From 48b492c451ab80f44d2d503307d5244f24fd4800 Mon Sep 17 00:00:00 2001
From: Julian Tusch <urhrf@student.kit.edu>
Date: Sat, 13 Apr 2024 05:15:23 +0200
Subject: [PATCH] changes: - formatting, cleanup - moved update skill into
FluxioSkill - implemented core mutex functionality - improved return value
and error handling - added armarx warning messages - store root profile
defaults as stringified json in fluxio values
---
.../libraries/skills/core/FluxioEdge.cpp | 47 ++-
.../libraries/skills/core/FluxioEdge.h | 11 +-
.../libraries/skills/core/FluxioNode.cpp | 16 +-
.../libraries/skills/core/FluxioNode.h | 8 +-
.../libraries/skills/core/FluxioParameter.cpp | 67 +++-
.../libraries/skills/core/FluxioParameter.h | 10 +-
.../skills/core/FluxioParameterNode.cpp | 29 +-
.../skills/core/FluxioParameterNode.h | 11 +-
.../libraries/skills/core/FluxioProfile.cpp | 4 +-
.../libraries/skills/core/FluxioProfile.h | 10 +-
.../libraries/skills/core/FluxioProvider.cpp | 4 +-
.../libraries/skills/core/FluxioProvider.h | 7 +-
.../libraries/skills/core/FluxioSkill.cpp | 309 +++++++++++++++---
.../libraries/skills/core/FluxioSkill.h | 32 +-
.../skills/core/FluxioSubSkillNode.cpp | 35 +-
.../skills/core/FluxioSubSkillNode.h | 13 +-
.../libraries/skills/core/FluxioValue.cpp | 23 +-
.../libraries/skills/core/FluxioValue.h | 10 +-
.../manager/SkillManagerComponentPlugin.cpp | 166 ++++------
.../manager/SkillManagerComponentPlugin.h | 33 +-
.../SkillManagerComponentPluginUser.cpp | 94 ++++--
.../manager/SkillManagerComponentPluginUser.h | 53 ++-
22 files changed, 703 insertions(+), 289 deletions(-)
diff --git a/source/RobotAPI/libraries/skills/core/FluxioEdge.cpp b/source/RobotAPI/libraries/skills/core/FluxioEdge.cpp
index b69c0a461..b510df20c 100644
--- a/source/RobotAPI/libraries/skills/core/FluxioEdge.cpp
+++ b/source/RobotAPI/libraries/skills/core/FluxioEdge.cpp
@@ -1,4 +1,9 @@
#include "FluxioEdge.h"
+
+#include <optional>
+
+#include <ArmarXCore/core/logging/Logging.h>
+
#include "FluxioNode.h"
#include "FluxioParameter.h"
@@ -6,9 +11,16 @@ namespace armarx
{
namespace skills
{
- manager::dto::FluxioEdge
+ std::optional<manager::dto::FluxioEdge>
FluxioEdge::toManagerIce() const
{
+ if (fromNodePtr == nullptr || fromParameterPtr == nullptr || toNodePtr == nullptr ||
+ toParameterPtr == nullptr)
+ {
+ ARMARX_WARNING << "Could not create FluxioEdge DTO";
+ return std::nullopt;
+ }
+
manager::dto::FluxioEdge ret;
ret.fromNodeId = fromNodePtr->toFluxioIdentificatorIce();
@@ -19,19 +31,34 @@ namespace armarx
return ret;
}
- FluxioEdge
+ std::optional<FluxioEdge>
FluxioEdge::FromIce(const manager::dto::FluxioEdge& i,
- std::vector<FluxioNode>& nodes,
- std::vector<FluxioParameter>& parameters)
+ std::map<std::string, FluxioNode*>& nodesMap,
+ std::map<std::string, FluxioParameter>& parametersMap)
{
+
+ skills::FluxioNode* fromNodePtr =
+ FluxioNode::FromFluxioIdentificatorIce(i.fromNodeId, nodesMap);
+ skills::FluxioParameter* fromParameterPtr =
+ FluxioParameter::FromFluxioIdentificatorIce(i.fromParameterId, parametersMap);
+ skills::FluxioNode* toNodePtr =
+ FluxioNode::FromFluxioIdentificatorIce(i.toNodeId, nodesMap);
+ skills::FluxioParameter* toParameterPtr =
+ FluxioParameter::FromFluxioIdentificatorIce(i.toParameterId, parametersMap);
+
+ if (fromNodePtr == nullptr || fromParameterPtr == nullptr || toNodePtr == nullptr ||
+ toParameterPtr == nullptr)
+ {
+ ARMARX_WARNING << "Could not create FluxioEdge";
+ return std::nullopt;
+ }
+
FluxioEdge ret;
- ret.fromNodePtr = FluxioNode::FromFluxioIdentificatorIce(i.fromNodeId, nodes);
- ret.fromParameterPtr =
- FluxioParameter::FromFluxioIdentificatorIce(i.fromParameterId, parameters);
- ret.toNodePtr = FluxioNode::FromFluxioIdentificatorIce(i.toNodeId, nodes);
- ret.toParameterPtr =
- FluxioParameter::FromFluxioIdentificatorIce(i.toParameterId, parameters);
+ ret.fromNodePtr = fromNodePtr;
+ ret.fromParameterPtr = fromParameterPtr;
+ ret.toNodePtr = toNodePtr;
+ ret.toParameterPtr = toParameterPtr;
return ret;
}
diff --git a/source/RobotAPI/libraries/skills/core/FluxioEdge.h b/source/RobotAPI/libraries/skills/core/FluxioEdge.h
index 856952964..a3a4cb251 100644
--- a/source/RobotAPI/libraries/skills/core/FluxioEdge.h
+++ b/source/RobotAPI/libraries/skills/core/FluxioEdge.h
@@ -1,7 +1,7 @@
#pragma once
-#include <vector>
#include <RobotAPI/interface/skills/SkillManagerInterface.h>
+
#include "FluxioNode.h"
#include "FluxioParameter.h"
@@ -16,11 +16,12 @@ namespace armarx
FluxioNode* toNodePtr;
FluxioParameter* toParameterPtr;
- manager::dto::FluxioEdge toManagerIce() const;
+ std::optional<manager::dto::FluxioEdge> toManagerIce() const;
- static FluxioEdge FromIce(const manager::dto::FluxioEdge& i,
- std::vector<FluxioNode>& nodes,
- std::vector<FluxioParameter>& parameters);
+ static std::optional<FluxioEdge>
+ FromIce(const manager::dto::FluxioEdge& i,
+ std::map<std::string, FluxioNode*>& nodesMap,
+ std::map<std::string, FluxioParameter>& parametersMap);
};
} // namespace skills
} // namespace armarx
diff --git a/source/RobotAPI/libraries/skills/core/FluxioNode.cpp b/source/RobotAPI/libraries/skills/core/FluxioNode.cpp
index 2e70e0203..814c6b0c1 100644
--- a/source/RobotAPI/libraries/skills/core/FluxioNode.cpp
+++ b/source/RobotAPI/libraries/skills/core/FluxioNode.cpp
@@ -1,11 +1,14 @@
#include "FluxioNode.h"
+
+#include <ArmarXCore/core/logging/Logging.h>
+
#include <RobotAPI/interface/skills/SkillManagerInterface.h>
namespace armarx
{
namespace skills
{
- manager::dto::FluxioNode
+ std::optional<manager::dto::FluxioNode>
FluxioNode::toManagerIce() const
{
manager::dto::FluxioNode ret;
@@ -40,18 +43,17 @@ namespace armarx
FluxioNode*
FluxioNode::FromFluxioIdentificatorIce(const manager::dto::FluxioIdentificator& i,
- std::vector<FluxioNode>& nodes)
+ std::map<std::string, FluxioNode*>& nodesMap)
{
- const auto& nodeIt = std::find_if(
- nodes.begin(), nodes.end(), [&i](FluxioNode const& n) { return n.nodeId == i.id; });
+ const auto& nodeIt = nodesMap.find(i.id);
- if (nodeIt == nodes.end())
+ if (nodeIt == nodesMap.end())
{
- // TODO: throw error or show warning
+ ARMARX_WARNING << "Node with id " << i.id << " not found";
return nullptr;
}
- return &(*nodeIt);
+ return nodesMap[nodeIt->first];
}
FluxioNode
diff --git a/source/RobotAPI/libraries/skills/core/FluxioNode.h b/source/RobotAPI/libraries/skills/core/FluxioNode.h
index 1e8b3302a..49df5019f 100644
--- a/source/RobotAPI/libraries/skills/core/FluxioNode.h
+++ b/source/RobotAPI/libraries/skills/core/FluxioNode.h
@@ -1,6 +1,7 @@
#pragma once
#include <string>
+
