From 38288bc20e5c0131c6f547a4d13695694182191b Mon Sep 17 00:00:00 2001
From: Fabian Peller-Konrad <fabian.peller-konrad@kit.edu>
Date: Thu, 2 Jun 2022 13:41:43 +0200
Subject: [PATCH] skill provider updates
---
.../server/SkillsMemory/SkillsMemory.cpp | 4 +-
.../armem/server/SkillsMemory/SkillsMemory.h | 2 +-
.../SkillProviderExample.cpp | 9 +-
.../SkillManagerMonitorWidgetController.cpp | 7 +-
.../skills/SkillManagerInterface.ice | 9 +-
.../skills/SkillProviderInterface.ice | 34 ++++---
.../libraries/armem_skills/aron/Skill.xml | 4 +-
.../segment/ExecutableSkillLibrarySegment.cpp | 2 +-
.../server/segment/SkillEventSegment.cpp | 8 +-
.../segment/SkillExecutionRequestSegment.cpp | 6 +-
.../segment/SkillExecutionRequestSegment.h | 4 +-
.../RobotAPI/libraries/skills/CMakeLists.txt | 2 +
.../libraries/skills/error/Exception.cpp | 2 +
.../libraries/skills/error/Exception.h | 65 +++++++++++++
.../manager/SkillManagerComponentPlugin.cpp | 12 +--
.../manager/SkillManagerComponentPlugin.h | 6 +-
.../libraries/skills/provider/Skill.h | 5 +-
.../skills/provider/SkillDescription.cpp | 2 +-
.../skills/provider/SkillDescription.h | 2 +-
.../provider/SkillProviderComponentPlugin.cpp | 91 +++++++++++--------
.../provider/SkillProviderComponentPlugin.h | 11 ++-
.../skills/provider/SkillStatusUpdate.cpp | 10 +-
.../skills/provider/SkillStatusUpdate.h | 5 +-
23 files changed, 196 insertions(+), 106 deletions(-)
create mode 100644 source/RobotAPI/libraries/skills/error/Exception.cpp
create mode 100644 source/RobotAPI/libraries/skills/error/Exception.h
diff --git a/source/RobotAPI/components/armem/server/SkillsMemory/SkillsMemory.cpp b/source/RobotAPI/components/armem/server/SkillsMemory/SkillsMemory.cpp
index 3fbb33eac..d740b5f23 100644
--- a/source/RobotAPI/components/armem/server/SkillsMemory/SkillsMemory.cpp
+++ b/source/RobotAPI/components/armem/server/SkillsMemory/SkillsMemory.cpp
@@ -113,7 +113,7 @@ namespace armarx
{
ARMARX_CHECK_NOT_NULL(instance);
- skills::manager::dto::SkillExecutionInfo exInfo = skillExecutionRequestCoreSegment.convertCommit(instance);
+ skills::manager::dto::SkillExecutionRequest exInfo = skillExecutionRequestCoreSegment.convertCommit(instance);
SkillManagerComponentPluginUser::executeSkill(exInfo, current);
}
}
@@ -138,7 +138,7 @@ namespace armarx
SkillManagerComponentPluginUser::removeProvider(skillProviderName, current);
}
- void SkillsMemory::executeSkill(const skills::manager::dto::SkillExecutionInfo& info, const Ice::Current ¤t)
+ void SkillsMemory::executeSkill(const skills::manager::dto::SkillExecutionRequest& info, const Ice::Current ¤t)
{
skillExecutionRequestCoreSegment.addSkillExecutionRequest(info);
SkillManagerComponentPluginUser::executeSkill(info, current);
diff --git a/source/RobotAPI/components/armem/server/SkillsMemory/SkillsMemory.h b/source/RobotAPI/components/armem/server/SkillsMemory/SkillsMemory.h
index d609be37f..a71fcb498 100644
--- a/source/RobotAPI/components/armem/server/SkillsMemory/SkillsMemory.h
+++ b/source/RobotAPI/components/armem/server/SkillsMemory/SkillsMemory.h
@@ -76,7 +76,7 @@ namespace armarx
// 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;
- void executeSkill(const skills::manager::dto::SkillExecutionInfo& info, const Ice::Current ¤t) override;
+ void 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;
// WritingInterface interface
diff --git a/source/RobotAPI/components/skills/SkillProviderExample/SkillProviderExample.cpp b/source/RobotAPI/components/skills/SkillProviderExample/SkillProviderExample.cpp
index ab6944e97..cbfbc89cc 100644
--- a/source/RobotAPI/components/skills/SkillProviderExample/SkillProviderExample.cpp
+++ b/source/RobotAPI/components/skills/SkillProviderExample/SkillProviderExample.cpp
@@ -47,19 +47,18 @@ namespace armarx::skills::provider
exec2.some_text = "Hello from the ChainingSkill 2";
exec3.some_text = "Hello from the ChainingSkill 3";
- manager::dto::SkillExecutionInfo exec;
+ manager::dto::SkillExecutionRequest exec;
exec.providerName = "SkillProviderExample";
exec.skillName = "HelloWorld";
