From 731d804f7df298bd1a66064e433664dec7db6f18 Mon Sep 17 00:00:00 2001
From: Fabian Peller-Konrad <fabian.peller-konrad@kit.edu>
Date: Tue, 22 Mar 2022 14:47:53 +0100
Subject: [PATCH] Fixed bug in skills.Manager gui plugin
---
.../SkillManagerMonitorWidgetController.cpp | 32 +++++++++++++------
.../libraries/armem_skills/aron/Skill.xml | 19 ++++++++---
.../segment/ExecutableSkillLibrarySegment.cpp | 8 +++++
.../server/segment/SkillEventSegment.cpp | 12 ++-----
.../segment/SkillExecutionRequestSegment.cpp | 9 ++----
.../manager/SkillManagerComponentPlugin.cpp | 9 ++++++
6 files changed, 61 insertions(+), 28 deletions(-)
diff --git a/source/RobotAPI/gui-plugins/SkillManagerPlugin/SkillManagerMonitorWidgetController.cpp b/source/RobotAPI/gui-plugins/SkillManagerPlugin/SkillManagerMonitorWidgetController.cpp
index 3b57b3012..431ce92ca 100644
--- a/source/RobotAPI/gui-plugins/SkillManagerPlugin/SkillManagerMonitorWidgetController.cpp
+++ b/source/RobotAPI/gui-plugins/SkillManagerPlugin/SkillManagerMonitorWidgetController.cpp
@@ -195,13 +195,18 @@ namespace armarx
}
// remove providers from tree
- for (int i = 0; i < widget.treeWidgetSkills->topLevelItemCount(); ++i)
+ int i = 0;
+ while (i < widget.treeWidgetSkills->topLevelItemCount())
{
QTreeWidgetItem* item = widget.treeWidgetSkills->topLevelItem(i);
if (std::find(removedProviders.begin(), removedProviders.end(), item->text(0).toStdString()) != removedProviders.end())
{
delete widget.treeWidgetSkills->takeTopLevelItem(i);
}
+ else
+ {
+ ++i;
+ }
}
// add new providers
@@ -223,17 +228,26 @@ namespace armarx
// update status
for (int i = 0; i < widget.treeWidgetSkills->topLevelItemCount(); ++i)
{
- QTreeWidgetItem* item = widget.treeWidgetSkills->topLevelItem(i);
- auto providerName = item->text(0).toStdString();
- for (int j = 0; j < item->childCount(); ++j)
+ try
{
- QTreeWidgetItem* skillItem = item->child(j);
- auto skillName = skillItem->text(0).toStdString();
+ QTreeWidgetItem* item = widget.treeWidgetSkills->topLevelItem(i);
+ auto providerName = item->text(0).toStdString();
+ for (int j = 0; j < item->childCount(); ++j)
+ {
+ QTreeWidgetItem* skillItem = item->child(j);
+ auto skillName = skillItem->text(0).toStdString();
- auto& providerPrx = skills.at(providerName).skillProviderPrx;
- auto statusUpdate = providerPrx->getSkillExecutionStatus(skillName);
+ auto& providerPrx = skills.at(providerName).skillProviderPrx;
+ auto statusUpdate = providerPrx->getSkillExecutionStatus(skillName);
- skillItem->setText(2, QString::fromStdString(ExecutionStatus2String.at(statusUpdate.status)));
+ skillItem->setText(2, QString::fromStdString(ExecutionStatus2String.at(statusUpdate.status)));
+ }
+ }
+ catch (const std::exception& e)
+ {
+ // Perhaps the skill provider died after the check at the beginning of this method
+ // Continue
+ continue;
}
}
}
diff --git a/source/RobotAPI/libraries/armem_skills/aron/Skill.xml b/source/RobotAPI/libraries/armem_skills/aron/Skill.xml
index 0e539ff08..b546afb89 100644
--- a/source/RobotAPI/libraries/armem_skills/aron/Skill.xml
+++ b/source/RobotAPI/libraries/armem_skills/aron/Skill.xml
@@ -34,7 +34,10 @@ The memory should look like the following:
<long />
</ObjectChild>
- <!-- accepted type as any type -->
+ <ObjectChild key='acceptedType'>
