From 4b4f43504aa72d79965164918f2f139a007b9dc4 Mon Sep 17 00:00:00 2001
From: uyqhv_engel <uyqhv@student.kit.edu>
Date: Mon, 29 Apr 2024 18:31:22 +0200
Subject: [PATCH] build works (Yippie)
---
.../libraries/skills/core/FluxioResult.cpp | 36 -------------
.../libraries/skills/core/FluxioResult.h | 51 ++++++++++++++-----
.../SkillManagerComponentPluginUser.cpp | 10 ++--
3 files changed, 43 insertions(+), 54 deletions(-)
diff --git a/source/RobotAPI/libraries/skills/core/FluxioResult.cpp b/source/RobotAPI/libraries/skills/core/FluxioResult.cpp
index c76c3293c..e69de29bb 100644
--- a/source/RobotAPI/libraries/skills/core/FluxioResult.cpp
+++ b/source/RobotAPI/libraries/skills/core/FluxioResult.cpp
@@ -1,36 +0,0 @@
-#include <stdexcept>
-
-namespace armarx {
-
- namespace skills {
-
- template<typename T, typename E = std::exception>
-
- class Result {
- private: bool success_; T result_; E error_; //maybe even an error list for a better stacktrace
-
- public:
- Result(const T& res) : success_(true), result_(res) {}
-
- Result(const E& err) : success_(false), error_(err) {}
-
- bool isSuccess() const {
- return success_;
- }
-
- T getResult() const {
- if (!success_) {
- throw std::logic_error("Result is not successful");
- }
- return result_;
- }
-
- E getError() const {
- if (success_) {
- throw std::logic_error("Result does not contain an error");
- }
- return error_;
- }
- };
- }
-}
\ No newline at end of file
diff --git a/source/RobotAPI/libraries/skills/core/FluxioResult.h b/source/RobotAPI/libraries/skills/core/FluxioResult.h
index a607e85aa..564890f75 100644
--- a/source/RobotAPI/libraries/skills/core/FluxioResult.h
+++ b/source/RobotAPI/libraries/skills/core/FluxioResult.h
@@ -1,25 +1,50 @@
#include <stdexcept>
+#include <memory>
-namespace armarx {
- namespace skills {
-
- template<typename T, typename E = std::exception>
- class Result {
+namespace armarx
+{
+ namespace skills
+ {
+
+ template <typename T, typename E = std::exception>
+ class Result
+ {
private:
- bool success_;
- T result_;
- E error_;
+ const bool success;
+ const std::shared_ptr<const T> result;
+ const std::shared_ptr<const E> error;
public:
- Result(const T& res) : success_(true), result_(res) {}
+ Result(const T& res) : success(true), result(std::make_shared<const T>(res)), error(nullptr)
+ {
+ }
- Result(const E& err) : success_(false), error_(err) {}
+ Result(const E& err) : success(false), result(nullptr), error(std::make_shared<const E>(err))
+ {
+ }
- bool isSuccess() const {}
+ bool isSuccess() const
+ {
+ return success;
+ }
- T getResult() const {}
+ T getResult() const
+ {
+ if (!success)
+ {
+ throw std::logic_error("Result is not successful");
+ }
+ return *result;
+ }
- E getError() const {}
+ E getError() const
+ {
+ if (success)
+ {
+ throw std::logic_error("Result does not contain an error");
+ }
+ return *error;
+ }
};
}
}
diff --git a/source/RobotAPI/libraries/skills/manager/SkillManagerComponentPluginUser.cpp b/source/RobotAPI/libraries/skills/manager/SkillManagerComponentPluginUser.cpp
index a559ad78e..94a93cffd 100644
--- a/source/RobotAPI/libraries/skills/manager/SkillManagerComponentPluginUser.cpp
+++ b/source/RobotAPI/libraries/skills/manager/SkillManagerComponentPluginUser.cpp
@@ -223,14 +223,14 @@ namespace armarx
IceUtil::Optional<skills::manager::dto::FluxioSkill>
SkillManagerComponentPluginUser::getSkill(const std::string& id, const Ice::Current& current)
{
- auto skill = this->plugin->getSkill(id);
+ auto result = this->plugin->getSkill(id);
- if (skill.has_value())
+ if (result.isSuccess())
{
- const auto& s = skill->toManagerIce();
- if (s.has_value())
+ const auto& skill = result.getResult().toManagerIce();
+ if (skill.has_value())
{
- return *s;
+ return *skill;
}
}
return {};
--
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