- exec.waitUntilSkillFinished = false;
exec.params = exec1.toAron()->toAronDictDTO();
- ownerManager->executeSkill(exec);
+ manager->executeSkill(exec);
exec.params = exec2.toAron()->toAronDictDTO();
- ownerManager->executeSkill(exec);
+ manager->executeSkill(exec);
exec.params = exec3.toAron()->toAronDictDTO();
- ownerManager->executeSkill(exec);
+ manager->executeSkill(exec);
return Skill::Status::Succeeded;
}
diff --git a/source/RobotAPI/gui-plugins/SkillManagerPlugin/SkillManagerMonitorWidgetController.cpp b/source/RobotAPI/gui-plugins/SkillManagerPlugin/SkillManagerMonitorWidgetController.cpp
index e9942f7ec..c29af8fca 100644
--- a/source/RobotAPI/gui-plugins/SkillManagerPlugin/SkillManagerMonitorWidgetController.cpp
+++ b/source/RobotAPI/gui-plugins/SkillManagerPlugin/SkillManagerMonitorWidgetController.cpp
@@ -238,7 +238,7 @@ namespace armarx
auto& providerPrx = skills.at(providerName).skillProviderPrx;
auto statusUpdate = providerPrx->getSkillExecutionStatus(skillName);
- skillItem->setText(2, QString::fromStdString(ExecutionStatus2String.at(statusUpdate.status)));
+ skillItem->setText(2, QString::fromStdString(ExecutionStatus2String.at(statusUpdate.header.status)));
}
}
catch (const std::exception& e)
@@ -265,8 +265,7 @@ namespace armarx
auto data = getConfigAsAron();
- skills::manager::dto::SkillExecutionInfo exInfo;
- exInfo.waitUntilSkillFinished = false;
+ skills::manager::dto::SkillExecutionRequest exInfo;
exInfo.providerName = selectedSkill.providerName;
exInfo.skillName = selectedSkill.skillName;
exInfo.params = aron::data::Dict::ToAronDictDTO(data);
@@ -341,7 +340,7 @@ namespace armarx
{
auto it = new QTreeWidgetItem(widget.treeWidgetSkillDetails,
- {QString::fromStdString("Robot"), QString::fromStdString(simox::alg::join(skillDesc.targets, ", "))});
+ {QString::fromStdString("Robot"), QString::fromStdString(simox::alg::join(skillDesc.robots, ", "))});
widget.treeWidgetSkillDetails->addTopLevelItem(it);
}
diff --git a/source/RobotAPI/interface/skills/SkillManagerInterface.ice b/source/RobotAPI/interface/skills/SkillManagerInterface.ice
index 9f6bd7314..e35bb3e34 100644
--- a/source/RobotAPI/interface/skills/SkillManagerInterface.ice
+++ b/source/RobotAPI/interface/skills/SkillManagerInterface.ice
@@ -34,12 +34,11 @@ module armarx
module dto
{
// Inputs
- struct SkillExecutionInfo
+ struct SkillExecutionRequest
{
string providerName;
string skillName;
aron::data::dto::Dict params;
- bool waitUntilSkillFinished;
};
struct ProviderInfo
@@ -48,6 +47,8 @@ module armarx
provider::dti::SkillProviderInterface* provider;
provider::dto::SkillDescriptionMap providedSkills;
};
+
+ dictionary<string, provider::dto::SkillDescriptionMap> SkillDescriptionMapMap;
}
module dti
@@ -56,8 +57,8 @@ module armarx
{
void addProvider(dto::ProviderInfo providerInfo);
void removeProvider(string providerName);
- provider::dti::SkillProviderMap getSkillProviders();
- void executeSkill(dto::SkillExecutionInfo skillExecutionInfo);
+ dto::SkillDescriptionMapMap getSkillDescriptions();
+ void executeSkill(dto::SkillExecutionRequest skillExecutionInfo);
void abortSkill(string providerName, string skillName);
};
}
diff --git a/source/RobotAPI/interface/skills/SkillProviderInterface.ice b/source/RobotAPI/interface/skills/SkillProviderInterface.ice
index c6eec5736..b21e5135e 100644
--- a/source/RobotAPI/interface/skills/SkillProviderInterface.ice
+++ b/source/RobotAPI/interface/skills/SkillProviderInterface.ice
@@ -51,24 +51,24 @@ module armarx
sequence<string> StringList;
// Description of a skill. Needs to be sent to a skill manager or memory
- // A skill is nothing but a executable thing, which can be executed on one or more 'targets' (empty means all)
+ // A skill is nothing but a executable thing, which can be executed on one or more 'robots' (empty means all)
struct SkillDescription
{
string skillName; // the name of the skill
string description; // a human readable description of what the skill does
- StringList targets; // see above
+ StringList robots; // see above