#include <RobotAPI/interface/skills/SkillManagerInterface.h>
namespace armarx
@@ -9,16 +10,19 @@ namespace armarx
{
struct FluxioNode
{
+ virtual ~FluxioNode() = default;
std::string nodeType;
std::string nodeId;
std::string name;
float xPos = 0;
float yPos = 0;
- virtual manager::dto::FluxioNode toManagerIce() const;
+ virtual std::optional<manager::dto::FluxioNode> toManagerIce() const;
manager::dto::FluxioIdentificator toFluxioIdentificatorIce() const;
- static FluxioNode* FromFluxioIdentificatorIce(const manager::dto::FluxioIdentificator& i, std::vector<FluxioNode>& nodes);
+ static FluxioNode*
+ FromFluxioIdentificatorIce(const manager::dto::FluxioIdentificator& i,
+ std::map<std::string, FluxioNode*>& nodesMap);
static FluxioNode FromIce(const manager::dto::FluxioNode& i);
};
} // namespace skills
diff --git a/source/RobotAPI/libraries/skills/core/FluxioParameter.cpp b/source/RobotAPI/libraries/skills/core/FluxioParameter.cpp
index bdc8e4086..4f0c2f0c0 100644
--- a/source/RobotAPI/libraries/skills/core/FluxioParameter.cpp
+++ b/source/RobotAPI/libraries/skills/core/FluxioParameter.cpp
@@ -1,8 +1,10 @@
#include "FluxioParameter.h"
-#include <algorithm>
-#include <vector>
+
+#include <ArmarXCore/core/logging/Logging.h>
+
#include "RobotAPI/libraries/skills/core/FluxioProfile.h"
#include <RobotAPI/interface/skills/SkillManagerInterface.h>
+
#include "FluxioValue.h"
namespace armarx
@@ -24,7 +26,15 @@ namespace armarx
skills::manager::dto::FluxioValueList ret_values;
for (const FluxioValue& value : values)
{
- ret_values.push_back(value.toManagerIce());
+ const auto& v = value.toManagerIce();
+
+ if (!v.has_value())
+ {
+ ARMARX_WARNING << "Value could not be converted.";
+ continue;
+ }
+
+ ret_values.push_back(*v);
}
ret.values = ret_values;
@@ -40,22 +50,45 @@ namespace armarx
return ret;
}
+ void
+ FluxioParameter::updateFromIce(const manager::dto::FluxioParameter& i,
+ std::map<std::string, FluxioProfile>& profilesMap)
+ {
+ name = i.name;
+ description = i.description;
+ type = i.type;
+ required = i.required;
+ isInput = i.isInput;
+
+ values.clear(); // clear old values and create them anew
+ for (const auto& value : i.values)
+ {
+ const auto& v = FluxioValue::FromIce(value, profilesMap);
+
+ if (!v.has_value())
+ {
+ ARMARX_WARNING << "Value could not be converted.";
+ continue;
+ }
+
+ values.push_back(*v);
+ }
+ }
+
FluxioParameter*
- FluxioParameter::FromFluxioIdentificatorIce(const manager::dto::FluxioIdentificator& i,
- std::vector<FluxioParameter>& parameters)
+ FluxioParameter::FromFluxioIdentificatorIce(
+ const manager::dto::FluxioIdentificator& i,
+ std::map<std::string, FluxioParameter>& parametersMap)
{
- const auto& parameterIt =
- std::find_if(parameters.begin(),
- parameters.end(),
- [&i](const FluxioParameter& p) { return p.id == i.id; });
+ const auto& parameterIt = parametersMap.find(i.id);
- if (parameterIt == parameters.end())
+ if (parameterIt == parametersMap.end())
{
- // TODO: throw error or show warning
+ ARMARX_WARNING << "Parameter with id " << i.id << " not found";
return nullptr;
}
- return &(*parameterIt);
+ return &(parametersMap[parameterIt->first]);
}
FluxioParameter
@@ -73,7 +106,15 @@ namespace armarx
for (const manager::dto::FluxioValue& value : i.values)
{
- ret.values.push_back(FluxioValue::FromIce(value, profilesMap));
+ const auto& v = FluxioValue::FromIce(value, profilesMap);
+
+ if (!v.has_value())
+ {
+ ARMARX_WARNING << "Value could not be converted.";
+ continue;
+ }
+
+ ret.values.push_back(*v);
}
return ret;
diff --git a/source/RobotAPI/libraries/skills/core/FluxioParameter.h b/source/RobotAPI/libraries/skills/core/FluxioParameter.h
index eb228686d..124d8690e 100644
--- a/source/RobotAPI/libraries/skills/core/FluxioParameter.h
+++ b/source/RobotAPI/libraries/skills/core/FluxioParameter.h
@@ -1,8 +1,10 @@
#pragma once
+#include <list>
#include <string>
-#include <vector>
+
#include <RobotAPI/interface/skills/SkillManagerInterface.h>
+
#include "FluxioValue.h"
namespace armarx
@@ -17,14 +19,16 @@ namespace armarx
std::string type;
bool required = true;
bool isInput;
- std::vector<FluxioValue> values = {};
+ std::list<FluxioValue> values = {};
manager::dto::FluxioParameter toManagerIce() const;
manager::dto::FluxioIdentificator toFluxioIdentificatorIce() const;
+ void updateFromIce(const manager::dto::FluxioParameter& i,
+ std::map<std::string, FluxioProfile>& profilesMap);
static FluxioParameter*
FromFluxioIdentificatorIce(const manager::dto::FluxioIdentificator& i,
- std::vector<FluxioParameter>& parameters);
+ std::map<std::string, FluxioParameter>& parametersMap);
static FluxioParameter FromIce(const manager::dto::FluxioParameter& i,
std::map<std::string, FluxioProfile>& profilesMap);
};
diff --git a/source/RobotAPI/libraries/skills/core/FluxioParameterNode.cpp b/source/RobotAPI/libraries/skills/core/FluxioParameterNode.cpp
index bcb68caaa..2c2aee3af 100644
--- a/source/RobotAPI/libraries/skills/core/FluxioParameterNode.cpp
+++ b/source/RobotAPI/libraries/skills/core/FluxioParameterNode.cpp
@@ -1,18 +1,24 @@
#include "FluxioParameterNode.h"
+
+#include <optional>
+
+#include <ArmarXCore/core/logging/Logging.h>
+
#include <RobotAPI/interface/skills/SkillManagerInterface.h>
+
#include "FluxioParameter.h"
namespace armarx
{
namespace skills
{
- manager::dto::FluxioNode
+ std::optional<manager::dto::FluxioNode>
FluxioParameterNode::toManagerIce() const
{
if (parameterPtr == nullptr)
{
- // TODO: throw error or show warning
- return {};
+ ARMARX_WARNING << "Parameter for Parameternode with id " << nodeId << " not set";
+ return std::nullopt;
}
manager::dto::FluxioNode ret;
@@ -31,18 +37,27 @@ namespace armarx
return ret;
}
- FluxioParameterNode
+ std::optional<FluxioParameterNode>
FluxioParameterNode::FromIce(const manager::dto::FluxioNode& i,
- std::vector<FluxioParameter>& parameters)
+ std::map<std::string, FluxioParameter>& parametersMap)
{
+
+ skills::FluxioParameter* parameterPtr =
+ FluxioParameter::FromFluxioIdentificatorIce(i.parameterId, parametersMap);
+
+ if (parameterPtr == nullptr)
+ {
+ return std::nullopt;
+ }
+
FluxioParameterNode ret;
+
ret.nodeId = i.nodeId;
ret.nodeType = i.nodeType;
ret.name = i.name;
ret.xPos = i.xPos;
ret.yPos = i.yPos;
- ret.parameterPtr =
- FluxioParameter::FromFluxioIdentificatorIce(i.parameterId, parameters);
+ ret.parameterPtr = parameterPtr;
return ret;
}
diff --git a/source/RobotAPI/libraries/skills/core/FluxioParameterNode.h b/source/RobotAPI/libraries/skills/core/FluxioParameterNode.h
index 4c227dd9a..0c31d3b49 100644
--- a/source/RobotAPI/libraries/skills/core/FluxioParameterNode.h