+ <string />
+ </ObjectChild>
+
</Object>
<Object name='armarx::skills::arondto::SkillExecutionRequest'>
@@ -50,7 +53,10 @@ The memory should look like the following:
<String />
</ObjectChild>
- <!-- ToDo: add params wih any type -->
+ <ObjectChild key='params'>
+ <AnyObject shared_ptr="1" />
+ </ObjectChild>
+
</Object>
<Object name='armarx::skills::arondto::SkillExecutionEvent'>
@@ -66,8 +72,13 @@ The memory should look like the following:
<String />
</ObjectChild>
- <!-- ToDo: add params with any type -->
- <!-- ToDo: add result with any type -->
+ <ObjectChild key='params'>
+ <AnyObject shared_ptr="1" />
+ </ObjectChild>
+
+ <ObjectChild key='data'>
+ <AnyObject shared_ptr="1" />
+ </ObjectChild>
</Object>
</GenerateTypes>
diff --git a/source/RobotAPI/libraries/armem_skills/server/segment/ExecutableSkillLibrarySegment.cpp b/source/RobotAPI/libraries/armem_skills/server/segment/ExecutableSkillLibrarySegment.cpp
index 1419ddf44..7a4b75514 100644
--- a/source/RobotAPI/libraries/armem_skills/server/segment/ExecutableSkillLibrarySegment.cpp
+++ b/source/RobotAPI/libraries/armem_skills/server/segment/ExecutableSkillLibrarySegment.cpp
@@ -40,6 +40,12 @@ namespace armarx::skills::segment
skillDescription.targets = desc.targets;
skillDescription.timeoutMs = desc.timeoutMs;
+ if (desc.acceptedType)
+ {
+ auto t = aron::type::Object::FromAronObjectDTO(desc.acceptedType);
+ skillDescription.acceptedType = aron::converter::AronNlohmannJSONConverter::ConvertToNlohmannJSON(t).dump(2);
+ }
+
armem::Commit commit;
auto& entityUpdate = commit.add();
entityUpdate.confidence = 1.0;
@@ -55,5 +61,7 @@ namespace armarx::skills::segment
void ExecutableSkillLibraryCoreSegment::removeSkillProvider(const std::string& providerName)
{
skills.erase(providerName);
+
+ // TODO also add info about removed provider to memory?
}
}
diff --git a/source/RobotAPI/libraries/armem_skills/server/segment/SkillEventSegment.cpp b/source/RobotAPI/libraries/armem_skills/server/segment/SkillEventSegment.cpp
index 43e314fc8..47270f33b 100644
--- a/source/RobotAPI/libraries/armem_skills/server/segment/SkillEventSegment.cpp
+++ b/source/RobotAPI/libraries/armem_skills/server/segment/SkillEventSegment.cpp
@@ -11,7 +11,7 @@ namespace armarx::skills::segment
{
SkillEventCoreSegment::SkillEventCoreSegment(armem::server::MemoryToIceAdapter& iceMemory):
- Base(iceMemory, CoreSegmentName)
+ Base(iceMemory, CoreSegmentName, armarx::skills::arondto::SkillExecutionRequest::ToAronType())
{
}
@@ -42,20 +42,14 @@ namespace armarx::skills::segment
event.providerName = update.providerName;
event.skillName = update.skillName;
event.status = ExecutionStatus2String.at(update.status);
-
- aron::data::DictPtr aron_params = nullptr;
- if (update.usedParams) aron_params = std::make_shared<aron::data::Dict>(update.usedParams);
-
- aron::data::DictPtr aron_data = nullptr;
- if (update.data) aron_data = std::make_shared<aron::data::Dict>(update.data);
+ event.params = aron::data::Dict::FromAronDictDTO(update.usedParams);
+ event.data = aron::data::Dict::FromAronDictDTO(update.data);
armem::MemoryID commitId = id();
commitId.providerSegmentName = event.providerName;
commitId.entityName = event.skillName;
auto aron = event.toAron();
- aron->addElement("return", aron_data); // how to name?!?