long timeoutMs; // in milliseconds
aron::type::dto::AronObject acceptedType; // the name of the object is irrelevant and only used in GUI
};
dictionary<string, SkillDescription> SkillDescriptionMap;
// Inputs
- struct SkillExecutionInfo
+ struct SkillExecutionRequest
{
string skillName;
+ string requesterName;
aron::data::dto::Dict params;
callback::dti::SkillProviderCallbackInterface* callbackInterface; // use nullptr if you do not want to have callbacks
- bool waitUntilSkillFinished;
};
// The status enum of a skill
@@ -76,7 +76,7 @@ module armarx
{
enum Status
{
- Idle,
+ Idle, // a skill can only be idled if it has never been scheduled
Scheduled,
Running,
@@ -88,13 +88,18 @@ module armarx
}
// Status updates of a skill
- struct SkillStatusUpdate
+ struct SkillStatusUpdateHeader
{
- string providerName;
+ string providerName; // the name of the provider the skill is currently running on
string skillName;
aron::data::dto::Dict usedParams;
callback::dti::SkillProviderCallbackInterface* usedCallbackInterface;
Execution::Status status;
+ };
+
+ struct SkillStatusUpdate
+ {
+ SkillStatusUpdateHeader header;
aron::data::dto::Dict data; // can be anything
};
@@ -106,13 +111,18 @@ module armarx
interface SkillProviderInterface
{
- dto::SkillDescriptionMap getSkills();
+ dto::SkillDescription getSkillDescription(string name);
+ dto::SkillDescriptionMap getSkillDescriptions();
dto::SkillStatusUpdate getSkillExecutionStatus(string name);
- void executeSkill(dto::SkillExecutionInfo executionInfo);
- void abortSkill(string skill, bool waitUntilSkillFinished);
- };
+ dto::SkillStatusUpdateMap getSkillExecutionStatuses();
- dictionary<string, SkillProviderInterface*> SkillProviderMap;
+ // 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
+ void executeSkill(dto::SkillExecutionRequest executionInfo);
+
+ // try to kill a skill as soon as possible. When the skill is stopped depends on the implementation.
+ void abortSkill(string skill);
+ };
}
}
}
diff --git a/source/RobotAPI/libraries/armem_skills/aron/Skill.xml b/source/RobotAPI/libraries/armem_skills/aron/Skill.xml
index b546afb89..b84f79b64 100644
--- a/source/RobotAPI/libraries/armem_skills/aron/Skill.xml
+++ b/source/RobotAPI/libraries/armem_skills/aron/Skill.xml
@@ -16,7 +16,7 @@ The memory should look like the following:
<String />
</ObjectChild>
- <ObjectChild key='targets'>
+ <ObjectChild key='robots'>
<List>
<String />
</List>
@@ -35,7 +35,7 @@ The memory should look like the following:
</ObjectChild>
<ObjectChild key='acceptedType'>
- <string />
+ <string /> <!-- TODO REPLACE! -->
</ObjectChild>
</Object>
diff --git a/source/RobotAPI/libraries/armem_skills/server/segment/ExecutableSkillLibrarySegment.cpp b/source/RobotAPI/libraries/armem_skills/server/segment/ExecutableSkillLibrarySegment.cpp
index 745968174..ec84a4f91 100644
--- a/source/RobotAPI/libraries/armem_skills/server/segment/ExecutableSkillLibrarySegment.cpp
+++ b/source/RobotAPI/libraries/armem_skills/server/segment/ExecutableSkillLibrarySegment.cpp
@@ -37,7 +37,7 @@ namespace armarx::skills::segment
skillDescription.skillName = desc.skillName;
skillDescription.description = desc.description;
skillDescription.iceInfo = info.provider->ice_toString();
- skillDescription.targets = desc.targets;
+ skillDescription.robots = desc.robots;
skillDescription.timeoutMs = desc.timeoutMs;
if (desc.acceptedType)
diff --git a/source/RobotAPI/libraries/armem_skills/server/segment/SkillEventSegment.cpp b/source/RobotAPI/libraries/armem_skills/server/segment/SkillEventSegment.cpp
index af8af24c2..0181e2729 100644
--- a/source/RobotAPI/libraries/armem_skills/server/segment/SkillEventSegment.cpp
+++ b/source/RobotAPI/libraries/armem_skills/server/segment/SkillEventSegment.cpp
@@ -39,10 +39,10 @@ namespace armarx::skills::segment
// create commit about new update
armarx::skills::arondto::SkillExecutionEvent event;
- event.providerName = update.providerName;
- event.skillName = update.skillName;
- event.status = ExecutionStatus2String.at(update.status);
