+ auto& statusUpdate = statusUpdates[executionId];
statusUpdate.status = status;
statusUpdate.data = data;
@@ -45,11 +50,13 @@ namespace armarx
if (callbackInterface)
{
- callbackInterface->updateStatusForSkill(statusUpdate.toIce());
+ callbackInterface->updateStatusForSkill(statusUpdate.toIceProviderView(),
+ skill->getSkillId().providerName);
}
};
- auto createErrorMessage = [](const std::string& message){
+ auto createErrorMessage = [](const std::string& message)
+ {
auto obj = aron::make_dict();
auto m = aron::make_string(message, aron::Path({"errormessage"}));
obj->addElement("errormessage", m);
@@ -59,37 +66,54 @@ namespace armarx
// Check params
if (skill->description.acceptedType && not(aron_params))
{
- std::string message = "SkillError 001: The Skill '" + skillName + "' requires a type but params are NULL.";
+ std::string message = "SkillError 001: The Skill '" + skillName +
+ "' requires a type but params are NULL.";
ARMARX_ERROR_S << message;
- resetExecParam();
- return TerminatedSkillStatusUpdate({{skill->getSkillId(), executorName, parameterization, createErrorMessage(message)}, TerminatedSkillStatus::Failed});
+ tidyUpStatusUpdates();
+ return TerminatedSkillStatusUpdate(
+ {{executionId, parameterization, createErrorMessage(message)},
+ TerminatedSkillStatus::Failed});
}
- if (skill->description.acceptedType && aron_params && not(aron_params->fullfillsType(skill->description.acceptedType)))
+ if (skill->description.acceptedType && aron_params &&
+ not(aron_params->fullfillsType(skill->description.acceptedType)))
{
- std::string message = "SkillError 002: The Skill '" + skillName + "' has a type and got parameters but the input does not match the type.";
+ std::string message =
+ "SkillError 002: The Skill '" + skillName +
+ "' has a type and got parameters but the input does not match the type.";
ARMARX_ERROR_S << message;
- resetExecParam();
- return TerminatedSkillStatusUpdate({{skill->getSkillId(), executorName, parameterization, createErrorMessage(message)}, TerminatedSkillStatus::Failed});
+ tidyUpStatusUpdates();
+ return TerminatedSkillStatusUpdate(
+ {{executionId, parameterization, createErrorMessage(message)},
+ TerminatedSkillStatus::Failed});
}
// Check if skill is available with the given parameterization
try
{
- if (not skill->isSkillAvailable(Skill::InitInput{.executorName = executorName, .params = aron_params}))
+ if (not skill->isSkillAvailable(
+ Skill::InitInput{.executorName = executorName, .params = aron_params}))
{
- std::string message = "SkillError 101: The Skill '" + skillName + "' is not available.";
+ std::string message =
+ "SkillError 101: The Skill '" + skillName + "' is not available.";
ARMARX_WARNING << message;
- resetExecParam();
- return TerminatedSkillStatusUpdate({{skill->getSkillId(), executorName, parameterization, createErrorMessage(message)}, TerminatedSkillStatus::Failed});
+ tidyUpStatusUpdates();
+ return TerminatedSkillStatusUpdate(
+ {{executionId, parameterization, createErrorMessage(message)},
+ TerminatedSkillStatus::Failed});
}
}
+
catch (const std::exception& ex)
{
- std::string message = "SkillError 101e: An error occured during the check whether skill '" + skillName + "' is available. The error was: " + GetHandledExceptionString();
+ std::string message =
+ "SkillError 101e: An error occured during the check whether skill '" +
+ skillName + "' is available. The error was: " + GetHandledExceptionString();
ARMARX_ERROR_S << message;
- resetExecParam();
- return TerminatedSkillStatusUpdate({{skill->getSkillId(), executorName, parameterization, createErrorMessage(message)}, TerminatedSkillStatus::Failed});
+ tidyUpStatusUpdates();
+ return TerminatedSkillStatusUpdate(
+ {{executionId, parameterization, createErrorMessage(message)},
+ TerminatedSkillStatus::Failed});
}
// set scheduled
@@ -100,28 +124,39 @@ namespace armarx
{
skill->resetSkill();
}
+
catch (const std::exception& ex)
{
- std::string message = "SkillError 201e: An error occured during the reset of skill '" + skillName + "'. The error was: " + GetHandledExceptionString();
+ std::string message =
+ "SkillError 201e: An error occured during the reset of skill '" + skillName +
+ "'. The error was: " + GetHandledExceptionString();
ARMARX_ERROR_S << message;
updateStatus(SkillStatus::Failed);
- resetExecParam();
- return TerminatedSkillStatusUpdate({{skill->getSkillId(), executorName, parameterization, createErrorMessage(message)}, TerminatedSkillStatus::Failed});
+ tidyUpStatusUpdates();
+ return TerminatedSkillStatusUpdate(
+ {{executionId, parameterization, createErrorMessage(message)},
+ TerminatedSkillStatus::Failed});
}
try
{
skill->waitForDependenciesOfSkill();
}
+
catch (const std::exception& ex)
{
- std::string message = "SkillError 301e: An error occured during waiting for skill dependencies of skill '" + skillName + "'. The error was: " + GetHandledExceptionString();
+ std::string message = "SkillError 301e: An error occured during waiting for skill "
+ "dependencies of skill '" +
+ skillName +
+ "'. The error was: " + GetHandledExceptionString();
ARMARX_ERROR_S << message;
updateStatus(SkillStatus::Failed);
- resetExecParam();
- return TerminatedSkillStatusUpdate({{skill->getSkillId(), executorName, parameterization, createErrorMessage(message)}, TerminatedSkillStatus::Failed});
+ tidyUpStatusUpdates();
+ return TerminatedSkillStatusUpdate(
+ {{executionId, parameterization, createErrorMessage(message)},
+ TerminatedSkillStatus::Failed});
}
// execute. If the skill fails for some reason, from this point it will always execute its exit function.