- aron->addElement("params", aron_params);
armem::Commit comm;
auto& entityUpdate = comm.add();
diff --git a/source/RobotAPI/libraries/armem_skills/server/segment/SkillExecutionRequestSegment.cpp b/source/RobotAPI/libraries/armem_skills/server/segment/SkillExecutionRequestSegment.cpp
index 5068cb04d..39b2ace4b 100644
--- a/source/RobotAPI/libraries/armem_skills/server/segment/SkillExecutionRequestSegment.cpp
+++ b/source/RobotAPI/libraries/armem_skills/server/segment/SkillExecutionRequestSegment.cpp
@@ -12,7 +12,7 @@ namespace armarx::skills::segment
{
SkillExecutionRequestCoreSegment::SkillExecutionRequestCoreSegment(armem::server::MemoryToIceAdapter& iceMemory):
- Base(iceMemory, CoreSegmentName/*, skills::arondto::SkillExecutionRequest::ToAronType()*/)
+ Base(iceMemory, CoreSegmentName, skills::arondto::SkillExecutionRequest::ToAronType())
{
}
@@ -35,12 +35,11 @@ namespace armarx::skills::segment
// we got a skill execution request
skills::arondto::SkillExecutionRequest request;
request.fromAron(commitDataAron);
- auto params = aron::data::Dict::DynamicCastAndCheck(commitDataAron->at("params")); // ToDo remov and add to request
skills::manager::dto::SkillExecutionInfo info;
info.providerName = request.providerName;
info.skillName = request.skillName;
- info.params = aron::data::Dict::ToAronDictDTO(params);
+ info.params = request.params->toAronDictDTO();
return info;
}
@@ -55,12 +54,10 @@ namespace armarx::skills::segment
request.clientId = "";
request.providerName = info.providerName;
request.skillName = info.skillName;
+ request.params = aron::data::Dict::FromAronDictDTO(info.params);
auto aron = request.toAron();
- aron::data::DictPtr aron_params = aron::data::Dict::FromAronDictDTO(info.params);
- aron->addElement("params", aron_params); // todo add as any type
-
armem::MemoryID skillExecutionMemID = id();
skillExecutionMemID.providerSegmentName = request.providerName;
skillExecutionMemID.entityName = request.skillName;
diff --git a/source/RobotAPI/libraries/skills/manager/SkillManagerComponentPlugin.cpp b/source/RobotAPI/libraries/skills/manager/SkillManagerComponentPlugin.cpp
index 268c2cf4d..1b97951eb 100644
--- a/source/RobotAPI/libraries/skills/manager/SkillManagerComponentPlugin.cpp
+++ b/source/RobotAPI/libraries/skills/manager/SkillManagerComponentPlugin.cpp
@@ -30,6 +30,10 @@ namespace armarx
ARMARX_INFO << "Adding a provider with name '" << info.providerName << "'.";
skillProviderMap.insert({info.providerName, info.provider});
}
+ else
+ {
+ ARMARX_INFO << "Trying to add a provider with name '" << info.providerName << "' but the provider already exists.";
+ }
}
void SkillManagerComponentPluginUser::removeProvider(const std::string& providerName, const Ice::Current&)
@@ -37,8 +41,13 @@ namespace armarx
std::lock_guard l(skillProviderMapMutex);
if (auto it = skillProviderMap.find(providerName); it != skillProviderMap.end())
{
+ ARMARX_INFO << "Removing a provider with name '" << providerName << "'.";
skillProviderMap.erase(it);
}
+ else
+ {
+ ARMARX_INFO << "Trying to remove a provider with name '" << providerName << "' but it couldn't found.";
+ }
}
skills::provider::dti::SkillProviderMap SkillManagerComponentPluginUser::getSkillProviders(const Ice::Current&)
--
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