- event.params = aron::data::Dict::FromAronDictDTO(update.usedParams);
+ event.providerName = update.header.providerName;
+ event.skillName = update.header.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);
armem::MemoryID commitId = id();
diff --git a/source/RobotAPI/libraries/armem_skills/server/segment/SkillExecutionRequestSegment.cpp b/source/RobotAPI/libraries/armem_skills/server/segment/SkillExecutionRequestSegment.cpp
index 9c43b717a..8a60cb668 100644
--- a/source/RobotAPI/libraries/armem_skills/server/segment/SkillExecutionRequestSegment.cpp
+++ b/source/RobotAPI/libraries/armem_skills/server/segment/SkillExecutionRequestSegment.cpp
@@ -27,7 +27,7 @@ namespace armarx::skills::segment
}
- skills::manager::dto::SkillExecutionInfo SkillExecutionRequestCoreSegment::convertCommit(const aron::data::dto::DictPtr& commitData)
+ skills::manager::dto::SkillExecutionRequest SkillExecutionRequestCoreSegment::convertCommit(const aron::data::dto::DictPtr& commitData)
{
// convert ice commitData to aron
auto commitDataAron = std::make_shared<aron::data::Dict>(commitData);
@@ -36,7 +36,7 @@ namespace armarx::skills::segment
skills::arondto::SkillExecutionRequest request;
request.fromAron(commitDataAron);
- skills::manager::dto::SkillExecutionInfo info;
+ skills::manager::dto::SkillExecutionRequest info;
info.providerName = request.providerName;
info.skillName = request.skillName;
info.params = request.params->toAronDictDTO();
@@ -44,7 +44,7 @@ namespace armarx::skills::segment
}
- void SkillExecutionRequestCoreSegment::addSkillExecutionRequest(const skills::manager::dto::SkillExecutionInfo& info)
+ void SkillExecutionRequestCoreSegment::addSkillExecutionRequest(const skills::manager::dto::SkillExecutionRequest& info)
{
// override directly execution to add a request to the memory
armem::Commit comm;
diff --git a/source/RobotAPI/libraries/armem_skills/server/segment/SkillExecutionRequestSegment.h b/source/RobotAPI/libraries/armem_skills/server/segment/SkillExecutionRequestSegment.h
index 08b6f6b56..262bc829b 100644
--- a/source/RobotAPI/libraries/armem_skills/server/segment/SkillExecutionRequestSegment.h
+++ b/source/RobotAPI/libraries/armem_skills/server/segment/SkillExecutionRequestSegment.h
@@ -26,8 +26,8 @@ namespace armarx::skills::segment
void defineProperties(PropertyDefinitionsPtr defs, const std::string &prefix);
void init();
- skills::manager::dto::SkillExecutionInfo convertCommit(const aron::data::dto::DictPtr& commitData);
+ skills::manager::dto::SkillExecutionRequest convertCommit(const aron::data::dto::DictPtr& commitData);
- void addSkillExecutionRequest(const skills::manager::dto::SkillExecutionInfo& info);
+ void addSkillExecutionRequest(const skills::manager::dto::SkillExecutionRequest& info);
};
}
diff --git a/source/RobotAPI/libraries/skills/CMakeLists.txt b/source/RobotAPI/libraries/skills/CMakeLists.txt
index bbf9d1d35..7368c8d63 100644
--- a/source/RobotAPI/libraries/skills/CMakeLists.txt
+++ b/source/RobotAPI/libraries/skills/CMakeLists.txt
@@ -12,6 +12,7 @@ armarx_add_library(
RobotAPI::Core
aronjsonconverter
SOURCES
+ ./error/Exception.cpp
./manager/SkillManagerComponentPlugin.cpp
./provider/SkillProviderComponentPlugin.cpp
./provider/Skill.cpp
@@ -24,6 +25,7 @@ armarx_add_library(
./provider/helper/LambdaSkillImplementation.cpp
./provider/detail/SkillImplementationWrapper.cpp
HEADERS
+ ./error/Exception.h
./manager/SkillManagerComponentPlugin.h
./provider/SkillProviderComponentPlugin.h
./provider/Skill.h
diff --git a/source/RobotAPI/libraries/skills/error/Exception.cpp b/source/RobotAPI/libraries/skills/error/Exception.cpp
new file mode 100644
index 000000000..32521fede
--- /dev/null
+++ b/source/RobotAPI/libraries/skills/error/Exception.cpp
@@ -0,0 +1,2 @@
+
+#include "Exception.h"
diff --git a/source/RobotAPI/libraries/skills/error/Exception.h b/source/RobotAPI/libraries/skills/error/Exception.h
new file mode 100644
index 000000000..b73ccbf1e
--- /dev/null
+++ b/source/RobotAPI/libraries/skills/error/Exception.h
@@ -0,0 +1,65 @@
+/*
+ * This file is part of ArmarX.