+++ b/source/RobotAPI/libraries/skills/core/FluxioParameterNode.h
@@ -1,7 +1,7 @@
#pragma once
-#include <vector>
#include <RobotAPI/interface/skills/SkillManagerInterface.h>
+
#include "FluxioNode.h"
#include "FluxioParameter.h"
@@ -9,14 +9,15 @@ namespace armarx
{
namespace skills
{
- struct FluxioParameterNode : FluxioNode
+ struct FluxioParameterNode : public FluxioNode
{
FluxioParameter* parameterPtr;
- manager::dto::FluxioNode toManagerIce() const override;
+ std::optional<manager::dto::FluxioNode> toManagerIce() const override;
- static FluxioParameterNode FromIce(const manager::dto::FluxioNode& i,
- std::vector<FluxioParameter>& parameters);
+ static std::optional<FluxioParameterNode>
+ FromIce(const manager::dto::FluxioNode& i,
+ std::map<std::string, FluxioParameter>& parametersMap);
};
} // namespace skills
} // namespace armarx
diff --git a/source/RobotAPI/libraries/skills/core/FluxioProfile.cpp b/source/RobotAPI/libraries/skills/core/FluxioProfile.cpp
index ea5841932..7f8b73f39 100644
--- a/source/RobotAPI/libraries/skills/core/FluxioProfile.cpp
+++ b/source/RobotAPI/libraries/skills/core/FluxioProfile.cpp
@@ -1,5 +1,7 @@
#include "FluxioProfile.h"
+
#include <ArmarXCore/core/logging/Logging.h>
+
#include <RobotAPI/interface/skills/SkillManagerInterface.h>
namespace armarx
@@ -48,7 +50,7 @@ namespace armarx
if (profilesEntry == profilesMap.end())
{
- // TODO: throw error or show warning
+ ARMARX_WARNING << "Profile with id " << i.id << " not found";
return nullptr;
}
diff --git a/source/RobotAPI/libraries/skills/core/FluxioProfile.h b/source/RobotAPI/libraries/skills/core/FluxioProfile.h
index 65a5471e6..043a502d6 100644
--- a/source/RobotAPI/libraries/skills/core/FluxioProfile.h
+++ b/source/RobotAPI/libraries/skills/core/FluxioProfile.h
@@ -1,6 +1,7 @@
#pragma once
#include <string>
+
#include <RobotAPI/interface/skills/SkillManagerInterface.h>
namespace armarx
@@ -12,13 +13,16 @@ namespace armarx
std::string id;
std::string name;
std::string description = "";
- FluxioProfile *parentPtr = nullptr;
+ FluxioProfile* parentPtr = nullptr;
manager::dto::FluxioProfile toManagerIce() const;
manager::dto::FluxioIdentificator toFluxioIdentificatorIce() const;
- static FluxioProfile* FromFluxioIdentificatorIce(const manager::dto::FluxioIdentificator& i, std::map<std::string,FluxioProfile>& profilesMap);
- static FluxioProfile FromIce(const manager::dto::FluxioProfile& i, std::map<std::string,FluxioProfile>& profilesMap);
+ static FluxioProfile*
+ FromFluxioIdentificatorIce(const manager::dto::FluxioIdentificator& i,
+ std::map<std::string, FluxioProfile>& profilesMap);
+ static FluxioProfile FromIce(const manager::dto::FluxioProfile& i,
+ std::map<std::string, FluxioProfile>& profilesMap);
};
} // namespace skills
} // namespace armarx
diff --git a/source/RobotAPI/libraries/skills/core/FluxioProvider.cpp b/source/RobotAPI/libraries/skills/core/FluxioProvider.cpp
index 82723afa6..4151de3b4 100644
--- a/source/RobotAPI/libraries/skills/core/FluxioProvider.cpp
+++ b/source/RobotAPI/libraries/skills/core/FluxioProvider.cpp
@@ -1,5 +1,7 @@
#include "FluxioProvider.h"
+#include <ArmarXCore/core/logging/Logging.h>
+
namespace armarx
{
namespace skills
@@ -35,7 +37,7 @@ namespace armarx
if (providerIt == providersMap.end())
{
- // TODO: throw error or show warning
+ ARMARX_WARNING << "Provider with id " << i.id << " not found";
return nullptr;
}
diff --git a/source/RobotAPI/libraries/skills/core/FluxioProvider.h b/source/RobotAPI/libraries/skills/core/FluxioProvider.h
index bfa749b5e..500affcea 100644
--- a/source/RobotAPI/libraries/skills/core/FluxioProvider.h
+++ b/source/RobotAPI/libraries/skills/core/FluxioProvider.h
@@ -1,6 +1,7 @@
#pragma once
#include <string>
+
#include <RobotAPI/interface/skills/SkillManagerInterface.h>
namespace armarx
@@ -11,11 +12,13 @@ namespace armarx
{
std::string id;
std::string name;
-
+
manager::dto::FluxioProvider toManagerIce() const;
manager::dto::FluxioIdentificator toFluxioIdentificatorIce() const;
- static FluxioProvider* FromFluxioIdentificatorIce(const manager::dto::FluxioIdentificator& i, std::map<std::string, FluxioProvider>& providersMap);
+ static FluxioProvider*
+ FromFluxioIdentificatorIce(const manager::dto::FluxioIdentificator& i,
+ std::map<std::string, FluxioProvider>& providersMap);
static FluxioProvider FromIce(const manager::dto::FluxioProvider& i);
};
} // namespace skills
diff --git a/source/RobotAPI/libraries/skills/core/FluxioSkill.cpp b/source/RobotAPI/libraries/skills/core/FluxioSkill.cpp
index 247bfc006..d14138cae 100644
--- a/source/RobotAPI/libraries/skills/core/FluxioSkill.cpp
+++ b/source/RobotAPI/libraries/skills/core/FluxioSkill.cpp
@@ -1,7 +1,12 @@
#include "FluxioSkill.h"
-#include <vector>
+
#include <ArmarXCore/core/logging/Logging.h>
+#include <ArmarXCore/core/time/DateTime.h>
+
+#include "RobotAPI/libraries/skills/core/FluxioParameter.h"
+#include "RobotAPI/libraries/skills/core/FluxioProvider.h"
#include <RobotAPI/interface/skills/SkillManagerInterface.h>
+
#include "FluxioEdge.h"
#include "FluxioNode.h"
#include "FluxioParameterNode.h"
@@ -11,14 +16,13 @@ namespace armarx
{
namespace skills
{
- manager::dto::FluxioSkill
+ std::optional<manager::dto::FluxioSkill>
FluxioSkill::toManagerIce() const
{
if (skillProviderPtr == nullptr)
{
- ARMARX_WARNING << "SkillProvider for Skill with id " << id
- << " not set"; // TODO: create general error message structure
- return {};
+ ARMARX_WARNING << "SkillProvider for Skill with id " << id << " not set";
+ return std::nullopt;
}
manager::dto::FluxioSkill ret;
@@ -32,42 +36,51 @@ namespace armarx
ret.skillProviderId = skillProviderPtr->toFluxioIdentificatorIce();
skills::manager::dto::FluxioParameterList ret_parameters;
- for (const auto& parameter : parameters)
+ for (const auto& [id, parameter] : parameters)
{
ret_parameters.push_back(parameter.toManagerIce());
}
ret.parameters = ret_parameters;
skills::manager::dto::FluxioNodeList ret_nodes;
- if (nodesPtr == nullptr)
+ skills::manager::dto::FluxioEdgeList ret_edges;
+ if (native)
{
ret.nodesHasValue = false;
+ ret.edgesHasValue = false;
}
else
{
ret.nodesHasValue = true;
+ ret.edgesHasValue = true;
- for (const auto& node : *nodesPtr)
+ for (const auto& [id, nodePtr] : nodes)
{
- ret_nodes.push_back(node.toManagerIce());
- }
- }
- ret.nodes = ret_nodes;
+ const auto& node = nodePtr->toManagerIce();
- skills::manager::dto::FluxioEdgeList ret_edges;
- if (edgesPtr == nullptr)
- {
- ret.edgesHasValue = false;
- }
- else
- {
- ret.edgesHasValue = true;
+ if (!node.has_value())
