From 4f2b0fc5e178c5f7818cb55960b1da9b7ddf35a2 Mon Sep 17 00:00:00 2001
From: Fabian Peller-Konrad <fabian.peller-konrad@kit.edu>
Date: Thu, 15 Sep 2022 11:47:13 +0200
Subject: [PATCH] skill provider updates
---
.../SkillProviderExample.cpp | 91 ++++++++++---------
.../SkillProviderExample.h | 27 +++++-
.../segment/SkillExecutionRequestSegment.cpp | 33 +++++--
.../RobotAPI/libraries/skills/CMakeLists.txt | 15 +--
.../libraries/skills/provider/LambdaSkill.cpp | 15 +--
.../libraries/skills/provider/LambdaSkill.h | 2 +-
.../skills/provider/PeriodicSkill.cpp | 28 +++---
.../libraries/skills/provider/PeriodicSkill.h | 14 ++-
.../provider/PeriodicSpecializedSkill.h | 24 +++--
.../libraries/skills/provider/Skill.cpp | 10 +-
.../libraries/skills/provider/Skill.h | 19 ++--
.../provider/SkillProviderComponentPlugin.h | 7 ++
.../libraries/skills/provider/SkillProxy.cpp | 6 ++
.../libraries/skills/provider/SkillProxy.h | 1 +
.../skills/provider/SpecializedSkill.h | 19 ++--
.../detail/SkillImplementationWrapper.cpp | 40 ++++----
.../detail/SkillImplementationWrapper.h | 3 +-
.../libraries/skills/provider/mixins/All.h | 7 ++
.../skills/provider/mixins/ArvizSkillMixin.h | 26 ++++++
.../provider/mixins/GraspReadingSkillMixin.h | 25 +++++
.../skills/provider/mixins/MNSSkillMixin.h | 16 ++++
.../provider/mixins/MemoryReadingSkillMixin.h | 16 ++++
.../provider/mixins/ObjectReadingSkillMixin.h | 25 +++++
.../provider/mixins/ObjectWritingSkillMixin.h | 16 ++++
.../provider/mixins/RobotReadingSkillMixin.h | 28 ++++++
.../libraries/skills/provider/util/All.h | 6 --
.../skills/provider/util/ArvizSkillUtil.h | 20 ----
.../provider/util/GraspReadingSkillUtil.h | 20 ----
.../provider/util/MemoryReadingSkillUtil.h | 13 ---
.../provider/util/ObjectReadingSkillUtil.h | 20 ----
.../provider/util/ObjectWritingSkillUtil.h | 13 ---
.../provider/util/RobotReadingSkillUtil.h | 19 ----
32 files changed, 361 insertions(+), 263 deletions(-)
create mode 100644 source/RobotAPI/libraries/skills/provider/mixins/All.h
create mode 100644 source/RobotAPI/libraries/skills/provider/mixins/ArvizSkillMixin.h
create mode 100644 source/RobotAPI/libraries/skills/provider/mixins/GraspReadingSkillMixin.h
create mode 100644 source/RobotAPI/libraries/skills/provider/mixins/MNSSkillMixin.h
create mode 100644 source/RobotAPI/libraries/skills/provider/mixins/MemoryReadingSkillMixin.h
create mode 100644 source/RobotAPI/libraries/skills/provider/mixins/ObjectReadingSkillMixin.h
create mode 100644 source/RobotAPI/libraries/skills/provider/mixins/ObjectWritingSkillMixin.h
create mode 100644 source/RobotAPI/libraries/skills/provider/mixins/RobotReadingSkillMixin.h
delete mode 100644 source/RobotAPI/libraries/skills/provider/util/All.h
delete mode 100644 source/RobotAPI/libraries/skills/provider/util/ArvizSkillUtil.h
delete mode 100644 source/RobotAPI/libraries/skills/provider/util/GraspReadingSkillUtil.h
delete mode 100644 source/RobotAPI/libraries/skills/provider/util/MemoryReadingSkillUtil.h
delete mode 100644 source/RobotAPI/libraries/skills/provider/util/ObjectReadingSkillUtil.h
delete mode 100644 source/RobotAPI/libraries/skills/provider/util/ObjectWritingSkillUtil.h
delete mode 100644 source/RobotAPI/libraries/skills/provider/util/RobotReadingSkillUtil.h
diff --git a/source/RobotAPI/components/skills/SkillProviderExample/SkillProviderExample.cpp b/source/RobotAPI/components/skills/SkillProviderExample/SkillProviderExample.cpp
index 45a16b150..783821b06 100644
--- a/source/RobotAPI/components/skills/SkillProviderExample/SkillProviderExample.cpp
+++ b/source/RobotAPI/components/skills/SkillProviderExample/SkillProviderExample.cpp
@@ -10,8 +10,11 @@
namespace armarx::skills::provider
{
+ HelloWorldSkill::HelloWorldSkill() :
+ Skill(GetSkillDescription())
+ {}
- SkillDescription CreateHelloWorldSkillDescription()
+ SkillDescription HelloWorldSkill::GetSkillDescription()
{
armarx::skills::Example::HelloWorldAcceptedType default_params;
default_params.some_float = 5;
@@ -28,30 +31,32 @@ namespace armarx::skills::provider
};
}
- HelloWorldSkill::HelloWorldSkill() :
- Skill(CreateHelloWorldSkillDescription())
- {}
- TerminatedSkillStatusUpdate HelloWorldSkill::main(const MainInput& in)
+ Skill::MainResult HelloWorldSkill::main(const MainInput& in)
{
ARMARX_IMPORTANT << "Hi, from the Hello World Skill.\n" <<
"I received the following data: \n" <<
aron::converter::AronNlohmannJSONConverter::ConvertToNlohmannJSON(in.params).dump(2) << "\n" <<
"(executed at: " << IceUtil::Time::now() << ")";
- return {{getSkillId(), in.executorName, {in.params, nullptr}, nullptr}, TerminatedSkillStatus::Succeeded};
+ return {TerminatedSkillStatus::Succeeded, nullptr};
}
ChainingSkill::ChainingSkill() :
- Skill(SkillDescription{
+ Skill(GetSkillDescription())
+ {}
+
+ SkillDescription ChainingSkill::GetSkillDescription()
+ {
+ return SkillDescription{
"ChainingSkill",
"This skill calls the HelloWorld skill three times.",
{},
3000,
nullptr
- })
- {}
- TerminatedSkillStatusUpdate ChainingSkill::main(const MainInput& in)
+ };
+ }
+
+ Skill::MainResult ChainingSkill::main(const MainInput& in)
{
- // TODO: Switch to SkillProxy
armarx::skills::Example::HelloWorldAcceptedType exec1;
armarx::skills::Example::HelloWorldAcceptedType exec2;
armarx::skills::Example::HelloWorldAcceptedType exec3;
@@ -60,58 +65,54 @@ namespace armarx::skills::provider
exec2.some_text = "Hello from the ChainingSkill 2";
exec3.some_text = "Hello from the ChainingSkill 3";
- manager::dto::SkillExecutionRequest exec;
- exec.skillId = {"SkillProviderExample", "HelloWorld"};
-
- exec.params = exec1.toAron()->toAronDictDTO();
- manager->executeSkill(exec);
+ SkillProxy skillExecPrx(manager, {"SkillProviderExample", "HelloWorld"});
- exec.params = exec2.toAron()->toAronDictDTO();
- manager->executeSkill(exec);
+ skillExecPrx.executeFullSkill(getSkillId().toString(), exec1.toAron());