@@ -133,55 +168,79 @@ namespace armarx
Skill::InitResult initRet = skill->initSkill({executorName, aron_params});
if (initRet.status != TerminatedSkillStatus::Succeeded)
{
- std::string message = "SkillError 401: The initialization of skill '" + skillName + "' did not succeed.";
- skill->exitSkill({executorName, aron_params}); // try to exit skill. Ignore return value
+ std::string message = "SkillError 401: The initialization of skill '" +
+ skillName + "' did not succeed.";
+ skill->exitSkill(
+ {executorName, aron_params}); // try to exit skill. Ignore return value
updateStatus(skills::toSkillStatus(initRet.status));
- resetExecParam();
- return TerminatedSkillStatusUpdate({{skill->getSkillId(), executorName, parameterization, createErrorMessage(message)}, initRet.status});
+ tidyUpStatusUpdates();
+ return TerminatedSkillStatusUpdate(
+ {{executionId, parameterization, createErrorMessage(message)},
+ initRet.status});
}
}
+
catch (const std::exception& ex)
{
- std::string message = "SkillError 401e: An error occured during the initialization of skill '" + skillName + "'. The error was: " + GetHandledExceptionString();
+ std::string message =
+ "SkillError 401e: An error occured during the initialization of skill '" +
+ skillName + "'. The error was: " + GetHandledExceptionString();
ARMARX_ERROR_S << message;
- skill->exitSkill({executorName, aron_params}); // try to exit skill. Ignore return value
+ skill->exitSkill(
+ {executorName, aron_params}); // try to exit skill. Ignore return value
updateStatus(SkillStatus::Failed);
- resetExecParam();
- return TerminatedSkillStatusUpdate({{skill->getSkillId(), executorName, parameterization, createErrorMessage(message)}, TerminatedSkillStatus::Failed});
+ tidyUpStatusUpdates();
+ return TerminatedSkillStatusUpdate(
+ {{executionId, parameterization, createErrorMessage(message)},
+ TerminatedSkillStatus::Failed});
}
+
// Init succeeded!
Skill::MainResult mainRet;
try
{
- mainRet = skill->mainOfSkill({executorName, aron_params, [&updateStatus](const aron::data::DictPtr& update)
- {
- // during execution the statusUpdate.status is always RUNNING
- updateStatus(SkillStatus::Running, update);
- }});
+ mainRet = skill->mainOfSkill({executorName,
+ aron_params,
+ [&updateStatus](const aron::data::DictPtr& update)
+ {
+ // during execution the statusUpdate.status is always RUNNING
+ updateStatus(SkillStatus::Running, update);
+ }});
if (mainRet.status != TerminatedSkillStatus::Succeeded)
{
- std::string message = "SkillError 501: The main method of skill '" + skillName + "' did not succeed.";
- skill->exitSkill({executorName, aron_params}); // try to exit skill. Ignore return value
+ std::string message = "SkillError 501: The main method of skill '" + skillName +
+ "' did not succeed.";
+ skill->exitSkill(
+ {executorName, aron_params}); // try to exit skill. Ignore return value
updateStatus(skills::toSkillStatus(mainRet.status));
- resetExecParam();
- return TerminatedSkillStatusUpdate({{skill->getSkillId(), executorName, parameterization, createErrorMessage(message)}, mainRet.status});
+ tidyUpStatusUpdates();
+ return TerminatedSkillStatusUpdate(
+ {{executionId, parameterization, createErrorMessage(message)},
+ mainRet.status});
}
}
+
catch (const std::exception& ex)
{
- std::string message = "SkillError 501e: An error occured during the main method of skill '" + skillName + "'. The error was: " + GetHandledExceptionString();
+ std::string message =
+ "SkillError 501e: An error occured during the main method of skill '" +
+ skillName + "'. The error was: " + GetHandledExceptionString();
ARMARX_ERROR_S << message;
- skill->exitSkill({executorName, aron_params}); // try to exit skill. Ignore return value
+ skill->exitSkill(
+ {executorName, aron_params}); // try to exit skill. Ignore return value
updateStatus(SkillStatus::Failed);
- resetExecParam();
- return TerminatedSkillStatusUpdate({{skill->getSkillId(), executorName, parameterization, createErrorMessage(message)}, TerminatedSkillStatus::Failed});
+ tidyUpStatusUpdates();
+ return TerminatedSkillStatusUpdate(
+ {{executionId, parameterization, createErrorMessage(message)},
+ TerminatedSkillStatus::Failed});
}
+
// Main succeeded!