+ {
+ ARMARX_WARNING << "Node with id " << id << " could not be converted";
+ continue;
+ }
+
+ ret_nodes.push_back(*node);
+ }
- for (const auto& edge : *edgesPtr)
+ for (const auto& edge : edges)
{
- ret_edges.push_back(edge.toManagerIce());
+ const auto& edgeDTO = edge.toManagerIce();
+
+ if (!edgeDTO.has_value())
+ {
+ ARMARX_WARNING << "Edge could not be converted";
+ continue;
+ }
+
+ ret_edges.push_back(*edgeDTO);
}
}
+ ret.nodes = ret_nodes;
ret.edges = ret_edges;
return ret;
@@ -84,6 +97,170 @@ namespace armarx
return ret;
}
+ bool
+ FluxioSkill::updateFromIce(const manager::dto::FluxioSkill& i,
+ std::map<std::string, FluxioProvider>& providersMap,
+ std::map<std::string, FluxioProfile>& profilesMap,
+ std::map<std::string, FluxioSkill>& skillsMap)
+ {
+ if (id != i.id)
+ {
+ ARMARX_WARNING << "Trying to update Skill with id " << id << " with Skill with id "
+ << i.id;
+ return false;
+ }
+
+ if (native != i.native)
+ {
+ ARMARX_WARNING << "Trying to update native state of Skill with id " << id;
+ return false;
+ }
+
+ // TODO: add corrupted flag to FluxioSkill to indicate invalid states
+
+ name = i.name;
+ description = i.description;
+ lastChanged = armarx::DateTime::Now().toDateTimeString();
+ executable = i.executable;
+ skillProviderPtr =
+ skills::FluxioProvider::FromFluxioIdentificatorIce(i.skillProviderId, providersMap);
+
+ // parameters
+ // create a parameter dto map for convenience
+ std::map<std::string, manager::dto::FluxioParameter> parameterDTOMap;
+ for (const auto& parameter : i.parameters)
+ {
+ parameterDTOMap[parameter.id] = parameter;
+ }
+
+ // find parameters to delete
+ std::list<std::string> parameterIdsToDelete;
+ for (const auto& [id, param] : parameters)
+ {
+ const auto& paramIt = parameterDTOMap.find(id);
+ if (paramIt == parameterDTOMap.end())
+ {
+ parameterIdsToDelete.push_back(id);
+ }
+ }
+
+ // handle parameter deletion
+ for (const std::string& paramId : parameterIdsToDelete)
+ {
+ for (auto& [k, s] : skillsMap)
+ {
+ s.deleteParameter(paramId, id);
+ }
+ }
+
+ for (const auto& [id, paramDTO] : parameterDTOMap)
+ {
+ const auto& paramIt = parameters.find(id);
+ if (paramIt == parameters.end()) // add new parameter
+ {
+ parameters[id] = FluxioParameter::FromIce(paramDTO, profilesMap);
+ }
+ else // update existing parameter
+ {
+ parameters[id].updateFromIce(paramDTO, profilesMap);
+ }
+ }
+
+ // nodes
+ if (i.nodesHasValue)
+ {
+ nodes.clear(); // create all nodes anew
+ for (const manager::dto::FluxioNode& node : i.nodes)
+ {
+ FluxioNode* n = CreateNode(node, parameters, skillsMap);
+
+ if (n != nullptr)
+ {
+ nodes[n->nodeId] = n;
+ }
+ }
+ }
+
+ // edges
+ if (i.edgesHasValue)
+ {
+ edges.clear(); // create all edges anew
+ for (const manager::dto::FluxioEdge& edge : i.edges)
+ {
+ const auto& e = FluxioEdge::FromIce(edge, nodes, parameters);
+
+ if (e.has_value())
+ {
+ edges.push_back(*e);
+ }
+ else
+ {
+ ARMARX_WARNING << "Edge could not be converted";
+ }
+ }
+ }
+
+ return true;
+ }
+
+ void
+ FluxioSkill::deleteParameter(const std::string& parameterId, const std::string& skillId)
+ {
+ // check wether the parameter belongs to this skill instance or not
+ if (id == skillId)
+ {
+ parameters.erase(parameterId);
+ edges.remove_if(
+ [parameterId](const FluxioEdge& e) {
+ return e.fromParameterPtr->id == parameterId ||
+ e.toParameterPtr->id == parameterId;
+ });
+ }
+ else
+ {
+ // find relevant subskillnodes
+ std::list<std::string> subSkillNodeIds;
+ for (const auto& [nodeId, nodePtr] : nodes)
+ {
+ if (nodePtr->nodeType != "SUBSKILL")
+ {
+ continue;
+ }
+
+ // get subskillnode from pointer
+ auto* subSkillNode = dynamic_cast<FluxioSubSkillNode*>(nodePtr);
+
+ if (subSkillNode->skillPtr->id == skillId)
+ {
+ subSkillNodeIds.push_back(nodeId);
+ }
+ }
+
+ // remove relevant edges
+ edges.remove_if(
+ [parameterId, subSkillNodeIds](const FluxioEdge& e)
+ {
+ if (e.fromParameterPtr->id == parameterId &&
+ std::find(subSkillNodeIds.begin(),
+ subSkillNodeIds.end(),
+ e.fromNodePtr->nodeId) != subSkillNodeIds.end())
+ {
+ return true;
+ }
+
+ if (e.toParameterPtr->id == parameterId &&
+ std::find(subSkillNodeIds.begin(),
+ subSkillNodeIds.end(),
+ e.toNodePtr->nodeId) != subSkillNodeIds.end())
+ {
+ return true;
+ }
+
+ return false;
+ });
+ }
+ }
+
FluxioSkill*
FluxioSkill::FromFluxioIdentificatorIce(const manager::dto::FluxioIdentificator& i,
std::map<std::string, FluxioSkill>& skillsMap)
@@ -92,19 +269,27 @@ namespace armarx
if (skillIt == skillsMap.end())
{
- // TODO: throw error or show warning
+ ARMARX_WARNING << "Skill with id " << i.id << " not found";
return nullptr;
}
return &(skillsMap[skillIt->first]);
}
- FluxioSkill
+ std::optional<FluxioSkill>
FluxioSkill::FromIce(const manager::dto::FluxioSkill& i,
std::map<std::string, FluxioProvider>& providersMap,
std::map<std::string, FluxioProfile>& profilesMap,
std::map<std::string, FluxioSkill>& skillsMap)
{
+ const auto& providerPtr =
+ FluxioProvider::FromFluxioIdentificatorIce(i.skillProviderId, providersMap);
+ if (providerPtr == nullptr)
+ {
+ ARMARX_WARNING << "Provider for Skill with id " << i.id << " not found";
+ return std::nullopt;
+ }
+
FluxioSkill ret;
ret.id = i.id;
@@ -113,54 +298,82 @@ namespace armarx
ret.lastChanged = i.lastChanged;
ret.executable = i.executable;
ret.native = i.native;
- ret.skillProviderPtr =
- FluxioProvider::FromFluxioIdentificatorIce(i.skillProviderId, providersMap);
+ ret.skillProviderPtr = providerPtr;
for (const manager::dto::FluxioParameter& parameter : i.parameters)
{
- ret.parameters.push_back(FluxioParameter::FromIce(parameter, profilesMap));
+ skills::FluxioParameter param = FluxioParameter::FromIce(parameter, profilesMap);
+ ret.parameters[param.id] = param;
+ }
+
+ ret.nodes = {};
+ ret.edges = {};
+ if (i.native)
+ {
+ return ret; // return early (native skills have no nodes and edges)
}
if (i.nodesHasValue)
{
- ret.nodesPtr = {};
- for (const auto& node : i.nodes)
+ for (const manager::dto::FluxioNode& node : i.nodes)
{
- if (node.nodeType == "PARAMETER")
- {
- ret.nodesPtr->push_back(FluxioParameterNode::FromIce(node, ret.parameters));
- }
- else if (node.nodeType == "SUBSKILL")
+ FluxioNode* n = CreateNode(node, ret.parameters, skillsMap);
+
+ if (n != nullptr)
{
- ret.nodesPtr->push_back(FluxioSubSkillNode::FromIce(node, skillsMap));
+ ret.nodes[n->nodeId] = n;
}
- else
+ }
+ }
+
+ if (i.edgesHasValue)
+ {
+ for (const manager::dto::FluxioEdge& edge : i.edges)
+ {
+ const auto& e = FluxioEdge::FromIce(edge, ret.nodes, ret.parameters);
+
+ if (e.has_value())
{
- // TODO: default case ?