+ skillExecPrx.executeFullSkill(getSkillId().toString(), exec2.toAron());
+ skillExecPrx.executeFullSkill(getSkillId().toString(), exec3.toAron());
- exec.params = exec3.toAron()->toAronDictDTO();
- manager->executeSkill(exec);
-
- return {{getSkillId(), in.executorName, {in.params, nullptr}, nullptr}, TerminatedSkillStatus::Succeeded};
+ return {TerminatedSkillStatus::Succeeded, nullptr};
}
TimeoutSkill::TimeoutSkill() :
- Skill(SkillDescription{
+ PeriodicSkill(GetSkillDescription(), armarx::core::time::Frequency::Hertz(5))
+ {}
+
+ SkillDescription TimeoutSkill::GetSkillDescription()
+ {
+ return SkillDescription{
"Timeout",
"This fails with timeout reached",
{},
1000,
nullptr
- })
- {}
- TerminatedSkillStatusUpdate TimeoutSkill::main(const MainInput& in)
+ };
+ }
+
+ PeriodicSkill::StepResult TimeoutSkill::step(const MainInput& in)
{
- int i = 0;
- while (!timeoutReached)
- {
- // do heavy work
- std::this_thread::sleep_for(std::chrono::milliseconds(200));
-
- // check if work is done
- if(i++ > 15)
- {
- ARMARX_IMPORTANT << "Somehow the timeout check succeceded....";
- return {{getSkillId(), in.executorName, {in.params, nullptr}, nullptr}, TerminatedSkillStatus::Succeeded};
- }
- }
- return {{getSkillId(), in.executorName, {in.params, nullptr}, nullptr}, TerminatedSkillStatus::Failed};
+ // do heavy work
+ std::this_thread::sleep_for(std::chrono::milliseconds(200));
+
+ return {ActiveOrTerminatedSkillStatus::Running, nullptr};
}
CallbackSkill::CallbackSkill() :
- Skill(SkillDescription{
+ Skill(GetSkillDescription())
+ {}
+
+ SkillDescription CallbackSkill::GetSkillDescription()
+ {
+ return SkillDescription{
"ShowMeCallbacks",
"This skill does shows callbacks",
{},
1000,
nullptr
- })
- {}
- TerminatedSkillStatusUpdate CallbackSkill::main(const MainInput& in)
+ };
+ }
+
+ Skill::MainResult CallbackSkill::main(const MainInput& in)
{
ARMARX_IMPORTANT << "Logging three updates via the callback";
auto up1 = std::make_shared<aron::data::Dict>();
@@ -126,7 +127,7 @@ namespace armarx::skills::provider
up3->addElement("updateInfo", std::make_shared<aron::data::String>("Update 3"));
in.callback(up3);
- return {{getSkillId(), in.executorName, {in.params, nullptr}, nullptr}, TerminatedSkillStatus::Succeeded};
+ return {TerminatedSkillStatus::Succeeded, nullptr};
}
diff --git a/source/RobotAPI/components/skills/SkillProviderExample/SkillProviderExample.h b/source/RobotAPI/components/skills/SkillProviderExample/SkillProviderExample.h
index 32be05cb6..cbd795396 100644
--- a/source/RobotAPI/components/skills/SkillProviderExample/SkillProviderExample.h
+++ b/source/RobotAPI/components/skills/SkillProviderExample/SkillProviderExample.h
@@ -27,6 +27,7 @@
#include <ArmarXCore/core/Component.h>
// RobotAPI
+#include <RobotAPI/libraries/skills/provider/SkillProxy.h>
#include <RobotAPI/libraries/skills/provider/SkillProviderComponentPlugin.h>
namespace armarx::skills::provider
@@ -36,22 +37,34 @@ namespace armarx::skills::provider
{
public:
HelloWorldSkill();
- TerminatedSkillStatusUpdate main(const MainInput& in) final;
+
+ static SkillDescription GetSkillDescription();
+
+ private:
+ Skill::MainResult main(const MainInput& in) final;
};
class ChainingSkill : public Skill
{
public:
ChainingSkill();
- TerminatedSkillStatusUpdate main(const MainInput& in) final;
+
+ static SkillDescription GetSkillDescription();
+
+ private:
+ Skill::MainResult main(const MainInput& in) final;
};
- class TimeoutSkill : public Skill
+ class TimeoutSkill : public PeriodicSkill
{
public:
TimeoutSkill();
- TerminatedSkillStatusUpdate main(const MainInput& in) final;
+
+ static SkillDescription GetSkillDescription();
+
+ private:
+ PeriodicSkill::StepResult step(const MainInput& in) final;
};
@@ -59,7 +72,11 @@ namespace armarx::skills::provider
{
public:
CallbackSkill();
- TerminatedSkillStatusUpdate main(const MainInput& in) final;
+
+ static SkillDescription GetSkillDescription();
+
+ private:
+ Skill::MainResult main(const MainInput& in) final;
};
/**
diff --git a/source/RobotAPI/libraries/armem_skills/server/segment/SkillExecutionRequestSegment.cpp b/source/RobotAPI/libraries/armem_skills/server/segment/SkillExecutionRequestSegment.cpp
index f8c1b9e99..f8333282e 100644
--- a/source/RobotAPI/libraries/armem_skills/server/segment/SkillExecutionRequestSegment.cpp
+++ b/source/RobotAPI/libraries/armem_skills/server/segment/SkillExecutionRequestSegment.cpp
@@ -47,7 +47,6 @@ namespace armarx::skills::segment
{
// override directly execution to add a request to the memory
armem::Commit comm;
- auto& entityUpdate = comm.add();
skills::arondto::SkillExecutionRequest request;
request.executorName = info.executorName;
@@ -57,14 +56,32 @@ namespace armarx::skills::segment
auto aron = request.toAron();
- armem::MemoryID skillExecutionMemID = id();
- skillExecutionMemID.providerSegmentName = request.providerName;
- skillExecutionMemID.entityName = request.skillName;
+ {
+ auto& entityUpdate = comm.add();
+
+ armem::MemoryID skillExecutionMemID = id();
+ skillExecutionMemID.providerSegmentName = request.providerName;
+ skillExecutionMemID.entityName = request.skillName;
+
+ entityUpdate.entityID = skillExecutionMemID;
+ entityUpdate.instancesData = { aron };
+ entityUpdate.confidence = 1.0;
+ entityUpdate.timeCreated = armem::Time::Now();
+ }
+
+ {
+ auto& entityUpdate = comm.add();
+
+ armem::MemoryID skillExecutionMemID = id();
+ skillExecutionMemID.providerSegmentName = "All Skill Execution Requests";
+ skillExecutionMemID.entityName = "All Skill Execution Requests";
+
+ entityUpdate.entityID = skillExecutionMemID;
+ entityUpdate.instancesData = { aron };
+ entityUpdate.confidence = 1.0;
+ entityUpdate.timeCreated = armem::Time::Now();
+ }
- entityUpdate.entityID = skillExecutionMemID;
- entityUpdate.instancesData = { aron };
- entityUpdate.confidence = 1.0;
- entityUpdate.timeCreated = armem::Time::Now();
iceMemory.commit(comm);
}
