From 59dea6615f809cf802edd225a11f9a7a38df95c4 Mon Sep 17 00:00:00 2001
From: Christian Dreher <c.dreher@kit.edu>
Date: Thu, 31 Oct 2024 16:56:10 -0700
Subject: [PATCH] fix: Reset skill factories on disconnect
---
.../skills/provider/SkillProviderComponentPlugin.cpp | 5 +++++
1 file changed, 5 insertions(+)
diff --git a/source/RobotAPI/libraries/skills/provider/SkillProviderComponentPlugin.cpp b/source/RobotAPI/libraries/skills/provider/SkillProviderComponentPlugin.cpp
index 72024a427..ac7ab61a8 100644
--- a/source/RobotAPI/libraries/skills/provider/SkillProviderComponentPlugin.cpp
+++ b/source/RobotAPI/libraries/skills/provider/SkillProviderComponentPlugin.cpp
@@ -42,6 +42,10 @@ namespace armarx::plugins
auto id = skills::manager::dto::ProviderID{providerName};
manager->removeProvider(id);
+
+ // remove all skills
+ ARMARX_INFO << "Removing all skills";
+ skillFactories.clear();
}
void
@@ -82,6 +86,7 @@ namespace armarx::plugins
ARMARX_INFO << "Adding skill `" << skillId << "` to component `" << componentName << "` .";
skillFactories.emplace(skillId, std::move(fac));
+
// if (connected)
// {
--
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