- // ignore for now
+ ret.edges.push_back(*e);
}
}
}
- else
+
+ return ret;
+ }
+
+ skills::FluxioNode*
+ FluxioSkill::CreateNode(const manager::dto::FluxioNode& i,
+ std::map<std::string, FluxioParameter>& parametersMap,
+ std::map<std::string, FluxioSkill>& skillsMap)
+ {
+ if (i.nodeType == "PARAMETER")
{
- ret.nodesPtr = nullptr;
- }
+ const auto& n = FluxioParameterNode::FromIce(i, parametersMap);
- if (i.edgesHasValue)
+ if (n.has_value())
+ {
+ return new FluxioParameterNode(*n);
+ }
+
+ ARMARX_WARNING << "ParameterNode with id " << i.nodeId << "could not be converted";
+ }
+ else if (i.nodeType == "SUBSKILL")
{
- ret.edgesPtr = {};
- for (const manager::dto::FluxioEdge& edge : i.edges)
+ const auto& n = FluxioSubSkillNode::FromIce(i, skillsMap);
+
+ if (n.has_value())
{
- ret.edgesPtr->push_back(
- FluxioEdge::FromIce(edge, *ret.nodesPtr, ret.parameters));
+ return new FluxioSubSkillNode(*n);
}
+ ARMARX_WARNING << "SubSkillNode with id " << i.nodeId << "could not be converted";
}
else
{
- ret.edgesPtr = nullptr;
+ ARMARX_INFO << "Node type " << i.nodeType << " not supported yet. Ignoring.";
}
- return ret;
+ return nullptr;
}
} // namespace skills
} // namespace armarx
diff --git a/source/RobotAPI/libraries/skills/core/FluxioSkill.h b/source/RobotAPI/libraries/skills/core/FluxioSkill.h
index 87d890689..6893707ca 100644
--- a/source/RobotAPI/libraries/skills/core/FluxioSkill.h
+++ b/source/RobotAPI/libraries/skills/core/FluxioSkill.h
@@ -1,8 +1,10 @@
#pragma once
+#include <list>
#include <string>
-#include <vector>
+
#include <RobotAPI/interface/skills/SkillManagerInterface.h>
+
#include "FluxioEdge.h"
#include "FluxioNode.h"
#include "FluxioParameter.h"
@@ -17,25 +19,35 @@ namespace armarx
std::string id;
std::string name;
std::string description = "";
- std::string lastChanged; // TODO: chose a format to store in (that works with armarx)
+ std::string lastChanged;
bool executable =
false; // TODO: change from explicit to implicit storing of executable state
bool native = true;
FluxioProvider* skillProviderPtr;
- std::vector<FluxioParameter> parameters = {};
- std::vector<FluxioNode>* nodesPtr = nullptr;
- std::vector<FluxioEdge>* edgesPtr = nullptr;
+ std::map<std::string, FluxioParameter> parameters = {};
+ std::map<std::string, FluxioNode*> nodes = {};
+ std::list<FluxioEdge> edges = {};
- manager::dto::FluxioSkill toManagerIce() const;
+ std::optional<manager::dto::FluxioSkill> toManagerIce() const;
manager::dto::FluxioIdentificator toFluxioIdentificatorIce() const;
+ bool updateFromIce(const manager::dto::FluxioSkill& i,
+ std::map<std::string, FluxioProvider>& providersMap,
+ std::map<std::string, FluxioProfile>& profilesMap,
+ std::map<std::string, FluxioSkill>& skillsMap);
+ void deleteParameter(const std::string& parameterId, const std::string& skillId);
static FluxioSkill*
FromFluxioIdentificatorIce(const manager::dto::FluxioIdentificator& i,
std::map<std::string, FluxioSkill>& skillsMap);
- static FluxioSkill FromIce(const manager::dto::FluxioSkill& i,
- std::map<std::string, FluxioProvider>& providersMap,
- std::map<std::string, FluxioProfile>& profilesMap,
- std::map<std::string, FluxioSkill>& skillsMap);
+ static std::optional<FluxioSkill>
+ FromIce(const manager::dto::FluxioSkill& i,
+ std::map<std::string, FluxioProvider>& providersMap,
+ std::map<std::string, FluxioProfile>& profilesMap,
+ std::map<std::string, FluxioSkill>& skillsMap);
+ static skills::FluxioNode*
+ CreateNode(const manager::dto::FluxioNode& i,
+ std::map<std::string, FluxioParameter>& parametersMap,
+ std::map<std::string, FluxioSkill>& skillsMap);
};
} // namespace skills
} // namespace armarx
diff --git a/source/RobotAPI/libraries/skills/core/FluxioSubSkillNode.cpp b/source/RobotAPI/libraries/skills/core/FluxioSubSkillNode.cpp
index 20eeb6259..a9df3c92b 100644
--- a/source/RobotAPI/libraries/skills/core/FluxioSubSkillNode.cpp
+++ b/source/RobotAPI/libraries/skills/core/FluxioSubSkillNode.cpp
@@ -1,18 +1,22 @@
#include "FluxioSubSkillNode.h"
-#include "FluxioSkill.h"
+
+#include <ArmarXCore/core/logging/Logging.h>
+
#include <RobotAPI/interface/skills/SkillManagerInterface.h>
+#include "FluxioSkill.h"
+
namespace armarx
{
namespace skills
{
- manager::dto::FluxioNode
+ std::optional<manager::dto::FluxioNode>
FluxioSubSkillNode::toManagerIce() const
{
- if(skillPtr == nullptr)
+ if (skillPtr == nullptr)
{
- // TODO: throw error or show warning
- return {};
+ ARMARX_WARNING << "Skill for SubSkillNode with id " << nodeId << " not set";
+ return std::nullopt;
}
manager::dto::FluxioNode ret;
@@ -21,7 +25,7 @@ namespace armarx
ret.name = name;
ret.xPos = xPos;
ret.yPos = yPos;
-
+
manager::dto::FluxioIdentificator paramId;
paramId.id = "";
paramId.hint = "";
@@ -32,17 +36,28 @@ namespace armarx
return ret;
}
- FluxioSubSkillNode FluxioSubSkillNode::FromIce(const manager::dto::FluxioNode& i, std::map<std::string, FluxioSkill>& skillsMap)
+ std::optional<FluxioSubSkillNode>
+ FluxioSubSkillNode::FromIce(const manager::dto::FluxioNode& i,
+ std::map<std::string, FluxioSkill>& skillsMap)
{
+ skills::FluxioSkill* skillPtr =
+ FluxioSkill::FromFluxioIdentificatorIce(i.skillId, skillsMap);
+
+ if (skillPtr == nullptr)
+ {
+ ARMARX_WARNING << "Skill for SubSkillNode with id " << i.nodeId << " not found";
+ return std::nullopt;
+ }
+
FluxioSubSkillNode ret;
ret.nodeId = i.nodeId;
ret.nodeType = i.nodeType;
ret.name = i.name;
ret.xPos = i.xPos;
ret.yPos = i.yPos;
- ret.skillPtr = FluxioSkill::FromFluxioIdentificatorIce(i.skillId, skillsMap);
+ ret.skillPtr = skillPtr;
return ret;
}
- } // namespace skills
-} // namespace armarx
+ } // namespace skills
+} // namespace armarx
diff --git a/source/RobotAPI/libraries/skills/core/FluxioSubSkillNode.h b/source/RobotAPI/libraries/skills/core/FluxioSubSkillNode.h
index a8a3f834c..ff2cc1ad4 100644
--- a/source/RobotAPI/libraries/skills/core/FluxioSubSkillNode.h
+++ b/source/RobotAPI/libraries/skills/core/FluxioSubSkillNode.h
@@ -1,20 +1,23 @@
#pragma once
+#include <RobotAPI/interface/skills/SkillManagerInterface.h>
+
#include "FluxioNode.h"
#include "FluxioSkill.h"
-#include <RobotAPI/interface/skills/SkillManagerInterface.h>
namespace armarx
{
namespace skills
{
- struct FluxioSubSkillNode : FluxioNode
+ struct FluxioSubSkillNode : public FluxioNode
{
- FluxioSkill *skillPtr;
+ FluxioSkill* skillPtr;
- manager::dto::FluxioNode toManagerIce() const override;
+ std::optional<manager::dto::FluxioNode> toManagerIce() const override;
- static FluxioSubSkillNode FromIce(const manager::dto::FluxioNode& i, std::map<std::string, FluxioSkill>& skillsMap);
+ static std::optional<FluxioSubSkillNode>
+ FromIce(const manager::dto::FluxioNode& i,
+ std::map<std::string, FluxioSkill>& skillsMap);
};
} // namespace skills
} // namespace armarx
diff --git a/source/RobotAPI/libraries/skills/core/FluxioValue.cpp b/source/RobotAPI/libraries/skills/core/FluxioValue.cpp
index b4947c67c..3fa4fdba7 100644
--- a/source/RobotAPI/libraries/skills/core/FluxioValue.cpp
+++ b/source/RobotAPI/libraries/skills/core/FluxioValue.cpp
@@ -1,19 +1,24 @@
#include "FluxioValue.h"
+
+#include <optional>
+
+#include <ArmarXCore/core/logging/Logging.h>
+
#include "FluxioProfile.h"
namespace armarx
{
namespace skills
{
- manager::dto::FluxioValue
+ std::optional<manager::dto::FluxioValue>
FluxioValue::toManagerIce() const
{
manager::dto::FluxioValue ret;
if (profilePtr == nullptr)
{
- // TODO: throw exception
- return {};
+ ARMARX_WARNING << "Profile not set.";
+ return std::nullopt;
}
ret.profileId = profilePtr->toFluxioIdentificatorIce();
@@ -22,13 +27,21 @@ namespace armarx
return ret;
}
- FluxioValue
+ std::optional<FluxioValue>
FluxioValue::FromIce(const manager::dto::FluxioValue& i,
std::map<std::string, FluxioProfile>& profilesMap)
{
+ FluxioProfile* profilePtr =
+ FluxioProfile::FromFluxioIdentificatorIce(i.profileId, profilesMap);
+
+ if (profilePtr == nullptr)
+ {
+ return std::nullopt;
+ }
+
FluxioValue ret;
- ret.profilePtr = FluxioProfile::FromFluxioIdentificatorIce(i.profileId, profilesMap);
