From 5634f09b5764b0e337efbfce9827398bf1939983 Mon Sep 17 00:00:00 2001
From: Fabian Peller-Konrad <fabian.peller-konrad@kit.edu>
Date: Tue, 27 Sep 2022 10:59:09 +0200
Subject: [PATCH] switched to armarx::duration for skill descriptions, force
lambda skills to return a skillstatus, added return structs for init and exit
---
.../SkillProviderExample.cpp | 15 +++---
.../libraries/skills/provider/LambdaSkill.cpp | 8 +--
.../libraries/skills/provider/LambdaSkill.h | 2 +-
.../libraries/skills/provider/Skill.cpp | 12 ++---
.../libraries/skills/provider/Skill.h | 2 +-
.../skills/provider/SkillDescription.cpp | 7 +--
.../skills/provider/SkillDescription.h | 7 ++-
.../skills/provider/SpecializedSkill.h | 51 +++++++++++++------
8 files changed, 59 insertions(+), 45 deletions(-)
diff --git a/source/RobotAPI/components/skills/SkillProviderExample/SkillProviderExample.cpp b/source/RobotAPI/components/skills/SkillProviderExample/SkillProviderExample.cpp
index 783821b06..bc50155ed 100644
--- a/source/RobotAPI/components/skills/SkillProviderExample/SkillProviderExample.cpp
+++ b/source/RobotAPI/components/skills/SkillProviderExample/SkillProviderExample.cpp
@@ -25,7 +25,7 @@ namespace armarx::skills::provider
"HelloWorld",
"This skill logs a message on ARMARX_IMPORTANT",
{},
- 1000,
+ armarx::core::time::Duration::MilliSeconds(1000),
armarx::skills::Example::HelloWorldAcceptedType::ToAronType(),
default_params.toAron()
};
@@ -50,7 +50,7 @@ namespace armarx::skills::provider
"ChainingSkill",
"This skill calls the HelloWorld skill three times.",
{},
- 3000,
+ armarx::core::time::Duration::MilliSeconds(3000),
nullptr
};
}
@@ -84,7 +84,7 @@ namespace armarx::skills::provider
"Timeout",
"This fails with timeout reached",
{},
- 1000,
+ armarx::core::time::Duration::MilliSeconds(1000),
nullptr
};
}
@@ -107,7 +107,7 @@ namespace armarx::skills::provider
"ShowMeCallbacks",
"This skill does shows callbacks",
{},
- 1000,
+ armarx::core::time::Duration::MilliSeconds(1000),
nullptr
};
}
@@ -157,8 +157,11 @@ namespace armarx::skills::provider
fooDesc.acceptedType = nullptr; // accept everything
fooDesc.description = "This skill does exactly nothing.";
fooDesc.skillName = "Foo";
- fooDesc.timeoutMs = 1000;
- addSkill([](const std::string& clientId, const aron::data::DictPtr&){ std::cout << "Hello from Foo. The skill was called from " << clientId << "." << std::endl; return true; }, fooDesc);
+ fooDesc.timeout = armarx::core::time::Duration::MilliSeconds(1000);
+ addSkill([](const std::string& clientId, const aron::data::DictPtr&){
+ std::cout << "Hello from Foo. The skill was called from " << clientId << "." << std::endl;
+ return TerminatedSkillStatus::Succeeded;
+ }, fooDesc);
}
// Add another example skill
diff --git a/source/RobotAPI/libraries/skills/provider/LambdaSkill.cpp b/source/RobotAPI/libraries/skills/provider/LambdaSkill.cpp
index e922a69bb..280cdb93e 100644
--- a/source/RobotAPI/libraries/skills/provider/LambdaSkill.cpp
+++ b/source/RobotAPI/libraries/skills/provider/LambdaSkill.cpp
@@ -7,13 +7,9 @@ namespace armarx
Skill::MainResult LambdaSkill::main(const MainInput& in)
{
- bool res = fun(in.executorName, in.params);
+ TerminatedSkillStatus res = fun(in.executorName, in.params);
- if (res)
- {
- return {TerminatedSkillStatus::Succeeded, nullptr};
- }
- return {TerminatedSkillStatus::Failed, nullptr};
+ return {.status = res, .data = nullptr};
}
}
}
diff --git a/source/RobotAPI/libraries/skills/provider/LambdaSkill.h b/source/RobotAPI/libraries/skills/provider/LambdaSkill.h
index e73206e45..01e3a3897 100644
--- a/source/RobotAPI/libraries/skills/provider/LambdaSkill.h
+++ b/source/RobotAPI/libraries/skills/provider/LambdaSkill.h
@@ -9,7 +9,7 @@ namespace armarx
class LambdaSkill : public Skill
{
public:
- using FunT = std::function<bool(const std::string clientId, const aron::data::DictPtr&)>;
+ using FunT = std::function<TerminatedSkillStatus(const std::string clientId, const aron::data::DictPtr&)>;
LambdaSkill() = delete;
LambdaSkill(const FunT& f, const SkillDescription& desc) :