diff --git a/source/RobotAPI/libraries/skills/CMakeLists.txt b/source/RobotAPI/libraries/skills/CMakeLists.txt
index 0b2473cd6..30241deae 100644
--- a/source/RobotAPI/libraries/skills/CMakeLists.txt
+++ b/source/RobotAPI/libraries/skills/CMakeLists.txt
@@ -44,13 +44,14 @@ armarx_add_library(
./provider/SkillID.h
./provider/detail/SkillImplementationWrapper.h
- provider/util/All.h
- provider/util/ArvizSkillUtil.h
- provider/util/MemoryReadingSkillUtil.h
- provider/util/RobotReadingSkillUtil.h
- provider/util/ObjectReadingSkillUtil.h
- provider/util/ObjectWritingSkillUtil.h
- provider/util/GraspReadingSkillUtil.h
+ provider/mixins/All.h
+ provider/mixins/ArvizSkillMixin.h
+ provider/mixins/MNSSkillMixin.h
+ provider/mixins/MemoryReadingSkillMixin.h
+ provider/mixins/RobotReadingSkillMixin.h
+ provider/mixins/ObjectReadingSkillMixin.h
+ provider/mixins/ObjectWritingSkillMixin.h
+ provider/mixins/GraspReadingSkillMixin.h
)
add_library(RobotAPI::skills ALIAS RobotAPISkills)
diff --git a/source/RobotAPI/libraries/skills/provider/LambdaSkill.cpp b/source/RobotAPI/libraries/skills/provider/LambdaSkill.cpp
index ed4e675b1..e922a69bb 100644
--- a/source/RobotAPI/libraries/skills/provider/LambdaSkill.cpp
+++ b/source/RobotAPI/libraries/skills/provider/LambdaSkill.cpp
@@ -5,24 +5,15 @@ namespace armarx
namespace skills
{
- TerminatedSkillStatusUpdate LambdaSkill::main(const MainInput& in)
+ Skill::MainResult LambdaSkill::main(const MainInput& in)
{
bool res = fun(in.executorName, in.params);
- TerminatedSkillStatusUpdate ret;
- ret.executorName = in.executorName;
- ret.skillId = getSkillId();
- ret.usedParameterization = {in.params, nullptr}; // ToDo: How to set the callback interface?
if (res)
{
- ret.status = TerminatedSkillStatus::Succeeded;
+ return {TerminatedSkillStatus::Succeeded, nullptr};
}
- else
- {
- ret.status = TerminatedSkillStatus::Failed;
- }
-
- return ret;
+ return {TerminatedSkillStatus::Failed, nullptr};
}
}
}
diff --git a/source/RobotAPI/libraries/skills/provider/LambdaSkill.h b/source/RobotAPI/libraries/skills/provider/LambdaSkill.h
index cba43489f..e73206e45 100644
--- a/source/RobotAPI/libraries/skills/provider/LambdaSkill.h
+++ b/source/RobotAPI/libraries/skills/provider/LambdaSkill.h
@@ -18,7 +18,7 @@ namespace armarx
{};
private:
- TerminatedSkillStatusUpdate main(const MainInput& in) override;
+ MainResult main(const MainInput& in) override;
private:
FunT fun;
diff --git a/source/RobotAPI/libraries/skills/provider/PeriodicSkill.cpp b/source/RobotAPI/libraries/skills/provider/PeriodicSkill.cpp
index 1c3038f08..70daa959f 100644
--- a/source/RobotAPI/libraries/skills/provider/PeriodicSkill.cpp
+++ b/source/RobotAPI/libraries/skills/provider/PeriodicSkill.cpp
@@ -30,62 +30,62 @@
namespace armarx::skills
{
- PeriodicSkill::PeriodicSkill(const SkillDescription& skillDescription,
- const armarx::Frequency& frequency) :
+ PeriodicSkill::PeriodicSkill(const SkillDescription& skillDescription, const armarx::Frequency& frequency) :
Skill(skillDescription), frequency(frequency)
{
}
- ActiveOrTerminatedSkillStatusUpdate PeriodicSkill::stepOfSkill(const MainInput& in)
+ PeriodicSkill::StepResult PeriodicSkill::stepOfSkill(const MainInput& in)
{
return this->step(in);
}
- TerminatedSkillStatusUpdate PeriodicSkill::main(const MainInput& in)
+ Skill::MainResult PeriodicSkill::main(const MainInput& in)
{
core::time::Metronome metronome(frequency);
while (not Skill::checkWhetherSkillShouldStopASAP())
{
- const auto statusUpdate = stepOfSkill(in);
- switch (statusUpdate.status)
+ const auto res = stepOfSkill(in);
+ switch (res.status)
{
case ActiveOrTerminatedSkillStatus::Running:
// nothing to do here
break;
case ActiveOrTerminatedSkillStatus::Aborted:
- return {{statusUpdate.skillId, statusUpdate.executorName, {statusUpdate.usedParameterization.usedInputParams, statusUpdate.usedParameterization.usedCallbackInterface}, statusUpdate.data}, TerminatedSkillStatus::Aborted};
+ return {TerminatedSkillStatus::Aborted, res.data};
case ActiveOrTerminatedSkillStatus::Succeeded:
- return {{statusUpdate.skillId, statusUpdate.executorName, {statusUpdate.usedParameterization.usedInputParams, statusUpdate.usedParameterization.usedCallbackInterface}, statusUpdate.data}, TerminatedSkillStatus::Succeeded};
+ return {TerminatedSkillStatus::Succeeded, res.data};
case ActiveOrTerminatedSkillStatus::Failed:
- return {{statusUpdate.skillId, statusUpdate.executorName, {statusUpdate.usedParameterization.usedInputParams, statusUpdate.usedParameterization.usedCallbackInterface}, statusUpdate.data}, TerminatedSkillStatus::Failed};
+ return {TerminatedSkillStatus::Failed, res.data};
}
const auto sleepDuration = metronome.waitForNextTick();
if (not sleepDuration.isPositive())
{
- ARMARX_INFO << deactivateSpam() << "PeriodicSkill: execution took too long (" << -sleepDuration << " vs " << frequency.toCycleDuration() << ")";
+ ARMARX_INFO << deactivateSpam() << "PeriodicSkill: execution took too long (" << -sleepDuration << " too long. Expected " << frequency.toCycleDuration() << ")";
}
}
if (stopped)
{
- return {{getSkillId(), in.executorName, {in.params, nullptr}, nullptr}, TerminatedSkillStatus::Aborted};
+ return {TerminatedSkillStatus::Aborted, nullptr};
}
if (timeoutReached)
{
- return {{getSkillId(), in.executorName, {in.params, nullptr}, nullptr}, TerminatedSkillStatus::Failed};
+ ARMARX_WARNING << "The skill " << getSkillId().toString() << " reached timeout!";
+ return {TerminatedSkillStatus::Failed, nullptr};
}
throw skills::error::SkillException(__PRETTY_FUNCTION__, "Should not happen!");
}
- ActiveOrTerminatedSkillStatusUpdate PeriodicSkill::step(const MainInput& in)
+ PeriodicSkill::StepResult PeriodicSkill::step(const MainInput& in)
{
ARMARX_IMPORTANT << "Dummy executing once skill '" << description.skillName << "'. Please overwrite this method!";
- return {{getSkillId(), in.executorName, {in.params, nullptr}, nullptr}, ActiveOrTerminatedSkillStatus::Succeeded};
