call timeout more times in chaining

add chainingAsync skill to test async calling of skills

source/RobotAPI/components/skills/SkillProviderExample/CMakeLists.txt

@@ -16,6 +16,7 @@ set(SOURCES
     HelloWorld.cpp
     Incomplete.cpp
     Chaining.cpp
+    ChainingAsync.cpp
     Callback.cpp
     Timeout.cpp
     Segfault.cpp
@@ -30,6 +31,7 @@ set(HEADERS
     HelloWorld.h
     Incomplete.h
     Chaining.h
+    ChainingAsync.h
     Callback.h
     Timeout.h
     Segfault.h

source/RobotAPI/components/skills/SkillProviderExample/Chaining.cpp

@@ -14,9 +14,9 @@ namespace armarx::skills::provider
     {
         return SkillDescription{.skillId = armarx::skills::SkillID{.skillName = "Chaining"},
                                 .description =
-                                    "This skill calls the Timeout skill three times. The last "
+                                    "This skill calls the Timeout skill several times. At some point the "
                                     "execution is aborted due to a timeout of this skill.",
-                                .timeout = armarx::core::time::Duration::MilliSeconds(5000)};
+                                .timeout = armarx::core::time::Duration::MilliSeconds(10000)};
     }
 
     Skill::MainResult
@@ -26,12 +26,13 @@ namespace armarx::skills::provider
             manager,
             skills::SkillID{.providerId = *getSkillId().providerId, .skillName = "Timeout"});
 
-        ARMARX_INFO << "CALL PROXY FIRST TIME";
-        callSubskill(prx);
-        ARMARX_INFO << "CALL PROXY SECOND TIME";
-        callSubskill(prx);
-        ARMARX_INFO << "CALL PROXY THIRD TIME";
-        callSubskill(prx);
+        for (int i = 0; i < 25; i++)
+        {
+            this->throwIfSkillShouldTerminate();
+
+            ARMARX_INFO << "Call subskill number " << i;
+            callSubskill(prx); // Call the Timeout skill and wait for it to finish
+        }
 
         this->throwIfSkillShouldTerminate();
 

source/RobotAPI/components/skills/SkillProviderExample/ChainingAsync.cpp

+#include "ChainingAsync.h"
+
+namespace armarx::skills::provider
+{
+
+    ChainingAsyncSkill::ChainingAsyncSkill() : SimpleSkill(GetSkillDescription())
+    {
+    }
+
+    SkillDescription
+    ChainingAsyncSkill::GetSkillDescription()
+    {
+        return SkillDescription{.skillId = armarx::skills::SkillID{.skillName = "ChainingAsync"},
+                                .description =
+                                    "This skill calls the Timeout skill several times async.",
+                                .timeout = armarx::core::time::Duration::MilliSeconds(5000)};
+    }
+
+    Skill::MainResult
+    ChainingAsyncSkill::main(const MainInput& in)
+    {
+        SkillProxy prx(
+            manager,
+            skills::SkillID{.providerId = *getSkillId().providerId, .skillName = "Timeout"});
+
+        for (int i = 0; i < 25; i++)
+        {
+            this->throwIfSkillShouldTerminate();
+
+            ARMARX_INFO << "Call subskill number " << i;
+            callSubskillAsync(prx); // Call the Timeout skill
+        }
+
+        this->throwIfSkillShouldTerminate();
+
+        return {TerminatedSkillStatus::Succeeded, nullptr};
+    }
+} // namespace armarx::skills::provider

source/RobotAPI/components/skills/SkillProviderExample/ChainingAsync.h

+
+/*
+ * This file is part of ArmarX.
+ *
+ * ArmarX is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License version 2 as
+ * published by the Free Software Foundation.
+ *
+ * ArmarX is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ * @author     Fabian Reister ( fabian dot reister at kit dot edu )
+ * @date       2021
+ * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
+ *             GNU General Public License
+ */
+
+#pragma once
+
+// RobotAPI
+#include <RobotAPI/libraries/skills/provider/SimpleSkill.h>
+
+namespace armarx::skills::provider
+{
+    class ChainingAsyncSkill : public SimpleSkill
+    {
+    public:
+        ChainingAsyncSkill();
+
+        static SkillDescription GetSkillDescription();
+
+    private:
+        Skill::MainResult main(const MainInput&) final;
+    };
+} // namespace armarx::skills::provider

source/RobotAPI/components/skills/SkillProviderExample/SkillProviderExample.cpp

@@ -54,6 +54,10 @@ namespace armarx::skills::provider
         ARMARX_INFO << "Adding skill ChainingSkill";
         addSkillFactory<ChainingSkill>();
 
+        // chainingAsync
+        ARMARX_INFO << "Adding skill ChainingAsyncSkill";
+        addSkillFactory<ChainingAsyncSkill>();
+
         // incomplete and prepare
         ARMARX_INFO << "Adding skill IncompleteSkill";
         addSkillFactory<IncompleteSkill>();

source/RobotAPI/components/skills/SkillProviderExample/SkillProviderExample.h

@@ -31,6 +31,7 @@
 
 #include "Callback.h"
 #include "Chaining.h"
+#include "ChainingAsync.h"
 #include "HelloWorld.h"
 #include "Incomplete.h"
 #include "Segfault.h"