diff --git a/source/RobotAPI/libraries/skills/provider/Skill.cpp b/source/RobotAPI/libraries/skills/provider/Skill.cpp
index 9cb924865..21b32da1a 100644
--- a/source/RobotAPI/libraries/skills/provider/Skill.cpp
+++ b/source/RobotAPI/libraries/skills/provider/Skill.cpp
@@ -62,7 +62,7 @@ namespace armarx
// install timeout condition
installConditionWithCallback(
- [&](){ return (armarx::core::time::DateTime::Now().toMilliSecondsSinceEpoch() - started.toMilliSecondsSinceEpoch()) >= description.timeoutMs; },
+ [&](){ return (armarx::core::time::DateTime::Now() >= (started + description.timeout)); },
[&](){ notifyTimeoutReached(); }
);
@@ -166,29 +166,29 @@ namespace armarx
Skill::InitResult Skill::init(const InitInput&)
{
// Default nothing to init
- return {TerminatedSkillStatus::Succeeded};
+ return {.status = TerminatedSkillStatus::Succeeded};
}
// always called after execute or if skill fails (should not take longer than 100ms)
Skill::ExitResult Skill::exit(const ExitInput&)
{
// Default nothing to exit
- return {TerminatedSkillStatus::Succeeded};
+ return {.status = TerminatedSkillStatus::Succeeded};
}
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 {TerminatedSkillStatus::Succeeded, nullptr};
+ return {.status = TerminatedSkillStatus::Succeeded, .data = nullptr};
}
Skill::MainResult Skill::executeFullSkill(const MainInput& in)
{
this->resetSkill();
- this->initSkill(InitInput{in.executorName, in.params});
+ this->initSkill(InitInput{.executorName = in.executorName, .params = in.params});
auto ret = this->mainOfSkill(in);
- this->exitSkill(ExitInput{in.executorName, in.params});
+ this->exitSkill(ExitInput{.executorName = in.executorName, .params = in.params});
return ret;
}
}
diff --git a/source/RobotAPI/libraries/skills/provider/Skill.h b/source/RobotAPI/libraries/skills/provider/Skill.h
index 2152c1941..0522191bf 100644
--- a/source/RobotAPI/libraries/skills/provider/Skill.h
+++ b/source/RobotAPI/libraries/skills/provider/Skill.h
@@ -52,7 +52,7 @@ namespace armarx
struct MainResult
{
TerminatedSkillStatus status;
- aron::data::DictPtr data;
+ aron::data::DictPtr data = nullptr;
};
struct ExitResult
diff --git a/source/RobotAPI/libraries/skills/provider/SkillDescription.cpp b/source/RobotAPI/libraries/skills/provider/SkillDescription.cpp
index 3256f3e11..4e195f39e 100644
--- a/source/RobotAPI/libraries/skills/provider/SkillDescription.cpp
+++ b/source/RobotAPI/libraries/skills/provider/SkillDescription.cpp
@@ -4,11 +4,6 @@ namespace armarx
{
namespace skills
{
- SkillDescription::SkillDescription(const std::string& name, const std::string& desc, const std::vector<std::string>& r, long timeoutMs, const aron::type::ObjectPtr& type, const aron::data::DictPtr& def) :
- skillName(name), description(desc), robots(r), timeoutMs(timeoutMs), acceptedType(type), defaultParams(def)
- {
- }
-
provider::dto::SkillDescription SkillDescription::toIce() const
{
provider::dto::SkillDescription ret;
@@ -16,7 +11,7 @@ namespace armarx
ret.description = description;
ret.skillName = skillName;
ret.robots = robots;
- ret.timeoutMs = timeoutMs;
+ ret.timeoutMs = timeout.toMilliSeconds();
ret.defaultParams = aron::data::Dict::ToAronDictDTO(defaultParams);
return ret;
}
diff --git a/source/RobotAPI/libraries/skills/provider/SkillDescription.h b/source/RobotAPI/libraries/skills/provider/SkillDescription.h
index 0eaea7570..57c3c93b1 100644
--- a/source/RobotAPI/libraries/skills/provider/SkillDescription.h
+++ b/source/RobotAPI/libraries/skills/provider/SkillDescription.h
@@ -3,6 +3,8 @@
#include <string>
#include <vector>
+#include <ArmarXCore/core/time/Duration.h>
+
#include <RobotAPI/interface/skills/SkillProviderInterface.h>
#include <RobotAPI/libraries/aron/core/data/variant/container/Dict.h>
#include <RobotAPI/libraries/aron/core/type/variant/container/Object.h>
@@ -16,13 +18,10 @@ namespace armarx
std::string skillName = "NOT INITIALIZED YET";
std::string description = "NOT INITIALIZED YET";
std::vector<std::string> robots = {};
- long timeoutMs = -1;
+ armarx::core::time::Duration timeout = armarx::core::time::Duration::MilliSeconds(-1);