+ return {ActiveOrTerminatedSkillStatus::Succeeded, nullptr};
}
} // namespace armarx::skills
diff --git a/source/RobotAPI/libraries/skills/provider/PeriodicSkill.h b/source/RobotAPI/libraries/skills/provider/PeriodicSkill.h
index 24eb7aa93..5df6e07e9 100644
--- a/source/RobotAPI/libraries/skills/provider/PeriodicSkill.h
+++ b/source/RobotAPI/libraries/skills/provider/PeriodicSkill.h
@@ -29,19 +29,25 @@
namespace armarx::skills
{
- class PeriodicSkill : virtual public Skill
+ class PeriodicSkill : public Skill
{
public:
+ struct StepResult
+ {
+ ActiveOrTerminatedSkillStatus status;
+ aron::data::DictPtr data;
+ };
+
PeriodicSkill(const SkillDescription& skillDescription, const armarx::Frequency& frequency);
- ActiveOrTerminatedSkillStatusUpdate stepOfSkill(const MainInput& in);
+ StepResult stepOfSkill(const MainInput& in);
private:
/// Do not use anymore
- TerminatedSkillStatusUpdate main(const MainInput& in) final;
+ Skill::MainResult main(const MainInput& in) final;
/// Override this method with your own step function
- virtual ActiveOrTerminatedSkillStatusUpdate step(const MainInput& in);
+ virtual StepResult step(const MainInput& in);
private:
const armarx::Frequency frequency;
diff --git a/source/RobotAPI/libraries/skills/provider/PeriodicSpecializedSkill.h b/source/RobotAPI/libraries/skills/provider/PeriodicSpecializedSkill.h
index 98b1572bc..06efba4d4 100644
--- a/source/RobotAPI/libraries/skills/provider/PeriodicSpecializedSkill.h
+++ b/source/RobotAPI/libraries/skills/provider/PeriodicSpecializedSkill.h
@@ -25,6 +25,7 @@
#include <ArmarXCore/core/time/Metronome.h>
#include "Skill.h"
+#include "PeriodicSkill.h"
#include "SpecializedSkill.h"
namespace armarx::skills
@@ -38,6 +39,8 @@ namespace armarx::skills
using Skill::description;
using Skill::getSkillId;
+ using StepResult = PeriodicSkill::StepResult;
+
PeriodicSpecializedSkill() = delete;
PeriodicSpecializedSkill(const SkillDescription& skillDescription, const armarx::Frequency& frequency) :
Base(skillDescription), frequency(frequency)
@@ -45,7 +48,7 @@ namespace armarx::skills
}
- ActiveOrTerminatedSkillStatusUpdate stepOfSkill(const typename Base::SpecializedMainInput& in)
+ StepResult stepOfSkill(const typename Base::SpecializedMainInput& in)
{
return this->step(in);
}
@@ -55,7 +58,7 @@ namespace armarx::skills
using Skill::timeoutReached;
/// Do not use anymore
- TerminatedSkillStatusUpdate main(const typename Base::SpecializedMainInput& in) final
+ Skill::MainResult main(const typename Base::SpecializedMainInput& in) final
{
core::time::Metronome metronome(frequency);
@@ -68,38 +71,39 @@ namespace armarx::skills
// nothing to do here
break;
case ActiveOrTerminatedSkillStatus::Aborted:
- return {{statusUpdate.skillId, statusUpdate.executorName, {statusUpdate.usedParameterization.usedInputParams, statusUpdate.usedParameterization.usedCallbackInterface}, statusUpdate.data}, TerminatedSkillStatus::Aborted};
+ return {TerminatedSkillStatus::Aborted, statusUpdate.data};
case ActiveOrTerminatedSkillStatus::Succeeded:
- return {{statusUpdate.skillId, statusUpdate.executorName, {statusUpdate.usedParameterization.usedInputParams, statusUpdate.usedParameterization.usedCallbackInterface}, statusUpdate.data}, TerminatedSkillStatus::Succeeded};
+ return {TerminatedSkillStatus::Succeeded, statusUpdate.data};
case ActiveOrTerminatedSkillStatus::Failed:
- return {{statusUpdate.skillId, statusUpdate.executorName, {statusUpdate.usedParameterization.usedInputParams, statusUpdate.usedParameterization.usedCallbackInterface}, statusUpdate.data}, TerminatedSkillStatus::Failed};
+ return {TerminatedSkillStatus::Failed, statusUpdate.data};
}
const auto sleepDuration = metronome.waitForNextTick();
if (not sleepDuration.isPositive())
{
- ARMARX_INFO << deactivateSpam() << "PeriodicSkill: execution took too long (" << -sleepDuration << " vs " << frequency.toCycleDuration() << ")";
+ ARMARX_INFO << deactivateSpam() << "PeriodicSkill: execution took too long (" << -sleepDuration << " too long. Expected " << frequency.toCycleDuration() << ")";
}
}
if (stopped)
{
- return {{getSkillId(), in.executorName, {in.params, nullptr}, nullptr}, TerminatedSkillStatus::Aborted};
+ return {TerminatedSkillStatus::Aborted, nullptr};
}
if (timeoutReached)
{
- return {{getSkillId(), in.executorName, {in.params, nullptr}, nullptr}, TerminatedSkillStatus::Failed};
+ ARMARX_WARNING << "The skill " << getSkillId().toString() << " reached timeout!";
+ return {TerminatedSkillStatus::Failed, nullptr};
}
throw skills::error::SkillException(__PRETTY_FUNCTION__, "Should not happen!");
}
/// Override this method with your own step function
- virtual ActiveOrTerminatedSkillStatusUpdate step(const typename Base::SpecializedMainInput& in)
+ virtual StepResult step(const typename Base::SpecializedMainInput& in)
{
ARMARX_IMPORTANT << "Dummy executing once skill '" << description.skillName << "'. Please overwrite this method!";
- return {{getSkillId(), in.executorName, {in.params, nullptr}, nullptr}, ActiveOrTerminatedSkillStatus::Succeeded};
+ return {ActiveOrTerminatedSkillStatus::Succeeded, nullptr};
}
private:
diff --git a/source/RobotAPI/libraries/skills/provider/Skill.cpp b/source/RobotAPI/libraries/skills/provider/Skill.cpp
index e4bdd58df..3bac7956d 100644
--- a/source/RobotAPI/libraries/skills/provider/Skill.cpp
+++ b/source/RobotAPI/libraries/skills/provider/Skill.cpp
@@ -92,7 +92,7 @@ namespace armarx
{
}
- TerminatedSkillStatusUpdate Skill::mainOfSkill(const MainInput& in)
+ Skill::MainResult Skill::mainOfSkill(const MainInput& in)
{
this->_main();
return this->main(in);
@@ -165,19 +165,19 @@ namespace armarx
// Default nothing to exit
}
- TerminatedSkillStatusUpdate Skill::main(const MainInput& in)
+ Skill::MainResult Skill::main(const MainInput& in)
{
// This is just a dummy implementation