+ ret.profilePtr = profilePtr;
ret.content = i.content;
return ret;
diff --git a/source/RobotAPI/libraries/skills/core/FluxioValue.h b/source/RobotAPI/libraries/skills/core/FluxioValue.h
index b644790c0..9c3dea431 100644
--- a/source/RobotAPI/libraries/skills/core/FluxioValue.h
+++ b/source/RobotAPI/libraries/skills/core/FluxioValue.h
@@ -1,7 +1,9 @@
#pragma once
#include <string>
+
#include <RobotAPI/interface/skills/SkillManagerInterface.h>
+
#include "FluxioProfile.h"
namespace armarx
@@ -10,12 +12,14 @@ namespace armarx
{
struct FluxioValue
{
- FluxioProfile *profilePtr;
+ FluxioProfile* profilePtr;
std::string content;
- manager::dto::FluxioValue toManagerIce() const;
+ std::optional<manager::dto::FluxioValue> toManagerIce() const;
- static FluxioValue FromIce(const manager::dto::FluxioValue& i, std::map<std::string, FluxioProfile>& profilesMap);
+ static std::optional<FluxioValue>
+ FromIce(const manager::dto::FluxioValue& i,
+ std::map<std::string, FluxioProfile>& profilesMap);
};
} // namespace skills
} // namespace armarx
diff --git a/source/RobotAPI/libraries/skills/manager/SkillManagerComponentPlugin.cpp b/source/RobotAPI/libraries/skills/manager/SkillManagerComponentPlugin.cpp
index 69d34fda0..492146c74 100644
--- a/source/RobotAPI/libraries/skills/manager/SkillManagerComponentPlugin.cpp
+++ b/source/RobotAPI/libraries/skills/manager/SkillManagerComponentPlugin.cpp
@@ -1,8 +1,8 @@
#include "SkillManagerComponentPlugin.h"
+#include <list>
#include <optional>
#include <string>
-#include <list>
#include <tuple>
#include <IceUtil/UUID.h>
@@ -15,6 +15,8 @@
#include "RobotAPI/libraries/skills/core/FluxioProfile.h"
#include "RobotAPI/libraries/skills/core/FluxioProvider.h"
+#include "RobotAPI/libraries/skills/core/FluxioValue.h"
+#include <RobotAPI/libraries/aron/converter/json/NLohmannJSONConverter.h>
#include <RobotAPI/libraries/skills/core/SkillID.h>
#include <RobotAPI/libraries/skills/core/SkillStatusUpdate.h>
#include <RobotAPI/libraries/skills/core/error/Exception.h>
@@ -595,28 +597,35 @@ namespace armarx::plugins
return ret;
}
- //** Fluxio related methods
+ //****************************//
+ //** Fluxio related methods **//
+ //****************************//
/**
* @brief converts parametersType or resultType from skilldescription to fluxio parameters
- * @param ret the vector to insert the fluxio parameters into
+ * @param ret the map to insert the fluxio parameters into
* @param ptr the aron object ptr to convert (this is either skillDescription.parametersType or skillDescription.resultType)
* @param isInput whether the parameters are input parameters or output parameters
- */
- void SkillManagerComponentPlugin::convertAronObjectPtrToFluxioParameters(std::vector<skills::FluxioParameter>& ret, const aron::type::ObjectPtr& ptr, bool isInput)
+ */
+ void
+ SkillManagerComponentPlugin::convertAronObjectPtrToFluxioParameters(
+ std::map<std::string, skills::FluxioParameter>& ret,
+ const aron::type::ObjectPtr& ptr,
+ bool isInput)
{
- for (const auto& [name, typeInfo]: ptr->getMemberTypes())
+ for (const auto& [name, typeInfo] : ptr->getMemberTypes())
{
skills::FluxioParameter p;
p.id = name;
p.name = name;
- p.description = typeInfo->getFullName(); // Full type name may contain some extra info like dimensions etc. Also, there is no description for parameters yet.
+ // Full type name may contain some extra info like dimensions etc.
+ p.description = typeInfo->getFullName();
p.type = typeInfo->getShortName();
p.required = (typeInfo->getMaybe() == 0);
p.isInput = isInput;
- p.values = {}; // TODO: insert root profile defaults here
+ p.values = {}; // these are inserted later
- ret.push_back(p);
+ ret[p.id] = p;
}
}
@@ -664,30 +673,38 @@ namespace armarx::plugins
if (skillDescription.parametersType != nullptr)
{
// input parameters
- convertAronObjectPtrToFluxioParameters(s.parameters, skillDescription.parametersType, true);
+ convertAronObjectPtrToFluxioParameters(
+ s.parameters, skillDescription.parametersType, true);
}
if (skillDescription.resultType != nullptr)
{
// output parameters
- convertAronObjectPtrToFluxioParameters(s.parameters, skillDescription.resultType, false);
+ convertAronObjectPtrToFluxioParameters(
+ s.parameters, skillDescription.resultType, false);
}
- if(skillDescription.rootProfileDefaults != nullptr){
- const skills::FluxioProfile& rootProfile = fluxioDC.profiles["root"];
+ if (skillDescription.rootProfileDefaults != nullptr)
+ {
+ skills::FluxioProfile* rootProfilePtr = &fluxioDC.profiles["root"];
- for (auto [k, v]: skillDescription.rootProfileDefaults->getElements())
+ for (auto [k, v] : skillDescription.rootProfileDefaults->getElements())
{
- // TODO: find a way to read the actual value from v (aron::data::variant)
- // TODO: create Fluxio Value with root profile and add it to the corresponding parameter´s values vector
+ // use NLohmannJSONConverter to generate the json representation of the value
+ auto json =
+ aron::data::converter::AronNlohmannJSONConverter::ConvertToNlohmannJSON(v);
- // aron converter json NLohmannJSONConverter.h
- ARMARX_WARNING << "rootProfileDefaults: (" << k << ", " << v->getFullName() << ")";
+ skills::FluxioValue val;
+ val.profilePtr = rootProfilePtr;
+ val.content = json.dump();
+
+ s.parameters[k].values.push_back(val);
}
}
- s.edgesPtr = nullptr;
- s.nodesPtr = nullptr;
+ // left empty because native skills have neither nodes nor edges
+ s.edges = {};
+ s.nodes = {};
fluxioDC.skills[s.id] = s;
}
@@ -707,69 +724,6 @@ namespace armarx::plugins
return std::nullopt;
}
- void
- SkillManagerComponentPlugin::updateSkill(const std::string& userId, const skills::FluxioSkill& skill)
- {
- // TODO: check if mutex is held by user
-
- const auto& skillsEntry = fluxioDC.skills.find(skill.id);
- if (skillsEntry == fluxioDC.skills.end())
- {
- return;
- }
- skills::FluxioSkill& oldSkill = skillsEntry->second;
- oldSkill.name = skill.name;
- oldSkill.description = skill.description;
- oldSkill.lastChanged = armarx::DateTime::Now().toDateTimeString();
- oldSkill.executable = skill.executable;
- // oldSkill->native = skill.native; Not changeable
-
- // ---update the parameters lists entirelys
- std::list<std::string> toRemoveIds;
- // fill the toRemoveIds vector with all old skills parameters
- for (const auto& parameter : oldSkill.parameters)
- {
- toRemoveIds.push_back(parameter.id);
- }
- for (const auto& parameter : skill.parameters)
- {
- const auto& oldParameter = std::find_if(oldSkill.parameters.begin(),
- oldSkill.parameters.end(),
- [¶meter](const skills::FluxioParameter& p)
- { return p.id == parameter.id; });
- if (oldParameter != oldSkill.parameters.end())
- {
- oldParameter->name = parameter.name;
- oldParameter->description = parameter.description;
- oldParameter->type = parameter.type;
- oldParameter->required = parameter.required;
- oldParameter->isInput = parameter.isInput;
- oldParameter->values = parameter.values; // TODO: Make it right
- // remove the id from the toRemoveIds vector
- toRemoveIds.erase(std::remove(toRemoveIds.begin(), toRemoveIds.end(), parameter.id),
- toRemoveIds.end());
- }
- else
- {
- oldSkill.parameters.push_back(parameter);
- }
- }
- // remove all parameters that are in the toRemoveIds vector
- for (const auto& id : toRemoveIds)
- {
- oldSkill.parameters.erase(std::remove_if(oldSkill.parameters.begin(),
- oldSkill.parameters.end(),
- [&id](const skills::FluxioParameter& p)
- { return p.id == id; }),
- oldSkill.parameters.end());
- }
- // --- end of update the parameters lists entirely
-
- oldSkill.skillProviderPtr = skill.skillProviderPtr;
- oldSkill.edgesPtr = skill.edgesPtr;
- oldSkill.nodesPtr = skill.nodesPtr;
- }
-
void
SkillManagerComponentPlugin::removeSkill(const std::string& id)
{
@@ -777,23 +731,25 @@ namespace armarx::plugins
}
bool
- SkillManagerComponentPlugin::getSkillMutex(const std::string& skillId, const std::string& userId)
+ SkillManagerComponentPlugin::getSkillMutex(const std::string& skillId,
+ const std::string& userId)
{
- return setEditFluxioSkillMutex(true,userId,skillId);