+ *
+ * Copyright (C) 2012-2016, High Performance Humanoid Technologies (H2T),
+ * Karlsruhe Institute of Technology (KIT), all rights reserved.
+ *
+ * ArmarX is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License version 2 as
+ * published by the Free Software Foundation.
+ *
+ * ArmarX is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ * @author Fabian Peller-Konrad (fabian dot peller-konrad at kit dot edu)
+ * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
+ * GNU General Public License
+ */
+
+#pragma once
+
+// STD/STL
+#include <string>
+#include <vector>
+#include <map>
+
+// ArmarX
+#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
+#include <ArmarXCore/core/exceptions/Exception.h>
+
+
+namespace armarx::skills::error
+{
+ /**
+ * @brief A base class for aron exceptions. All aron exceptions inherit from this class
+ */
+ class SkillException :
+ public armarx::LocalException
+ {
+ public:
+ SkillException() = delete;
+ SkillException(const std::string& prettymethod, const std::string& reason) :
+ LocalException(prettymethod + ": " + reason + ".")
+ {
+ }
+ };
+
+ /**
+ * @brief The NotImplementedYetException class
+ */
+ class NotImplementedYetException :
+ public SkillException
+ {
+ public:
+ NotImplementedYetException() = delete;
+ NotImplementedYetException(const std::string& prettymethod) :
+ SkillException(prettymethod, "This method is not yet implemented!")
+ {
+ }
+ };
+}
diff --git a/source/RobotAPI/libraries/skills/manager/SkillManagerComponentPlugin.cpp b/source/RobotAPI/libraries/skills/manager/SkillManagerComponentPlugin.cpp
index 1b97951eb..76347bf5a 100644
--- a/source/RobotAPI/libraries/skills/manager/SkillManagerComponentPlugin.cpp
+++ b/source/RobotAPI/libraries/skills/manager/SkillManagerComponentPlugin.cpp
@@ -50,23 +50,17 @@ namespace armarx
}
}
- skills::provider::dti::SkillProviderMap SkillManagerComponentPluginUser::getSkillProviders(const Ice::Current&)
- {
- return skillProviderMap;
- }
-
- void SkillManagerComponentPluginUser::executeSkill(const skills::manager::dto::SkillExecutionInfo& info, const Ice::Current&)
+ void SkillManagerComponentPluginUser::executeSkill(const skills::manager::dto::SkillExecutionRequest& info, const Ice::Current&)
{
if (auto it = skillProviderMap.find(info.providerName); it != skillProviderMap.end())
{
skills::callback::dti::SkillProviderCallbackInterfacePrx myPrx;
getProxy(myPrx, -1);
- skills::provider::dto::SkillExecutionInfo exInfo;
+ skills::provider::dto::SkillExecutionRequest exInfo;
exInfo.skillName = info.skillName;
exInfo.callbackInterface = myPrx;
exInfo.params = info.params;
- exInfo.waitUntilSkillFinished = info.waitUntilSkillFinished;
it->second->executeSkill(exInfo);
}
@@ -80,7 +74,7 @@ namespace armarx
{
if (auto it = skillProviderMap.find(providerName); it != skillProviderMap.end())
{
- it->second->abortSkill(skillName, false);
+ it->second->abortSkill(skillName);
}
}
diff --git a/source/RobotAPI/libraries/skills/manager/SkillManagerComponentPlugin.h b/source/RobotAPI/libraries/skills/manager/SkillManagerComponentPlugin.h
index 5c59564f6..ba27d2bc1 100644
--- a/source/RobotAPI/libraries/skills/manager/SkillManagerComponentPlugin.h
+++ b/source/RobotAPI/libraries/skills/manager/SkillManagerComponentPlugin.h
@@ -33,8 +33,8 @@ namespace armarx
void addProvider(const skills::manager::dto::ProviderInfo& providerInfo, const Ice::Current ¤t) override;
void removeProvider(const std::string&, const Ice::Current ¤t) override;
- skills::provider::dti::SkillProviderMap getSkillProviders(const Ice::Current ¤t) override;
- void executeSkill(const skills::manager::dto::SkillExecutionInfo& info, const Ice::Current ¤t) override;
+
+ void 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;
@@ -43,6 +43,6 @@ namespace armarx
protected:
std::mutex skillProviderMapMutex;
- skills::provider::dti::SkillProviderMap skillProviderMap;
+ std::map<std::string, skills::provider::dti::SkillProviderInterfacePrx> skillProviderMap;
};
}