ARMARX_IMPORTANT << "Dummy executing skill '" << description.skillName << "'. Please overwrite this method.";
- return {{getSkillId(), in.executorName, {in.params, nullptr}, nullptr}, TerminatedSkillStatus::Succeeded};
+ return {TerminatedSkillStatus::Succeeded, nullptr};
}
- TerminatedSkillStatusUpdate Skill::executeFullSkill(const ExecuteInput& in)
+ Skill::MainResult Skill::executeFullSkill(const MainInput& in)
{
this->resetSkill();
this->initSkill(InitInput{in.executorName, in.params});
- auto ret = this->mainOfSkill(MainInput{in.executorName, in.params, in.callback});
+ auto ret = this->mainOfSkill(in);
this->exitSkill(ExitInput{in.executorName, in.params});
return ret;
}
diff --git a/source/RobotAPI/libraries/skills/provider/Skill.h b/source/RobotAPI/libraries/skills/provider/Skill.h
index 32645d4ec..9629f6311 100644
--- a/source/RobotAPI/libraries/skills/provider/Skill.h
+++ b/source/RobotAPI/libraries/skills/provider/Skill.h
@@ -44,17 +44,16 @@ namespace armarx
CallbackT callback;
};
- struct ExitInput
+ struct MainResult
{
- std::string executorName;
- aron::data::DictPtr params;
+ TerminatedSkillStatus status;
+ aron::data::DictPtr data;
};
- struct ExecuteInput
+ struct ExitInput
{
std::string executorName;
aron::data::DictPtr params;
- CallbackT callback;
};
Skill() = delete;
@@ -71,7 +70,7 @@ namespace armarx
void resetSkill();
void waitForDependenciesOfSkill();
void initSkill(const InitInput& in);
- TerminatedSkillStatusUpdate mainOfSkill(const MainInput& in);
+ MainResult mainOfSkill(const MainInput& in);
void exitSkill(const ExitInput& in);
// used to notify the skill from extern to stop
@@ -81,7 +80,7 @@ namespace armarx
bool checkWhetherSkillShouldStopASAP() const;
/// Do all methods at once.
- TerminatedSkillStatusUpdate executeFullSkill(const ExecuteInput& in);
+ MainResult executeFullSkill(const MainInput& in);
protected:
// fires if the skill reaches timeout
@@ -103,7 +102,7 @@ namespace armarx
virtual void init(const InitInput& in);
/// Override this method with the actual implementation. The callback is for status updates to the calling instance
- virtual TerminatedSkillStatusUpdate main(const MainInput& in);
+ virtual MainResult main(const MainInput& in);
/// Override this method with the actual implementation.
virtual void exit(const ExitInput& in);
@@ -115,8 +114,8 @@ namespace armarx
/// Override this method if you have own conditions to abort the skill as soon as possible
virtual bool notifySkillToStopASAPCustom() const;
- private:
- /// install a condition
+ protected:
+ /// install a condition which is frequently checked from the conditionCheckingThread
void installCondition(std::function<bool()>&& f, std::function<void()>&& cb);
public:
diff --git a/source/RobotAPI/libraries/skills/provider/SkillProviderComponentPlugin.h b/source/RobotAPI/libraries/skills/provider/SkillProviderComponentPlugin.h
index badf2e127..c018ecd9a 100644
--- a/source/RobotAPI/libraries/skills/provider/SkillProviderComponentPlugin.h
+++ b/source/RobotAPI/libraries/skills/provider/SkillProviderComponentPlugin.h
@@ -13,7 +13,14 @@
#include <RobotAPI/interface/skills/SkillManagerInterface.h>
#include <RobotAPI/libraries/aron/core/data/variant/container/Dict.h>
+// Include all types of skills
+#include "Skill.h"
+#include "SpecializedSkill.h"
#include "LambdaSkill.h"
+#include "PeriodicSkill.h"
+#include "PeriodicSpecializedSkill.h"
+
+// Helper wrapper for execution
#include "detail/SkillImplementationWrapper.h"
namespace armarx::plugins
diff --git a/source/RobotAPI/libraries/skills/provider/SkillProxy.cpp b/source/RobotAPI/libraries/skills/provider/SkillProxy.cpp
index c75cbeb47..e0ebdb3b6 100644
--- a/source/RobotAPI/libraries/skills/provider/SkillProxy.cpp
+++ b/source/RobotAPI/libraries/skills/provider/SkillProxy.cpp
@@ -10,6 +10,12 @@ namespace armarx
{
}
+ SkillProxy::SkillProxy(const manager::dti::SkillManagerInterfacePrx& manager, const std::string& skillProviderName, const std::string& skillName) :
+ manager(manager),
+ skillId(skillProviderName, skillName)
+ {
+ }
+
SkillProxy::SkillProxy(const manager::dti::SkillManagerInterfacePrx& manager, const std::string& skillProviderName, const SkillDescription& skillDesc) :
manager(manager),
skillId(skillProviderName, skillDesc.skillName)
diff --git a/source/RobotAPI/libraries/skills/provider/SkillProxy.h b/source/RobotAPI/libraries/skills/provider/SkillProxy.h
index b4eaf0186..6e8ddc5c7 100644
--- a/source/RobotAPI/libraries/skills/provider/SkillProxy.h
+++ b/source/RobotAPI/libraries/skills/provider/SkillProxy.h
@@ -11,6 +11,7 @@ namespace armarx
{
public:
SkillProxy(const manager::dti::SkillManagerInterfacePrx& manager, const SkillID& skillId);
+ SkillProxy(const manager::dti::SkillManagerInterfacePrx& manager, const std::string& skillProviderName, const std::string& skillName);
SkillProxy(const manager::dti::SkillManagerInterfacePrx& manager, const std::string& skillProviderName, const SkillDescription& skillDesc);
TerminatedSkillStatusUpdate executeFullSkill(const std::string& executorName, const aron::data::DictPtr& params = nullptr);
diff --git a/source/RobotAPI/libraries/skills/provider/SpecializedSkill.h b/source/RobotAPI/libraries/skills/provider/SpecializedSkill.h
index 735f5f8e4..80752a235 100644
--- a/source/RobotAPI/libraries/skills/provider/SpecializedSkill.h
+++ b/source/RobotAPI/libraries/skills/provider/SpecializedSkill.h
@@ -36,13 +36,6 @@ namespace armarx
AronT params;
};
- struct SpecializedExecuteInput
- {
- std::string executorName;
- AronT params;
- CallbackT callback;
- };
-
using Skill::Skill;
virtual ~SpecializedSkill() = default;
@@ -57,7 +50,7 @@ namespace armarx
Skill::_init();
this->init(in);
}
- TerminatedSkillStatusUpdate mainOfSkill(const SpecializedMainInput& in)
+ Skill::MainResult mainOfSkill(const SpecializedMainInput& in)
{
Skill::_main();
return this->main(in);
@@ -68,11 +61,11 @@ namespace armarx