try
@@ -189,23 +248,33 @@ namespace armarx
Skill::ExitResult exitRet = skill->exitSkill({executorName, aron_params});
if (exitRet.status != TerminatedSkillStatus::Succeeded)
{
- std::string message = "SkillError 601: The exit method of skill '" + skillName + "' did not succeed.";
- skill->exitSkill({executorName, aron_params}); // try to exit skill. Ignore return value
+ std::string message = "SkillError 601: The exit method of skill '" + skillName +
+ "' did not succeed.";
+ skill->exitSkill(
+ {executorName, aron_params}); // try to exit skill. Ignore return value
updateStatus(skills::toSkillStatus(exitRet.status));
- resetExecParam();
- return TerminatedSkillStatusUpdate({{skill->getSkillId(), executorName, parameterization, createErrorMessage(message)}, exitRet.status});
+ tidyUpStatusUpdates();
+ return TerminatedSkillStatusUpdate(
+ {{executionId, parameterization, createErrorMessage(message)},
+ exitRet.status});
}
}
+
catch (const std::exception& ex)
{
- std::string message = "SkillError 601e: An error occured during the exit method of skill '" + skillName + "'. The error was: " + GetHandledExceptionString();
+ std::string message =
+ "SkillError 601e: An error occured during the exit method of skill '" +
+ skillName + "'. The error was: " + GetHandledExceptionString();
ARMARX_ERROR_S << message;
updateStatus(SkillStatus::Failed);
- resetExecParam();
- return TerminatedSkillStatusUpdate({{skill->getSkillId(), executorName, parameterization, createErrorMessage(message)}, TerminatedSkillStatus::Failed});
+ tidyUpStatusUpdates();
+ return TerminatedSkillStatusUpdate(
+ {{executionId, parameterization, createErrorMessage(message)},
+ TerminatedSkillStatus::Failed});
}
+
// Exit succeeded!
@@ -213,10 +282,11 @@ namespace armarx
updateStatus(SkillStatus::Succeeded);
// Tidy up
- resetExecParam();
+ tidyUpStatusUpdates();
// return result of main method
- return {{skill->getSkillId(), executorName, parameterization, mainRet.data}, TerminatedSkillStatus::Succeeded};
+ return {{executionId, parameterization, mainRet.data},
+ TerminatedSkillStatus::Succeeded};
}
- }
-}
+ } // namespace skills::detail
+} // namespace armarx
diff --git a/source/RobotAPI/libraries/skills/provider/detail/SkillImplementationWrapper.h b/source/RobotAPI/libraries/skills/provider/detail/SkillImplementationWrapper.h
index 982bcc366..32fafd353 100644
--- a/source/RobotAPI/libraries/skills/provider/detail/SkillImplementationWrapper.h
+++ b/source/RobotAPI/libraries/skills/provider/detail/SkillImplementationWrapper.h
@@ -2,11 +2,11 @@
#include <shared_mutex>
+#include <RobotAPI/interface/skills/SkillManagerInterface.h>
+
+#include "../Skill.h"
#include "../SkillDescription.h"
#include "../SkillStatusUpdate.h"
-#include "../Skill.h"
-
-#include <RobotAPI/interface/skills/SkillManagerInterface.h>
namespace armarx
{
@@ -20,22 +20,20 @@ namespace armarx
// fixed values. Do not change after skill instantiation
const std::unique_ptr<Skill> skill;
- // Current execution status. Changes during execution
+ // Current execution statuses. Changes during execution
// The status also holds the used parameterization
- // skillName and providerName are const after registering the skill in a provider
- mutable std::shared_mutex skillStatusMutex;
- SkillStatusUpdate statusUpdate;
-
- // Task information
- mutable std::shared_mutex executingMutex;
+ mutable std::shared_mutex skillStatusesMutex;
+ std::map<skills::SkillExecutionId, SkillStatusUpdate> statusUpdates;
// ctor
SkillImplementationWrapper(std::unique_ptr<skills::Skill>&& skill);
// execute a skill. The parameterization is copied. T
// the return type additionally contains the input configuration (similar to the status updates used in callbacks)
- TerminatedSkillStatusUpdate setupAndExecuteSkill(const std::string& executorName, const skills::SkillParameterization);
+ TerminatedSkillStatusUpdate
+ setupAndExecuteSkill(const std::string& executorName,
+ const skills::SkillParameterization);
};
- }
- }
-}
+ } // namespace detail
+ } // namespace skills
+} // namespace armarx
--
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