diff --git a/source/RobotAPI/libraries/skills/provider/Skill.h b/source/RobotAPI/libraries/skills/provider/Skill.h
index d4fe0e5cf..90a923ce3 100644
--- a/source/RobotAPI/libraries/skills/provider/Skill.h
+++ b/source/RobotAPI/libraries/skills/provider/Skill.h
@@ -69,11 +69,10 @@ namespace armarx
IceUtil::Time exited = IceUtil::Time::milliSeconds(-1);
/// proxies that called the skills. Will be set from provider and is const afterwards
- provider::dti::SkillProviderInterfacePrx ownerProvider = nullptr;
- manager::dti::SkillManagerInterfacePrx ownerManager = nullptr;
+ manager::dti::SkillManagerInterfacePrx manager = nullptr;
protected:
- /// Use conditions during runtime this way
+ /// Use conditions managerme this way
std::atomic_bool running = true;
std::atomic_bool stopped = false;
std::atomic_bool timeoutReached = false;
diff --git a/source/RobotAPI/libraries/skills/provider/SkillDescription.cpp b/source/RobotAPI/libraries/skills/provider/SkillDescription.cpp
index 5295057be..547cb389c 100644
--- a/source/RobotAPI/libraries/skills/provider/SkillDescription.cpp
+++ b/source/RobotAPI/libraries/skills/provider/SkillDescription.cpp
@@ -10,7 +10,7 @@ namespace armarx
ret.acceptedType = aron::type::Object::ToAronObjectDTO(acceptedType);
ret.description = description;
ret.skillName = skillName;
- ret.targets = targets;
+ ret.robots = robots;
ret.timeoutMs = timeoutMs;
return ret;
}
diff --git a/source/RobotAPI/libraries/skills/provider/SkillDescription.h b/source/RobotAPI/libraries/skills/provider/SkillDescription.h
index 2bf9707c2..70b294b11 100644
--- a/source/RobotAPI/libraries/skills/provider/SkillDescription.h
+++ b/source/RobotAPI/libraries/skills/provider/SkillDescription.h
@@ -14,7 +14,7 @@ namespace armarx
{
std::string skillName;
std::string description;
- std::vector<std::string> targets;
+ std::vector<std::string> robots;
long timeoutMs;
aron::type::ObjectPtr acceptedType;
diff --git a/source/RobotAPI/libraries/skills/provider/SkillProviderComponentPlugin.cpp b/source/RobotAPI/libraries/skills/provider/SkillProviderComponentPlugin.cpp
index 638de458a..a17411d10 100644
--- a/source/RobotAPI/libraries/skills/provider/SkillProviderComponentPlugin.cpp
+++ b/source/RobotAPI/libraries/skills/provider/SkillProviderComponentPlugin.cpp
@@ -25,8 +25,7 @@ namespace armarx::plugins
// update skill ownership
for (auto& [skillName, impl] : p.skillImplementations)
{
- impl.skill->ownerProvider = myPrx;
- impl.skill->ownerManager = ownedBySkillManager;
+ impl.skill->manager = manager;
impl.statusUpdate.providerName = p.getName();
impl.statusUpdate.skillName = skillName;
@@ -36,8 +35,8 @@ namespace armarx::plugins
skills::manager::dto::ProviderInfo i;
i.provider = myPrx;
i.providerName = providerName;
- i.providedSkills = p.getSkills();
- ownedBySkillManager->addProvider(i);
+ i.providedSkills = p.getSkillDescriptions();
+ manager->addProvider(i);
p.connected = true;
}
@@ -47,13 +46,13 @@ namespace armarx::plugins
auto& p = parent<SkillProviderComponentPluginUser>();
std::string providerName = p.getName();
- ownedBySkillManager->removeProvider(providerName);
+ manager->removeProvider(providerName);
}
void SkillProviderComponentPlugin::postCreatePropertyDefinitions(PropertyDefinitionsPtr& properties)
{
std::string prefix = "skill.";
- properties->component(ownedBySkillManager, "SkillMemory", prefix + "SkillManager", "The name of the SkillManager (or SkillMemory) proxy this provider belongs to.");
+ properties->component(manager, "SkillMemory", prefix + "SkillManager", "The name of the SkillManager (or SkillMemory) proxy this provider belongs to.");
}
}
@@ -72,15 +71,15 @@ namespace armarx
return;
}
+ std::string skillName = skill->description.skillName;
if (connected)
{
- ARMARX_WARNING << "The SkillProvider already registered to a manager. The skill '" + skill->description.skillName + "' therefore cannot be added anymore.";
+ 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
std::unique_lock l(skillsMutex);
-
- std::string skillName = skill->description.skillName;
if (skillImplementations.find(skillName) != skillImplementations.end())
