diff --git a/source/RobotAPI/libraries/skills/CMakeLists.txt b/source/RobotAPI/libraries/skills/CMakeLists.txt
index c9d6055a2c24dd0d92b2b8a9eeb5da206d0c43be..107e4a1e6d57efe3eef22371d379bb274ef6834d 100644
--- a/source/RobotAPI/libraries/skills/CMakeLists.txt
+++ b/source/RobotAPI/libraries/skills/CMakeLists.txt
@@ -17,6 +17,7 @@ armarx_add_library(
./provider/Skill.cpp
./provider/PeriodicSkill.cpp
./provider/SpecializedSkill.cpp
+ ./provider/PeriodicSpecializedSkill.cpp
./provider/SkillDescription.cpp
./provider/SkillStatusUpdate.cpp
./provider/helper/LambdaSkillImplementation.cpp
@@ -27,6 +28,7 @@ armarx_add_library(
./provider/Skill.h
./provider/PeriodicSkill.h
./provider/SpecializedSkill.h
+ ./provider/PeriodicSpecializedSkill.h
./provider/SkillDescription.h
./provider/SkillStatusUpdate.h
./provider/helper/LambdaSkillImplementation.h
diff --git a/source/RobotAPI/libraries/skills/provider/PeriodicSpecializedSkill.cpp b/source/RobotAPI/libraries/skills/provider/PeriodicSpecializedSkill.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..4c70437ab37e8fd79fcff3cc373d5b349e1cf9f5
--- /dev/null
+++ b/source/RobotAPI/libraries/skills/provider/PeriodicSpecializedSkill.cpp
@@ -0,0 +1,28 @@
+/**
+ * This file is part of ArmarX.
+ *
+ * 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 Reister ( fabian dot reister at kit dot edu )
+ * @date 2022
+ * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
+ * GNU General Public License
+ */
+
+ #include "PeriodicSpecializedSkill.h"
+
+ namespace armarx::skills
+ {
+
+
+ } // namespace armarx::skills
diff --git a/source/RobotAPI/libraries/skills/provider/PeriodicSpecializedSkill.h b/source/RobotAPI/libraries/skills/provider/PeriodicSpecializedSkill.h
index 2b67a3f49676be6e4d86dfafd68a1ab4144b1fca..b40179c2ae363eff5e0e54d5968c1b39c97cd375 100644
--- a/source/RobotAPI/libraries/skills/provider/PeriodicSpecializedSkill.h
+++ b/source/RobotAPI/libraries/skills/provider/PeriodicSpecializedSkill.h
@@ -21,8 +21,8 @@
#pragma once
-#include "ArmarXCore/core/time/Metronome.h"
#include <ArmarXCore/core/time/Frequency.h>
+#include <ArmarXCore/core/time/Metronome.h>
#include "Skill.h"
#include "SpecializedSkill.h"
@@ -30,15 +30,69 @@
namespace armarx::skills
{
template <class AronT>
- class PeriodicSpecializedSkill : virtual public SpecializedSkill<AronT>
+ class PeriodicSpecializedSkill : public SpecializedSkill<AronT>
{
public:
+ using Base = SpecializedSkill<AronT>;
+
+ PeriodicSpecializedSkill() = delete;
+
PeriodicSpecializedSkill(const SkillDescription& skillDescription,
- const armarx::Frequency& frequency);
+ const armarx::Frequency& frequency) :
+ Base(skillDescription), frequency(frequency)
+ {
+ }
protected:
- typename Skill::Status _execute(const AronT& params,
- const Skill::CallbackT& callback) final;
+ typename Skill::Status
+ _execute(const AronT& params, const Skill::CallbackT& callback) final
+ {
+ if (not initialize(params))
+ {
+ onFailed();
+ return Skill::Status::Failed;
+ }
+
+ core::time::Metronome metronome(frequency);
+
+ while (not Skill::stopped and not Skill::timeoutReached)
+ {
+ const auto status = executeOnce(params);
+ switch (status)
+ {
+ case Status::Running:
+ // nothing to do here
+ break;
+ case Status::Succeeded:
+ onSucceeded();
+ return Skill::Status::Succeeded;
+ case Status::Failed:
+ onFailed();
+ return Skill::Status::Failed;
+ }
+
+ const auto sleepDuration = metronome.waitForNextTick();
+ if (not sleepDuration.isPositive())
+ {
+ ARMARX_INFO << deactivateSpam() << "PeriodicSkill: execution took too long ("
+ << -sleepDuration << " vs " << frequency.toCycleDuration() << ")";
+ }
+ }
+
+ if (Skill::stopped)
+ {
+ onStopped();
+ return Skill::Status::Stopped;
+ }
+
+ if (Skill::timeoutReached)
+ {
+ onTimeoutReached();
+ return Skill::Status::TimeoutReached;
+ }
+
+ throw armarx::LocalException("should not happen.");
+ }
enum class Status
{
@@ -59,61 +113,4 @@ namespace armarx::skills
const armarx::Frequency frequency;
};
- template <class AronT>
- PeriodicSpecializedSkill<AronT>::PeriodicSpecializedSkill(const SkillDescription& skillDescription,
- const armarx::Frequency& frequency) :
- Skill(skillDescription), frequency(frequency)
- {
- }
-
- template <class AronT>
- Skill::Status
- PeriodicSpecializedSkill<AronT>::_execute(const AronT& params, const Skill::CallbackT& callback)
- {
- if(not initialize(params))
- {
- onFailed();
- return Skill::Status::Failed;
- }
-
- core::time::Metronome metronome(frequency);
-
- while (not Skill::stopped and not Skill::timeoutReached)
- {
- const auto status = executeOnce(params);
- switch (status)
- {
- case Status::Running:
- // nothing to do here
- break;
- case Status::Succeeded:
- onSucceeded();
- return Skill::Status::Succeeded;
- case Status::Failed:
- onFailed();
- return Skill::Status::Failed;
- }
-
- const auto sleepDuration = metronome.waitForNextTick();
- if (not sleepDuration.isPositive())
- {
- ARMARX_INFO << deactivateSpam() << "PeriodicSkill: execution took too long ("
- << -sleepDuration << " vs " << frequency.toCycleDuration() << ")";
- }
- }
-
- if (Skill::stopped)
- {
- onStopped();
- return Skill::Status::Stopped;
- }
-
- if (Skill::timeoutReached)
- {
- onTimeoutReached();
- return Skill::Status::TimeoutReached;
- }
-
- throw armarx::LocalException("should not happen.");
- }
} // namespace armarx::skills
diff --git a/source/RobotAPI/libraries/skills/provider/SpecializedSkill.h b/source/RobotAPI/libraries/skills/provider/SpecializedSkill.h
index 5f8e5cfc68f12fcd107b8aedc526f3e29f1d03dc..043ec2df6a2678578f556b5f918f9518873280ac 100644
--- a/source/RobotAPI/libraries/skills/provider/SpecializedSkill.h
+++ b/source/RobotAPI/libraries/skills/provider/SpecializedSkill.h
@@ -15,6 +15,8 @@ namespace armarx
class SpecializedSkill : public Skill
{
public:
+ using ParamType = AronT;
+
using Skill::Skill;
virtual ~SpecializedSkill() = default;