this->exit(in);
}
- TerminatedSkillStatusUpdate executeFullSkill(const SpecializedExecuteInput& in)
+ Skill::MainResult executeFullSkill(const SpecializedMainInput& in)
{
this->resetSkill();
this->initSkill(SpecializedInitInput({in.executorName, in.params}));
- auto ret = this->mainOfSkill(SpecializedMainInput({in.executorName, in.params, in.callback}));
+ auto ret = this->mainOfSkill(in);
this->exit(SpecializedExitInput({in.executorName, in.params}));
return ret;
}
@@ -84,10 +77,10 @@ namespace armarx
}
/// Override this method with the actual implementation. The callback is for status updates to the calling instance
- virtual TerminatedSkillStatusUpdate main(const SpecializedMainInput& in)
+ virtual Skill::MainResult main(const SpecializedMainInput& in)
{
ARMARX_IMPORTANT << "Dummy executing skill '" << description.skillName << "'. Please overwrite this method.";
- return {{getSkillId(), in.executorName, {in.params, nullptr}, nullptr}, TerminatedSkillStatus::Succeeded};
+ return {TerminatedSkillStatus::Succeeded, nullptr};
}
/// Override this method with the actual implementation. The callback is for status updates to the calling instance
@@ -96,7 +89,7 @@ namespace armarx
}
/// Do not use anymore
- TerminatedSkillStatusUpdate main(const MainInput& in) final
+ Skill::MainResult main(const MainInput& in) final
{
AronT p;
p.fromAron(in.params);
diff --git a/source/RobotAPI/libraries/skills/provider/detail/SkillImplementationWrapper.cpp b/source/RobotAPI/libraries/skills/provider/detail/SkillImplementationWrapper.cpp
index 9afb52542..e5516749d 100644
--- a/source/RobotAPI/libraries/skills/provider/detail/SkillImplementationWrapper.cpp
+++ b/source/RobotAPI/libraries/skills/provider/detail/SkillImplementationWrapper.cpp
@@ -24,15 +24,16 @@ namespace armarx
statusUpdate.data = nullptr;
statusUpdate.executorName = "";
};
- resetExecParam();
// set params and setup variables
- auto setParams = [&](){
+ auto setExecParams = [&](){
std::lock_guard l(skillStatusMutex);
statusUpdate.usedParameterization = parameterization;
statusUpdate.executorName = executorName;
};
- setParams();
+
+ resetExecParam();
+ setExecParams();
auto& aron_params = parameterization.usedInputParams;
auto updateStatus = [&](const SkillStatus status, const aron::data::DictPtr& data = nullptr){
@@ -50,13 +51,20 @@ namespace armarx
// Check params
- if (not(aron_params) && skill->description.acceptedType)
+ if (skill->description.acceptedType && not(aron_params))
{
ARMARX_ERROR_S << "The Skill '" + skillName + "' requires a type but params are NULL.";
resetExecParam();
return TerminatedSkillStatusUpdate({{skill->getSkillId(), executorName, parameterization, nullptr}, TerminatedSkillStatus::Failed});
}
+ if (skill->description.acceptedType && aron_params && not(aron_params->fullfillsType(skill->description.acceptedType)))
+ {
+ ARMARX_ERROR_S << "The Skill '" + skillName + "' has a type and got parameters but the input does not match the type.";
+ resetExecParam();
+ return TerminatedSkillStatusUpdate({{skill->getSkillId(), executorName, parameterization, nullptr}, TerminatedSkillStatus::Failed});
+ }
+
// set scheduled
updateStatus(SkillStatus::Scheduled);
@@ -67,7 +75,7 @@ namespace armarx
}
catch (const std::exception& ex)
{
- ARMARX_ERROR_S << "An errr occured during the reset of skill '" << skillName << "'. The error was: " << ex.what();
+ ARMARX_ERROR_S << "An error occured during the reset of skill '" << skillName << "'. The error was: " << ex.what();
updateStatus(SkillStatus::Failed);
resetExecParam();
@@ -80,7 +88,7 @@ namespace armarx
}
catch (const std::exception& ex)
{
- ARMARX_ERROR_S << "An errr occured during waiting for skill dependencies of skill '" << skillName << "'. The error was: " << ex.what();
+ ARMARX_ERROR_S << "An error occured during waiting for skill dependencies of skill '" << skillName << "'. The error was: " << ex.what();
updateStatus(SkillStatus::Failed);
resetExecParam();
@@ -96,7 +104,7 @@ namespace armarx
}
catch (const std::exception& ex)
{
- ARMARX_ERROR_S << "An errr occured during the initialization of skill '" << skillName << "'. Executing exit for safety. The error was: " << ex.what();
+ ARMARX_ERROR_S << "An error occured during the initialization of skill '" << skillName << "'. Executing exit for safety. The error was: " << ex.what();
skill->exitSkill({executorName, aron_params});
updateStatus(SkillStatus::Failed);
@@ -104,17 +112,18 @@ namespace armarx
return TerminatedSkillStatusUpdate({{skill->getSkillId(), executorName, parameterization, nullptr}, TerminatedSkillStatus::Failed});
}
- TerminatedSkillStatusUpdate ret;
+ Skill::MainResult ret;
try
{
- ret = skill->mainOfSkill({executorName, aron_params, [&](const aron::data::DictPtr& update)
+ ret = skill->mainOfSkill({executorName, aron_params, [&updateStatus](const aron::data::DictPtr& update)
{
- updateStatus(statusUpdate.status, update);
+ // during execution the statusUpdate.status is always RUNNING
+ updateStatus(SkillStatus::Running, update);
}});
}
catch (const std::exception& ex)
{
- ARMARX_ERROR_S << "An errr occured during the main method of skill '" << skillName << "'. Executing exit for safety. The error was: " << ex.what();
+ ARMARX_ERROR_S << "An error occured during the main method of skill '" << skillName << "'. Executing exit for safety. The error was: " << ex.what();
skill->exitSkill({executorName, aron_params});
updateStatus(SkillStatus::Failed);
@@ -128,23 +137,20 @@ namespace armarx
}
catch (const std::exception& ex)
{
- ARMARX_ERROR_S << "An errr occured during the exit of skill '" << skillName << "'." << ex.what();
+ ARMARX_ERROR_S << "An error occured during the exit of skill '" << skillName << "'." << ex.what();
updateStatus(SkillStatus::Failed);
resetExecParam();
return TerminatedSkillStatusUpdate({{skill->getSkillId(), executorName, parameterization, nullptr}, TerminatedSkillStatus::Failed});
}