{
ARMARX_WARNING << "Try to add a skill '" + skillName + "' which already exists in list. Ignoring this skill.";
@@ -97,7 +96,14 @@ namespace armarx
addSkill(std::move(lambda));
}
- skills::provider::dto::SkillDescriptionMap SkillProviderComponentPluginUser::getSkills(const Ice::Current ¤t)
+ skills::provider::dto::SkillDescription SkillProviderComponentPluginUser::getSkillDescription(const std::string& name, const Ice::Current &)
+ {
+ std::shared_lock l(skillsMutex);
+ const auto& skillWrapper = skillImplementations.at(name);
+ return skillWrapper.skill->description.toIce();
+ }
+
+ skills::provider::dto::SkillDescriptionMap SkillProviderComponentPluginUser::getSkillDescriptions(const Ice::Current &)
{
std::shared_lock l(skillsMutex);
skills::provider::dto::SkillDescriptionMap skillDesciptions;
@@ -108,7 +114,7 @@ namespace armarx
return skillDesciptions;
}
- skills::provider::dto::SkillStatusUpdate SkillProviderComponentPluginUser::getSkillExecutionStatus(const std::string& skill, const Ice::Current ¤t)
+ skills::provider::dto::SkillStatusUpdate SkillProviderComponentPluginUser::getSkillExecutionStatus(const std::string& skill, const Ice::Current &)
{
std::shared_lock l(skillsMutex);
auto& skillWrapper = skillImplementations.at(skill);
@@ -117,47 +123,54 @@ namespace armarx
return skillWrapper.statusUpdate.toIce();
}
- // Please not that this method waits until the skill can be scheduled!
- void SkillProviderComponentPluginUser::executeSkill(const skills::provider::dto::SkillExecutionInfo& info, const Ice::Current ¤t)
+ skills::provider::dto::SkillStatusUpdateMap SkillProviderComponentPluginUser::getSkillExecutionStatuses(const Ice::Current &)
{
std::shared_lock l(skillsMutex);
- std::string skillName = info.skillName;
- ARMARX_CHECK_EXPRESSION(skillImplementations.count(skillName) > 0);
-
- auto& wrapper = skillImplementations.at(skillName);
-
- skills::SkillParameterization usedParameterization;
- usedParameterization.usedCallbackInterface = info.callbackInterface;
- usedParameterization.usedInputParams = aron::data::Dict::FromAronDictDTO(info.params);
-
- // We have to wait until the last task is finished
- if (wrapper.task.joinable())
+ skills::provider::dto::SkillStatusUpdateMap skillUpdates;
+ for (const auto& [key, skillWrapper] : skillImplementations)
{
- wrapper.task.join();
+ std::shared_lock l2(skillWrapper.skillStatusMutex);
+ skillUpdates.insert({key, skillWrapper.statusUpdate.toIce()});
}
+ return skillUpdates;
+ }
- // recreate thread and execute skill. A skill can only be executed once
- wrapper.task = std::thread{ [&] { wrapper.execute(usedParameterization);}};
- std::this_thread::sleep_for(std::chrono::milliseconds(50)); // somehow we need to wait, otherwise it chrashes
-
-
- if (info.waitUntilSkillFinished && wrapper.task.joinable())
+ // Please not that this method waits until the skill can be scheduled!
+ void SkillProviderComponentPluginUser::executeSkill(const skills::provider::dto::SkillExecutionRequest& info, const Ice::Current &)
+ {
+ std::thread execution;
+ {
+ std::shared_lock l(skillsMutex);
+ std::string skillName = info.skillName;
+ ARMARX_CHECK_EXPRESSION(skillImplementations.count(skillName) > 0);
+
+ // get reference of the wrapper
+ auto& wrapper = skillImplementations.at(skillName);
+
+ // setup input args
+ skills::SkillParameterization usedParameterization;
+ usedParameterization.usedCallbackInterface = info.callbackInterface;
+ usedParameterization.usedInputParams = aron::data::Dict::FromAronDictDTO(info.params);
+
+ // async start execution. But we wait for the execution to finish at the end of this method
+ execution = std::thread([&](){
+ // execute waits until the previous execution finishes.
+ wrapper.execute(usedParameterization);
+ });
+ } // release lock. We don't know how long the skill needs to finish and we have to releasethe lock for being able to abort the execution
+
+ if(execution.joinable())
{
- // wait until task is finished. We hold the shared lock for the whole time.