-
+ return setEditFluxioSkillMutex(true, userId, skillId);
}
void
- SkillManagerComponentPlugin::deleteSkillMutex(const std::string& skillId, const std::string& userId)
+ SkillManagerComponentPlugin::deleteSkillMutex(const std::string& skillId,
+ const std::string& userId)
{
- setEditFluxioSkillMutex(false,userId,skillId); // ignore return value for now
+ setEditFluxioSkillMutex(false, userId, skillId); // ignore return value for now
}
void
- SkillManagerComponentPlugin::removeSkillParameter(const std::string& userId, const std::string& skillId, const std::string& parameterId)
+ SkillManagerComponentPlugin::removeSkillParameter(const std::string& userId,
+ const std::string& skillId,
+ const std::string& parameterId)
{
// TODO: check if mutex is held by user
-
}
std::vector<skills::FluxioProfile>
@@ -898,7 +854,9 @@ namespace armarx::plugins
}
std::optional<skills::FluxioSkill>
- SkillManagerComponentPlugin::addSkillToProvider(const std::string& userId, const std::string& providerId, const skills::FluxioSkill& skill)
+ SkillManagerComponentPlugin::addSkillToProvider(const std::string& userId,
+ const std::string& providerId,
+ const skills::FluxioSkill& skill)
{
// check if the provider exists
const auto& providerIt = fluxioDC.providers.find(providerId);
@@ -914,17 +872,22 @@ namespace armarx::plugins
fluxioDC.skills[id].lastChanged = armarx::DateTime::Now().toDateTimeString();
// set mutex
- setEditFluxioSkillMutex(true,userId,id);
+ setEditFluxioSkillMutex(true, userId, id);
return fluxioDC.skills[id];
}
- bool SkillManagerComponentPlugin::setEditFluxioSkillMutex(bool aquireMutex,const std::string& userId, const std::string& skillId){
+ bool // TODO: add armarx info messages
+ SkillManagerComponentPlugin::setEditFluxioSkillMutex(bool aquireMutex,
+ const std::string& userId,
+ const std::string& skillId)
+ {
const auto& skillMutexIt = fluxioDC.skillMutexMap.find(skillId);
-
+
// aquire mutex
- if(aquireMutex){
- if(skillMutexIt == fluxioDC.skillMutexMap.end())
+ if (aquireMutex)
+ {
+ if (skillMutexIt == fluxioDC.skillMutexMap.end())
{
// skill is free, set mutex
fluxioDC.skillMutexMap[skillId] = std::make_tuple(userId, armarx::DateTime::Now());
@@ -932,7 +895,7 @@ namespace armarx::plugins
}
// skill is already locked
- if (std::get<0>(fluxioDC.skillMutexMap[skillId]) == userId)
+ if (std::get<0>(fluxioDC.skillMutexMap[skillId]) == userId)
{
// user already holds the mutex -> reset timestamp / prolong mutex
std::get<1>(fluxioDC.skillMutexMap[skillId]) = armarx::DateTime::Now();
@@ -940,20 +903,21 @@ namespace armarx::plugins
}
// another user holds the mutex -> is it still valid ?
- armarx::Duration elapsedTime = armarx::DateTime::Now() - std::get<1>(fluxioDC.skillMutexMap[skillId]);
- if (elapsedTime.toMinutes() > fluxioDC.mutexTimeout)
+ armarx::Duration elapsedTime =
+ armarx::DateTime::Now() - std::get<1>(fluxioDC.skillMutexMap[skillId]);
+ if (elapsedTime.toMinutes() > fluxioDC.mutexTimeout)
{
// mutex invalid, requesting user gets the mutex instead
fluxioDC.skillMutexMap[skillId] = std::make_tuple(userId, armarx::DateTime::Now());
return true;
}
-
+
// mutex could not be aquired
return false;
}
// remove mutex
- if( skillMutexIt == fluxioDC.skillMutexMap.end())
+ if (skillMutexIt == fluxioDC.skillMutexMap.end())
{
// skill is already free
return true;
diff --git a/source/RobotAPI/libraries/skills/manager/SkillManagerComponentPlugin.h b/source/RobotAPI/libraries/skills/manager/SkillManagerComponentPlugin.h
index b7e4591a0..02a5f98e2 100644
--- a/source/RobotAPI/libraries/skills/manager/SkillManagerComponentPlugin.h
+++ b/source/RobotAPI/libraries/skills/manager/SkillManagerComponentPlugin.h
@@ -2,6 +2,7 @@
#include <mutex>
#include <string>
+
#include <ArmarXCore/core/ComponentPlugin.h>
#include <ArmarXCore/core/ManagedIceObject.h>
#include <ArmarXCore/core/time/DateTime.h>
@@ -65,21 +66,23 @@ namespace armarx::plugins
skills::ProviderID getFirstProviderNameThatHasSkill(const skills::SkillID& skillid);
- //** Fluxio related methods
+ //****************************//
+ //** Fluxio related methods **//
+ //****************************//
std::vector<skills::FluxioSkill> getSkillList();
std::optional<skills::FluxioSkill> getSkill(const std::string& id);
- void updateSkill(const std::string& userId, const skills::FluxioSkill& skill);
-
void removeSkill(const std::string& id);
bool getSkillMutex(const std::string& skillId, const std::string& userId);
void deleteSkillMutex(const std::string& skillId, const std::string& userId);
- void removeSkillParameter(const std::string& userId, const std::string& skillId, const std::string& parameterId);
+ void removeSkillParameter(const std::string& userId,
+ const std::string& skillId,
+ const std::string& parameterId);
std::vector<skills::FluxioProfile> getProfileList();
@@ -95,10 +98,11 @@ namespace armarx::plugins
std::optional<std::vector<skills::FluxioSkill>> getSkillsOfProvider(const std::string& id);
- std::optional<skills::FluxioSkill> addSkillToProvider(const std::string& userId, const std::string& providerId, const skills::FluxioSkill& skill);
+ std::optional<skills::FluxioSkill> addSkillToProvider(const std::string& userId,
+ const std::string& providerId,
+ const skills::FluxioSkill& skill);
private:
-
struct FluxioDataCollector
{
std::map<std::string, skills::FluxioSkill> skills = {};
@@ -116,14 +120,21 @@ namespace armarx::plugins
std::map<skills::ProviderID, skills::provider::dti::SkillProviderInterfacePrx>
skillProviderMap;
- template<typename S, typename T> std::vector<T> convertMapValuesToVector(std::map<S, T>& map);
+ template <typename S, typename T>
+ std::vector<T> convertMapValuesToVector(std::map<S, T>& map);
- static void convertAronObjectPtrToFluxioParameters(std::vector<skills::FluxioParameter>& ret, const aron::type::ObjectPtr& ptr, bool isInput);
+ static void
+ convertAronObjectPtrToFluxioParameters(std::map<std::string, skills::FluxioParameter>& ret,
+ const aron::type::ObjectPtr& ptr,
+ bool isInput);
- template<typename T>
- void replaceVectorContent(std::vector<T>& originalVector, const std::vector<T>& replacementVector);
+ template <typename T>
+ void replaceVectorContent(std::vector<T>& originalVector,
+ const std::vector<T>& replacementVector);
- bool setEditFluxioSkillMutex(bool aquireMutex,const std::string& userId, const std::string& skillId);
+ bool setEditFluxioSkillMutex(bool aquireMutex,
+ const std::string& userId,
+ const std::string& skillId);
friend class armarx::SkillManagerComponentPluginUser;
};
diff --git a/source/RobotAPI/libraries/skills/manager/SkillManagerComponentPluginUser.cpp b/source/RobotAPI/libraries/skills/manager/SkillManagerComponentPluginUser.cpp
index b907f5e27..9c8973c88 100644
--- a/source/RobotAPI/libraries/skills/manager/SkillManagerComponentPluginUser.cpp
+++ b/source/RobotAPI/libraries/skills/manager/SkillManagerComponentPluginUser.cpp
@@ -1,6 +1,9 @@
#include "SkillManagerComponentPluginUser.h"
+
#include <IceUtil/Optional.h>
+#include <ArmarXCore/core/logging/Logging.h>
+
#include "RobotAPI/libraries/skills/core/FluxioProfile.h"
#include "RobotAPI/libraries/skills/core/FluxioProvider.h"
#include <RobotAPI/interface/skills/SkillManagerInterface.h>
@@ -149,7 +152,9 @@ namespace armarx
return ret;
}
- //** Fluxio related methods
+ //****************************//
+ //** Fluxio related methods **//
+ //****************************//
skills::manager::dto::FluxioSkillList
SkillManagerComponentPluginUser::getSkillList(const Ice::Current& current)
@@ -160,7 +165,16 @@ namespace armarx
for (const auto& s : l)
{
- ret.push_back(s.toManagerIce());
+ const auto& skill = s.toManagerIce();
+
+ if (!skill.has_value())
+ {
+ ARMARX_WARNING << "SkillManagerComponentPluginUser::getSkillList: Skill with id "
+ << s.id << " could not be converted";
+ continue;
+ }
+
+ ret.push_back(*skill);
}
return ret;
@@ -173,13 +187,18 @@ namespace armarx
if (skill.has_value())
{
- return skill->toManagerIce();
+ const auto& s = skill->toManagerIce();
+ if (s.has_value())
+ {
