SkillImplementationWrapper: returning result data in case of failure (stead of errormessage)

source/RobotAPI/libraries/skills/provider/detail/SkillImplementationWrapper.cpp

@@ -130,9 +130,9 @@ namespace armarx
             // set initial parameters that were attached to the execution request (only add as we are not sure whether some updates already arrived)
             this->updateSkillParameters(initial_aron_params);
 
-            auto makeAbortedResult = [&](const std::string& message)
+            auto makeAbortedResult = [&](const aron::data::DictPtr& data)
             {
-                updateStatus(SkillStatus::Aborted, createErrorMessageData(message));
+                updateStatus(SkillStatus::Aborted, data);
 
                 std::unique_lock l(skillStatusesMutex);
                 auto terminated = TerminatedSkillStatusUpdate{
@@ -145,9 +145,9 @@ namespace armarx
             };
 
 
-            auto makeFailedResult = [&](const std::string& message)
+            auto makeFailedResult = [&](const aron::data::DictPtr& data)
             {
-                updateStatus(SkillStatus::Failed, createErrorMessageData(message));
+                updateStatus(SkillStatus::Failed, data);
 
                 std::unique_lock l(skillStatusesMutex);
                 auto terminated = TerminatedSkillStatusUpdate{
@@ -174,15 +174,15 @@ namespace armarx
             //            }
 
 
-            auto exitAndMakeFailedResult = [&](const std::string& message)
+            auto exitAndMakeFailedResult = [&](const aron::data::DictPtr& data)
             {
                 skill->exitSkill(); // try to exit skill. Ignore return value
-                return makeFailedResult(message);
+                return makeFailedResult(data);
             };
-            auto exitAndMakeAbortedResult = [&](const std::string& message)
+            auto exitAndMakeAbortedResult = [&](const aron::data::DictPtr& data)
             {
                 skill->exitSkill(); // try to exit skill. Ignore return value
-                return makeAbortedResult(message);
+                return makeAbortedResult(data);
             };
 
             // Construction succeeded!
@@ -199,16 +199,16 @@ namespace armarx
                 {
                     std::string message = "SkillError 101: The initialization of skill '" +
                                           skillName + "' did not succeed.";
-                    return exitAndMakeFailedResult(message);
+                    return exitAndMakeFailedResult(createErrorMessageData(message));
                 }
             }
             catch (const error::SkillAbortedException& ex)
             {
-                return exitAndMakeAbortedResult(GetHandledExceptionString());
+                return exitAndMakeAbortedResult(createErrorMessageData(GetHandledExceptionString()));
             }
             catch (const error::SkillFailedException& ex)
             {
-                return exitAndMakeFailedResult(GetHandledExceptionString());
+                return exitAndMakeFailedResult(createErrorMessageData(GetHandledExceptionString()));
             }
             catch (const std::exception& ex)
             {
@@ -216,7 +216,7 @@ namespace armarx
                     "SkillError 101e: An error occured during the initialization of skill '" +
                     skillName + "'. The error was: " + GetHandledExceptionString();
                 ARMARX_ERROR_S << message;
-                return exitAndMakeFailedResult(message);
+                return exitAndMakeFailedResult(createErrorMessageData(message));
             }
 
             // Init succeeded!
@@ -244,16 +244,16 @@ namespace armarx
                     std::string message = "SkillError 201: The prepare method of skill '" +
                                           skillName + "' did not succeed.";
                     ARMARX_ERROR_S << message;
-                    return exitAndMakeFailedResult(message);
+                    return exitAndMakeFailedResult(createErrorMessageData(message));
                 }
             }
             catch (const error::SkillAbortedException& ex)
             {
-                return exitAndMakeAbortedResult(GetHandledExceptionString());
+                return exitAndMakeAbortedResult(createErrorMessageData(GetHandledExceptionString()));
             }
             catch (const error::SkillFailedException& ex)
             {
-                return exitAndMakeFailedResult(GetHandledExceptionString());
+                return exitAndMakeFailedResult(createErrorMessageData(GetHandledExceptionString()));
             }
             catch (const std::exception& ex)
             {
@@ -262,7 +262,7 @@ namespace armarx
                                       skillName +
                                       "'. The error was: " + GetHandledExceptionString();
                 ARMARX_ERROR_S << message;
-                return exitAndMakeFailedResult(message);
+                return exitAndMakeFailedResult(createErrorMessageData(message));
             }
 
             // Prepare succeeded!
@@ -281,22 +281,23 @@ namespace armarx
                 {
                     std::string message =
                         "SkillError 501: The main method of skill '" + skillName + "' did fail.";
-                    return exitAndMakeFailedResult(message);
+
+                    return exitAndMakeFailedResult(mainRet.data);
                 }
                 else if (mainRet.status == TerminatedSkillStatus::Aborted)
                 {
                     std::string message =
                         "SkillError 501: The main method of skill '" + skillName + "' got aborted.";
-                    return exitAndMakeAbortedResult(message);
+                    return exitAndMakeAbortedResult(mainRet.data);
                 }
             }
             catch (const error::SkillAbortedException& ex)
             {
-                return exitAndMakeAbortedResult(GetHandledExceptionString());
+                return exitAndMakeAbortedResult(mainRet.data);
             }
             catch (const error::SkillFailedException& ex)
             {
-                return exitAndMakeFailedResult(GetHandledExceptionString());
+                return exitAndMakeFailedResult(mainRet.data);
             }
             catch (const std::exception& ex)
             {
@@ -304,7 +305,7 @@ namespace armarx
                     "SkillError 501e: An error occured during the main method of skill '" +
                     skillName + "'. The error was: " + GetHandledExceptionString();
                 ARMARX_ERROR_S << message;
-                return exitAndMakeFailedResult(message);
+                return exitAndMakeFailedResult(mainRet.data);
             }
 
             // Main succeeded!
@@ -317,18 +318,18 @@ namespace armarx
                 Skill::ExitResult exitRet = skill->exitSkill();
                 if (exitRet.status != TerminatedSkillStatus::Succeeded)
                 {
-                    std::string message = "SkillError 601: The exit method of skill '" + skillName +
-                                          "' did not succeed.";
-                    return makeFailedResult(message);
+                    // std::string message = "SkillError 601: The exit method of skill '" + skillName +
+                    //                       "' did not succeed.";
+                    return makeFailedResult(mainRet.data);
                 }
             }
             catch (const error::SkillAbortedException& ex)
             {
-                return makeAbortedResult(GetHandledExceptionString());
+                return makeAbortedResult(mainRet.data);
             }
             catch (const error::SkillFailedException& ex)
             {
-                return makeFailedResult(GetHandledExceptionString());
+                return makeFailedResult(mainRet.data);
             }
             catch (const std::exception& ex)
             {
@@ -336,7 +337,7 @@ namespace armarx
                     "SkillError 601e: An error occured during the exit method of skill '" +
                     skillName + "'. The error was: " + GetHandledExceptionString();
                 ARMARX_ERROR_S << message;
-                return makeFailedResult(message);
+                return makeFailedResult(mainRet.data);
             }
 
             // Exit succeeded!