+ // Also log return value and update status using callback
switch (ret.status)
{
case TerminatedSkillStatus::Failed:
ARMARX_INFO_S << ("The Skill '" + skillName + "' failed during execution.");
updateStatus(SkillStatus::Failed);
break;
- //case TerminatedSkillStatus::TimeoutReached:
- // ARMARX_INFO_S << ("The Skill '" + skillName + "' reached timeout during execution.");
- // updateStatus(SkillStatus::Failed);
- // break;
case TerminatedSkillStatus::Aborted:
{
ARMARX_INFO_S << ("The Skill '" + skillName + "' got stopped.");
@@ -159,7 +165,7 @@ namespace armarx
}
resetExecParam();
- return ret;
+ return {{skill->getSkillId(), executorName, parameterization, ret.data}, ret.status};
}
}
}
diff --git a/source/RobotAPI/libraries/skills/provider/detail/SkillImplementationWrapper.h b/source/RobotAPI/libraries/skills/provider/detail/SkillImplementationWrapper.h
index e002dbb6e..982bcc366 100644
--- a/source/RobotAPI/libraries/skills/provider/detail/SkillImplementationWrapper.h
+++ b/source/RobotAPI/libraries/skills/provider/detail/SkillImplementationWrapper.h
@@ -32,7 +32,8 @@ namespace armarx
// ctor
SkillImplementationWrapper(std::unique_ptr<skills::Skill>&& skill);
- // execute a skill. The parameterization is copied
+ // execute a skill. The parameterization is copied. T
+ // the return type additionally contains the input configuration (similar to the status updates used in callbacks)
TerminatedSkillStatusUpdate setupAndExecuteSkill(const std::string& executorName, const skills::SkillParameterization);
};
}
diff --git a/source/RobotAPI/libraries/skills/provider/mixins/All.h b/source/RobotAPI/libraries/skills/provider/mixins/All.h
new file mode 100644
index 000000000..7f74ab14f
--- /dev/null
+++ b/source/RobotAPI/libraries/skills/provider/mixins/All.h
@@ -0,0 +1,7 @@
+#include "ArvizSkillMixin.h"
+#include "MNSSkillMixin.h"
+#include "GraspReadingSkillMixin.h"
+#include "MemoryReadingSkillMixin.h"
+#include "ObjectReadingSkillMixin.h"
+#include "ObjectWritingSkillMixin.h"
+#include "RobotReadingSkillMixin.h"
diff --git a/source/RobotAPI/libraries/skills/provider/mixins/ArvizSkillMixin.h b/source/RobotAPI/libraries/skills/provider/mixins/ArvizSkillMixin.h
new file mode 100644
index 000000000..7b77cb543
--- /dev/null
+++ b/source/RobotAPI/libraries/skills/provider/mixins/ArvizSkillMixin.h
@@ -0,0 +1,26 @@
+#pragma once
+
+
+// Others
+#include <RobotAPI/libraries/RobotAPIComponentPlugins/ArVizComponentPlugin.h>
+
+namespace armarx::skills::mixin
+{
+ struct ArvizSkillMixin
+ {
+ armarx::viz::Client arviz;
+ std::string layerName;
+
+ ArvizSkillMixin(const armarx::viz::Client& a, const std::string& ln) :
+ arviz(a),
+ layerName(ln)
+ {
+ }
+
+ void clearLayer()
+ {
+ auto l = arviz.layer(layerName);
+ arviz.commit(l);
+ }
+ };
+}
diff --git a/source/RobotAPI/libraries/skills/provider/mixins/GraspReadingSkillMixin.h b/source/RobotAPI/libraries/skills/provider/mixins/GraspReadingSkillMixin.h
new file mode 100644
index 000000000..d69f390da
--- /dev/null
+++ b/source/RobotAPI/libraries/skills/provider/mixins/GraspReadingSkillMixin.h
@@ -0,0 +1,25 @@
+#pragma once
+
+
+// Others
+#include <RobotAPI/libraries/armem_grasping/client/KnownGraspCandidateReader.h>
+
+namespace armarx::skills::mixin
+{
+ struct GraspReadingSkillMixin
+ {
+ armem::grasping::known_grasps::Reader graspReader;
+
+ GraspReadingSkillMixin(armem::client::MemoryNameSystem& mns) : graspReader(mns)
+ {}
+ };
+
+ struct SpecificGraspReadingSkillMixin
+ {
+ std::string objectEntityId;
+ armem::grasping::known_grasps::Reader graspReader;
+
+ SpecificGraspReadingSkillMixin(const std::string& n, armem::client::MemoryNameSystem& mns) : objectEntityId(n), graspReader(mns)
+ {}
+ };
+}
diff --git a/source/RobotAPI/libraries/skills/provider/mixins/MNSSkillMixin.h b/source/RobotAPI/libraries/skills/provider/mixins/MNSSkillMixin.h
new file mode 100644
index 000000000..f0bde8bdf
--- /dev/null
+++ b/source/RobotAPI/libraries/skills/provider/mixins/MNSSkillMixin.h
@@ -0,0 +1,16 @@
+#pragma once
+
+
+// Others
+#include <RobotAPI/libraries/armem/client/MemoryNameSystem.h>
+
+namespace armarx::skills::mixin
+{
+ struct MNSSkillMixin
+ {
+ armem::client::MemoryNameSystem mns;
+
+ MNSSkillMixin(const armem::client::MemoryNameSystem& m) : mns(m)
+ {}
+ };
+}
diff --git a/source/RobotAPI/libraries/skills/provider/mixins/MemoryReadingSkillMixin.h b/source/RobotAPI/libraries/skills/provider/mixins/MemoryReadingSkillMixin.h
new file mode 100644
index 000000000..214fbac44
--- /dev/null
+++ b/source/RobotAPI/libraries/skills/provider/mixins/MemoryReadingSkillMixin.h
@@ -0,0 +1,16 @@
+#pragma once
+
+
+// Others
+#include <RobotAPI/libraries/armem/client/Reader.h>
+
+namespace armarx::skills::mixin
+{
+ struct MemoryReadingSkillMixin
+ {
+ armem::client::Reader memoryReader;
+
+ //MemoryReadingSkillMixin(armem::client::MemoryNameSystem& mns) : memoryReader(mns)
+ //{}
+ };
+}
diff --git a/source/RobotAPI/libraries/skills/provider/mixins/ObjectReadingSkillMixin.h b/source/RobotAPI/libraries/skills/provider/mixins/ObjectReadingSkillMixin.h
new file mode 100644
index 000000000..de5ef34b1
--- /dev/null
+++ b/source/RobotAPI/libraries/skills/provider/mixins/ObjectReadingSkillMixin.h
@@ -0,0 +1,25 @@
+#pragma once
+
+
+// Others
+#include <RobotAPI/libraries/armem_objects/client/instance/ObjectReader.h>
+
+namespace armarx::skills::mixin
+{
+ struct ObjectReadingSkillMixin
+ {
+ armem::obj::instance::Reader objectReader;
+
+ ObjectReadingSkillMixin(armem::client::MemoryNameSystem& mns, const objpose::ObjectPoseProviderPrx& o) : objectReader(mns, o)
+ {}
+ };
+
+ struct SpecificObjectReadingSkillMixin
+ {
+ std::string objectEntityId;
+ armem::obj::instance::Reader objectReader;
+
+ SpecificObjectReadingSkillMixin(const std::string& n, armem::client::MemoryNameSystem& mns, const objpose::ObjectPoseProviderPrx& o) : objectEntityId(n), objectReader(mns, o)
+ {}