+ return *s;
+ }
}
return {};
}
- void
- SkillManagerComponentPluginUser::updateSkill(const std::string& userId, const skills::manager::dto::FluxioSkill& skill,
+ bool
+ SkillManagerComponentPluginUser::updateSkill(const std::string& userId,
+ const skills::manager::dto::FluxioSkill& skill,
const Ice::Current& current)
{
this->plugin->getSkillList();
@@ -188,8 +207,24 @@ namespace armarx
this->plugin->fluxioDC.providers;
std::map<std::string, skills::FluxioProfile>& profilesMap = this->plugin->fluxioDC.profiles;
- this->plugin->updateSkill(userId,
- skills::FluxioSkill::FromIce(skill, providersMap, profilesMap, skillsMap));
+ // Check if the skill exists
+ const auto& s = skillsMap.find(skill.id);
+ if (s == skillsMap.end())
+ {
+ ARMARX_WARNING << "SkillManagerComponentPluginUser::updateSkill: Skill with id "
+ << skill.id << " not found";
+ return false;
+ }
+
+ // Check if the user has the mutex for the skill
+ if (!this->plugin->getSkillMutex(skill.id, userId))
+ {
+ ARMARX_WARNING << "SkillManagerComponentPluginUser::updateSkill: User " << userId
+ << " does not have the mutex for skill with id " << skill.id;
+ return false;
+ }
+
+ return s->second.updateFromIce(skill, providersMap, profilesMap, skillsMap);
}
void
@@ -215,7 +250,7 @@ namespace armarx
}
void
- SkillManagerComponentPluginUser::removeSkillParameter(const std::string& userId,
+ SkillManagerComponentPluginUser::removeSkillParameter(const std::string& userId,
const std::string& skillId,
const std::string& parameterId,
const Ice::Current& current)
@@ -230,9 +265,9 @@ namespace armarx
auto l = this->plugin->getProfileList();
- for (const auto& s : l)
+ for (const auto& profile : l)
{
- ret.push_back(s.toManagerIce());
+ ret.push_back(profile.toManagerIce());
}
return ret;
@@ -313,7 +348,17 @@ namespace armarx
for (const auto& s : *l)
{
- ret.push_back(s.toManagerIce());
+ const auto& skill = s.toManagerIce();
+
+ if (!skill.has_value())
+ {
+ ARMARX_WARNING
+ << "SkillManagerComponentPluginUser::getSkillsOfProvider: Skill with id "
+ << s.id << " could not be converted";
+ continue;
+ }
+
+ ret.push_back(*skill);
}
return ret;
@@ -324,7 +369,7 @@ namespace armarx
const std::string& userId,
const std::string& providerId,
const skills::manager::dto::FluxioSkill& skill,
- const Ice::Current& /*current*/)
+ const Ice::Current& current)
{
this->plugin->getSkillList();
std::map<std::string, skills::FluxioSkill>& skillsMap = this->plugin->fluxioDC.skills;
@@ -332,15 +377,26 @@ namespace armarx
this->plugin->fluxioDC.providers;
std::map<std::string, skills::FluxioProfile>& profilesMap = this->plugin->fluxioDC.profiles;
- auto s = this->plugin
- ->addSkillToProvider(
- userId,
- providerId,
- skills::FluxioSkill::FromIce(skill, providersMap, profilesMap, skillsMap));
+ const auto& skillBO =
+ skills::FluxioSkill::FromIce(skill, providersMap, profilesMap, skillsMap);
+ if (!skillBO.has_value())
+ {
+ ARMARX_WARNING << "Skill with id " << skill.id << " could not be converted";
+ return {};
+ }
- if (s.has_value()) {
- return s->toManagerIce();
+ auto s = this->plugin->addSkillToProvider(userId, providerId, *skillBO);
+ if (s.has_value())
+ {
+ const auto& ret = s->toManagerIce();
+ if (ret.has_value())
+ {
+ return *ret;
+ }
}
+
+ ARMARX_WARNING << "Skill with id " << skill.id << " could not be added to provider with id "
+ << providerId;
return {};
}
} // namespace armarx
diff --git a/source/RobotAPI/libraries/skills/manager/SkillManagerComponentPluginUser.h b/source/RobotAPI/libraries/skills/manager/SkillManagerComponentPluginUser.h
index d40d8d563..68a803c7d 100644
--- a/source/RobotAPI/libraries/skills/manager/SkillManagerComponentPluginUser.h
+++ b/source/RobotAPI/libraries/skills/manager/SkillManagerComponentPluginUser.h
@@ -1,8 +1,9 @@
#pragma once
-#include "SkillManagerComponentPlugin.h"
#include <RobotAPI/interface/skills/SkillManagerInterface.h>
+#include "SkillManagerComponentPlugin.h"
+
namespace armarx::plugins
{
class SkillManagerComponentPlugin; // forward declaration
@@ -19,6 +20,7 @@ namespace armarx
void addProvider(const skills::manager::dto::ProviderInfo& providerInfo,
const Ice::Current& current) override;
+
void removeProvider(const skills::manager::dto::ProviderID& provider,
const Ice::Current& current) override;
@@ -62,46 +64,61 @@ namespace armarx
skills::manager::dto::SkillStatusUpdateMap
getSkillExecutionStatuses(const Ice::Current& current) override;
- //** Fluxio related methods
+ //****************************//
+ //** Fluxio related methods **//
+ //****************************//
- skills::manager::dto::FluxioSkillList
- getSkillList(const Ice::Current& current) override;
+ skills::manager::dto::FluxioSkillList getSkillList(const Ice::Current& current) override;
IceUtil::Optional<skills::manager::dto::FluxioSkill>
- getSkill(const std::string& id,const Ice::Current& current) override;
+ getSkill(const std::string& id, const Ice::Current& current) override;
- void updateSkill(const std::string& userId, const skills::manager::dto::FluxioSkill& skill, const Ice::Current& current) override;
+ bool updateSkill(const std::string& userId,
+ const skills::manager::dto::FluxioSkill& skill,
+ const Ice::Current& current) override;
+
+ void removeSkill(const std::string& id, const Ice::Current& current) override;
- void removeSkill(const std::string& id,const Ice::Current& current) override;
+ bool getSkillMutex(const std::string& skillId,
+ const std::string& userId,
+ const Ice::Current& current) override;
- bool getSkillMutex(const std::string& skillId, const std::string& userId,const Ice::Current& current) override;
-
- void deleteSkillMutex(const std::string& skillId, const std::string& userId,const Ice::Current& current) override;
+ void deleteSkillMutex(const std::string& skillId,
+ const std::string& userId,
+ const Ice::Current& current) override;
- void removeSkillParameter(const std::string& userId, const std::string& skillId, const std::string& parameterId,const Ice::Current& current) override;
+ void removeSkillParameter(const std::string& userId,
+ const std::string& skillId,
+ const std::string& parameterId,
+ const Ice::Current& current) override;
skills::manager::dto::FluxioProfileList
getProfileList(const Ice::Current& current) override;
- IceUtil::Optional<skills::manager::dto::FluxioProfile>
- getProfile(const std::string& id,const Ice::Current& current) override;
+ IceUtil::Optional<skills::manager::dto::FluxioProfile>
+ getProfile(const std::string& id, const Ice::Current& current) override;
skills::manager::dto::FluxioProfile
- createProfile(const skills::manager::dto::FluxioProfile& profile,const Ice::Current& current) override;
+ createProfile(const skills::manager::dto::FluxioProfile& profile,
+ const Ice::Current& current) override;
- void updateProfile(const skills::manager::dto::FluxioProfile& profile,const Ice::Current& current) override;
+ void updateProfile(const skills::manager::dto::FluxioProfile& profile,
+ const Ice::Current& current) override;
skills::manager::dto::FluxioProviderList
getProviderList(const Ice::Current& current) override;
IceUtil::Optional<skills::manager::dto::FluxioProvider>
- getProvider(const std::string& id,const Ice::Current& current) override;
+ getProvider(const std::string& id, const Ice::Current& current) override;
IceUtil::Optional<skills::manager::dto::FluxioSkillList>
- getSkillsOfProvider(const std::string& id,const Ice::Current& current) override;
+ getSkillsOfProvider(const std::string& id, const Ice::Current& current) override;
IceUtil::Optional<skills::manager::dto::FluxioSkill>
- addSkillToProvider(const std::string& userId, const std::string& providerId, const skills::manager::dto::FluxioSkill& skill, const Ice::Current& current) override;
+ addSkillToProvider(const std::string& userId,
+ const std::string& providerId,
+ const skills::manager::dto::FluxioSkill& skill,
+ const Ice::Current& current) override;
private:
armarx::plugins::SkillManagerComponentPlugin* plugin = nullptr;
--
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