aron::type::ObjectPtr acceptedType = nullptr;
aron::data::DictPtr defaultParams = nullptr;
- SkillDescription() = default;
- SkillDescription(const std::string&, const std::string&, const std::vector<std::string>&, long, const aron::type::ObjectPtr&, const aron::data::DictPtr& = nullptr);
-
provider::dto::SkillDescription toIce() const;
};
}
diff --git a/source/RobotAPI/libraries/skills/provider/SpecializedSkill.h b/source/RobotAPI/libraries/skills/provider/SpecializedSkill.h
index 80752a235..9f554e11e 100644
--- a/source/RobotAPI/libraries/skills/provider/SpecializedSkill.h
+++ b/source/RobotAPI/libraries/skills/provider/SpecializedSkill.h
@@ -45,74 +45,95 @@ namespace armarx
return AronT::ToAronType();
}
- void initSkill(const SpecializedInitInput& in)
+ bool isSkillAvailable(const SpecializedInitInput& in) const
+ {
+ return this->isAvailable();
+ }
+
+ Skill::InitResult initSkill(const SpecializedInitInput& in)
{
Skill::_init();
- this->init(in);
+ return this->init(in);
}
Skill::MainResult mainOfSkill(const SpecializedMainInput& in)
{
Skill::_main();
return this->main(in);
}
- void exitSkill(const SpecializedExitInput& in)
+ Skill::ExitResult exitSkill(const SpecializedExitInput& in)
{
Skill::_exit();
- this->exit(in);
+ return this->exit(in);
}
Skill::MainResult executeFullSkill(const SpecializedMainInput& in)
{
this->resetSkill();
- this->initSkill(SpecializedInitInput({in.executorName, in.params}));
+ this->initSkill(SpecializedInitInput({.executorName = in.executorName, .params = in.params}));
auto ret = this->mainOfSkill(in);
- this->exit(SpecializedExitInput({in.executorName, in.params}));
+ this->exit(SpecializedExitInput({.executorName = in.executorName, .params = in.params}));
return ret;
}
private:
+ virtual bool isAvailable(const SpecializedInitInput&) const
+ {
+ return true;
+ }
+
/// Override this method with the actual implementation. The callback is for status updates to the calling instance
- virtual void init(const SpecializedInitInput&)
+ virtual Skill::InitResult init(const SpecializedInitInput&)
{
+ return InitResult{.status = TerminatedSkillStatus::Succeeded};
}
/// Override this method with the actual implementation. The callback is for status updates to the calling instance
virtual Skill::MainResult main(const SpecializedMainInput& in)
{
ARMARX_IMPORTANT << "Dummy executing skill '" << description.skillName << "'. Please overwrite this method.";
- return {TerminatedSkillStatus::Succeeded, nullptr};
+ return Skill::MainResult{.status = TerminatedSkillStatus::Succeeded, .data = nullptr};
}
/// Override this method with the actual implementation. The callback is for status updates to the calling instance
- virtual void exit(const SpecializedExitInput&)
+ virtual Skill::ExitResult exit(const SpecializedExitInput&)
{
+ return ExitResult{.status = TerminatedSkillStatus::Succeeded};
}
/// Do not use anymore
- Skill::MainResult main(const MainInput& in) final
+ bool isAvailable(const InitInput& in) const final
{
AronT p;
p.fromAron(in.params);
- return main(SpecializedMainInput({in.executorName, p, in.callback}));
+ return isAvailable(SpecializedInitInput({.executorName = in.executorName, .params = p}));
}
/// Do not use anymore
- void init(const InitInput& in) final
+ Skill::InitResult init(const InitInput& in) final
+ {
+ AronT p;
+ p.fromAron(in.params);
+
+ return init(SpecializedInitInput({.executorName = in.executorName, .params = p}));
+ }
+
+ /// Do not use anymore
+ Skill::MainResult main(const MainInput& in) final
{
AronT p;
p.fromAron(in.params);
- return init(SpecializedInitInput({in.executorName, p}));
+ return main(SpecializedMainInput({.executorName = in.executorName, .params = p, .callback = in.callback}));
}
/// Do not use anymore
- void exit(const ExitInput& in) final
+ Skill::ExitResult exit(const ExitInput& in) final
{
AronT p;
p.fromAron(in.params);
- return exit(SpecializedExitInput({in.executorName, p}));
+ return exit(SpecializedExitInput({.executorName = in.executorName, .params = p}));
}
};
}
--
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