- wrapper.task.join();
+ execution.join();
}
}
- void SkillProviderComponentPluginUser::abortSkill(const std::string& skillName, bool waitUntilSkillFinished, const Ice::Current ¤t)
+ void SkillProviderComponentPluginUser::abortSkill(const std::string& skillName, const Ice::Current &)
{
std::shared_lock l(skillsMutex);
ARMARX_CHECK_EXPRESSION(skillImplementations.count(skillName) > 0);
auto& wrapper = skillImplementations.at(skillName);
- if (waitUntilSkillFinished && !wrapper.skill->stopRequested() && wrapper.task.joinable())
- {
- wrapper.skill->notifyStopped();
- wrapper.task.join();
- }
+ wrapper.skill->notifyStopped();
}
}
diff --git a/source/RobotAPI/libraries/skills/provider/SkillProviderComponentPlugin.h b/source/RobotAPI/libraries/skills/provider/SkillProviderComponentPlugin.h
index 58895250b..a96960095 100644
--- a/source/RobotAPI/libraries/skills/provider/SkillProviderComponentPlugin.h
+++ b/source/RobotAPI/libraries/skills/provider/SkillProviderComponentPlugin.h
@@ -33,7 +33,7 @@ namespace armarx::plugins
void preOnDisconnectComponent() override;
private:
- skills::manager::dti::SkillManagerInterfacePrx ownedBySkillManager;
+ skills::manager::dti::SkillManagerInterfacePrx manager;
skills::provider::dti::SkillProviderInterfacePrx myPrx;
};
}
@@ -47,10 +47,13 @@ namespace armarx
public:
SkillProviderComponentPluginUser();
- skills::provider::dto::SkillDescriptionMap getSkills(const Ice::Current ¤t = Ice::Current()) override;
+ skills::provider::dto::SkillDescription getSkillDescription(const std::string&, const Ice::Current ¤t = Ice::Current()) override;
+ skills::provider::dto::SkillDescriptionMap getSkillDescriptions(const Ice::Current ¤t = Ice::Current()) override;
skills::provider::dto::SkillStatusUpdate getSkillExecutionStatus(const std::string& skill, const Ice::Current ¤t = Ice::Current()) override;
- void executeSkill(const skills::provider::dto::SkillExecutionInfo& executionInfo, const Ice::Current ¤t = Ice::Current()) override;
- void abortSkill(const std::string &skill, bool waitUntilSkillFinished, const Ice::Current ¤t = Ice::Current()) override;
+ skills::provider::dto::SkillStatusUpdateMap getSkillExecutionStatuses(const Ice::Current ¤t = Ice::Current()) override;
+
+ void executeSkill(const skills::provider::dto::SkillExecutionRequest& executionInfo, const Ice::Current ¤t = Ice::Current()) override;
+ void abortSkill(const std::string& name, const Ice::Current ¤t = Ice::Current()) override;
protected:
void addSkill(const skills::helper::LambdaSkill::FunT&, const skills::SkillDescription&);
diff --git a/source/RobotAPI/libraries/skills/provider/SkillStatusUpdate.cpp b/source/RobotAPI/libraries/skills/provider/SkillStatusUpdate.cpp
index eb98bb0b0..fa9695b62 100644
--- a/source/RobotAPI/libraries/skills/provider/SkillStatusUpdate.cpp
+++ b/source/RobotAPI/libraries/skills/provider/SkillStatusUpdate.cpp
@@ -7,12 +7,12 @@ namespace armarx
provider::dto::SkillStatusUpdate SkillStatusUpdate::toIce() const
{
provider::dto::SkillStatusUpdate ret;
- ret.providerName = providerName;
- ret.skillName = skillName;
+ ret.header.providerName = providerName;
+ ret.header.skillName = skillName;
ret.data = aron::data::Dict::ToAronDictDTO(data);
- ret.status = status;
- ret.usedCallbackInterface = usedParameterization.usedCallbackInterface;
- ret.usedParams = aron::data::Dict::ToAronDictDTO(usedParameterization.usedInputParams);
+ ret.header.status = status;
+ ret.header.usedCallbackInterface = usedParameterization.usedCallbackInterface;
+ ret.header.usedParams = aron::data::Dict::ToAronDictDTO(usedParameterization.usedInputParams);
return ret;
}
}
diff --git a/source/RobotAPI/libraries/skills/provider/SkillStatusUpdate.h b/source/RobotAPI/libraries/skills/provider/SkillStatusUpdate.h
index 2b69c7e5d..41a138832 100644
--- a/source/RobotAPI/libraries/skills/provider/SkillStatusUpdate.h
+++ b/source/RobotAPI/libraries/skills/provider/SkillStatusUpdate.h
@@ -14,12 +14,15 @@ namespace armarx
{
struct SkillStatusUpdate
{
+ // header
std::string providerName = "";
std::string skillName = "";
provider::dto::Execution::Status status = provider::dto::Execution::Status::Idle;
- aron::data::DictPtr data = nullptr;
SkillParameterization usedParameterization;
+ // data
+ aron::data::DictPtr data = nullptr;
+
provider::dto::SkillStatusUpdate toIce() const;
};
}
--
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