+ };
+}
diff --git a/source/RobotAPI/libraries/skills/provider/mixins/ObjectWritingSkillMixin.h b/source/RobotAPI/libraries/skills/provider/mixins/ObjectWritingSkillMixin.h
new file mode 100644
index 000000000..edf8e6a2e
--- /dev/null
+++ b/source/RobotAPI/libraries/skills/provider/mixins/ObjectWritingSkillMixin.h
@@ -0,0 +1,16 @@
+#pragma once
+
+
+// Others
+#include <RobotAPI/libraries/armem_objects/client/instance/ObjectWriter.h>
+
+namespace armarx::skills::mixin
+{
+ struct ObjectWritingSkillMixin
+ {
+ armem::obj::instance::Writer objectWriter;
+
+ ObjectWritingSkillMixin(armem::client::MemoryNameSystem& mns) : objectWriter(mns)
+ {}
+ };
+}
diff --git a/source/RobotAPI/libraries/skills/provider/mixins/RobotReadingSkillMixin.h b/source/RobotAPI/libraries/skills/provider/mixins/RobotReadingSkillMixin.h
new file mode 100644
index 000000000..631491ddc
--- /dev/null
+++ b/source/RobotAPI/libraries/skills/provider/mixins/RobotReadingSkillMixin.h
@@ -0,0 +1,28 @@
+#pragma once
+
+
+// Others
+#include <RobotAPI/libraries/armem_robot_state/client/common/VirtualRobotReader.h>
+
+namespace armarx::skills::mixin
+{
+ struct RobotReadingSkillMixin
+ {
+ armem::robot_state::VirtualRobotReader robotReader;
+
+ RobotReadingSkillMixin(armem::client::MemoryNameSystem& mns) :
+ robotReader(mns)
+ {}
+ };
+
+ struct SpecificRobotReadingSkillMixin
+ {
+ std::string robotName;
+ armem::robot_state::VirtualRobotReader robotReader;
+
+ SpecificRobotReadingSkillMixin(const std::string& rn, armem::client::MemoryNameSystem& mns) :
+ robotName(rn),
+ robotReader(mns)
+ {}
+ };
+}
diff --git a/source/RobotAPI/libraries/skills/provider/util/All.h b/source/RobotAPI/libraries/skills/provider/util/All.h
deleted file mode 100644
index bd64c524c..000000000
--- a/source/RobotAPI/libraries/skills/provider/util/All.h
+++ /dev/null
@@ -1,6 +0,0 @@
-#include "ArvizSkillUtil.h"
-#include "GraspReadingSkillUtil.h"
-#include "MemoryReadingSkillUtil.h"
-#include "ObjectReadingSkillUtil.h"
-#include "ObjectWritingSkillUtil.h"
-#include "RobotReadingSkillUtil.h"
diff --git a/source/RobotAPI/libraries/skills/provider/util/ArvizSkillUtil.h b/source/RobotAPI/libraries/skills/provider/util/ArvizSkillUtil.h
deleted file mode 100644
index 10a21b73d..000000000
--- a/source/RobotAPI/libraries/skills/provider/util/ArvizSkillUtil.h
+++ /dev/null
@@ -1,20 +0,0 @@
-#pragma once
-
-
-// Others
-#include <RobotAPI/libraries/RobotAPIComponentPlugins/ArVizComponentPlugin.h>
-
-namespace armarx::skills::util
-{
- struct ArvizSkillUtil
- {
- armarx::viz::Client& arviz;
- std::string layerName;
-
- void clearLayer() const
- {
- auto l = arviz.layer(layerName);
- arviz.commit(l);
- }
- };
-}
diff --git a/source/RobotAPI/libraries/skills/provider/util/GraspReadingSkillUtil.h b/source/RobotAPI/libraries/skills/provider/util/GraspReadingSkillUtil.h
deleted file mode 100644
index b48b2c98f..000000000
--- a/source/RobotAPI/libraries/skills/provider/util/GraspReadingSkillUtil.h
+++ /dev/null
@@ -1,20 +0,0 @@
-#pragma once
-
-
-// Others
-#include <RobotAPI/libraries/armem_grasping/client/KnownGraspCandidateReader.h>
-
-namespace armarx::skills::util
-{
- struct GraspReadingSkillUtil
- {
- armem::grasping::known_grasps::Reader& graspReader;
- };
-
- struct SpecificGraspReadingSkillUtil
- {
- std::string objectEntityId;
-
- armem::grasping::known_grasps::Reader& graspReader;
- };
-}
diff --git a/source/RobotAPI/libraries/skills/provider/util/MemoryReadingSkillUtil.h b/source/RobotAPI/libraries/skills/provider/util/MemoryReadingSkillUtil.h
deleted file mode 100644
index 0282ae15b..000000000
--- a/source/RobotAPI/libraries/skills/provider/util/MemoryReadingSkillUtil.h
+++ /dev/null
@@ -1,13 +0,0 @@
-#pragma once
-
-
-// Others
-#include <RobotAPI/libraries/armem/client/Reader.h>
-
-namespace armarx::skills::util
-{
- struct MemoryReadingSkillUtil
- {
- armem::client::Reader& memoryReader;
- };
-}
diff --git a/source/RobotAPI/libraries/skills/provider/util/ObjectReadingSkillUtil.h b/source/RobotAPI/libraries/skills/provider/util/ObjectReadingSkillUtil.h
deleted file mode 100644
index 5c421a931..000000000
--- a/source/RobotAPI/libraries/skills/provider/util/ObjectReadingSkillUtil.h
+++ /dev/null
@@ -1,20 +0,0 @@
-#pragma once
-
-
-// Others
-#include <RobotAPI/libraries/armem_objects/client/instance/ObjectReader.h>
-
-namespace armarx::skills::util
-{
- struct ObjectReadingSkillUtil
- {
- armem::obj::instance::Reader& objectReader;
- };
-
- struct SpecificObjectReadingSkillUtil
- {
- std::string objectEntityId;
-
- armem::obj::instance::Reader& objectReader;
- };
-}
diff --git a/source/RobotAPI/libraries/skills/provider/util/ObjectWritingSkillUtil.h b/source/RobotAPI/libraries/skills/provider/util/ObjectWritingSkillUtil.h
deleted file mode 100644
index 25297bb3d..000000000
--- a/source/RobotAPI/libraries/skills/provider/util/ObjectWritingSkillUtil.h
+++ /dev/null
@@ -1,13 +0,0 @@
-#pragma once
-
-
-// Others
-#include <RobotAPI/libraries/armem_objects/client/instance/ObjectWriter.h>
-
-namespace armarx::skills::util
-{
- struct ObjectWritingSkillUtil
- {
- armem::obj::instance::Writer& objectWriter;
- };
-}
diff --git a/source/RobotAPI/libraries/skills/provider/util/RobotReadingSkillUtil.h b/source/RobotAPI/libraries/skills/provider/util/RobotReadingSkillUtil.h
deleted file mode 100644
index c5777100d..000000000
--- a/source/RobotAPI/libraries/skills/provider/util/RobotReadingSkillUtil.h
+++ /dev/null
@@ -1,19 +0,0 @@
-#pragma once
-
-
-// Others
-#include <RobotAPI/libraries/armem_robot_state/client/common/VirtualRobotReader.h>
-
-namespace armarx::skills::util
-{
- struct RobotReadingSkillUtil
- {
- armem::robot_state::VirtualRobotReader& robotReader;
- };
-
- struct SpecificRobotReadingSkillUtil
- {
- std::string robotName;
- armem::robot_state::VirtualRobotReader& robotReader;
- };
-}
--
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