From 77975d3233b690916ddf16b8c087658449679bc0 Mon Sep 17 00:00:00 2001
From: Fabian Peller <fabian.peller-konrad@kit.edu>
Date: Thu, 12 Oct 2023 18:05:58 +0200
Subject: [PATCH] added SpecializedSKillProxy that takes a ParamType
---
.../libraries/skills/provider/SkillProxy.h | 2 +-
.../skills/provider/SpecializedSkillProxy.cpp | 8 ++++
.../skills/provider/SpecializedSkillProxy.h | 41 +++++++++++++++++++
3 files changed, 50 insertions(+), 1 deletion(-)
create mode 100644 source/RobotAPI/libraries/skills/provider/SpecializedSkillProxy.cpp
create mode 100644 source/RobotAPI/libraries/skills/provider/SpecializedSkillProxy.h
diff --git a/source/RobotAPI/libraries/skills/provider/SkillProxy.h b/source/RobotAPI/libraries/skills/provider/SkillProxy.h
index 06f034a9c..8f0fb34be 100644
--- a/source/RobotAPI/libraries/skills/provider/SkillProxy.h
+++ b/source/RobotAPI/libraries/skills/provider/SkillProxy.h
@@ -29,7 +29,7 @@ namespace armarx
// Utiliy methods
aron::data::DictPtr getDefaultParameters(const std::string& profileName = "root");
- private:
+ protected:
manager::dti::SkillManagerInterfacePrx manager;
SkillDescription skillDescription;
};
diff --git a/source/RobotAPI/libraries/skills/provider/SpecializedSkillProxy.cpp b/source/RobotAPI/libraries/skills/provider/SpecializedSkillProxy.cpp
new file mode 100644
index 000000000..1074f5499
--- /dev/null
+++ b/source/RobotAPI/libraries/skills/provider/SpecializedSkillProxy.cpp
@@ -0,0 +1,8 @@
+#include "SkillProxy.h"
+
+namespace armarx
+{
+ namespace skills
+ {
+ } // namespace skills
+} // namespace armarx
diff --git a/source/RobotAPI/libraries/skills/provider/SpecializedSkillProxy.h b/source/RobotAPI/libraries/skills/provider/SpecializedSkillProxy.h
new file mode 100644
index 000000000..37ecd5a77
--- /dev/null
+++ b/source/RobotAPI/libraries/skills/provider/SpecializedSkillProxy.h
@@ -0,0 +1,41 @@
+#pragma once
+
+#include "SkillProxy.h"
+
+namespace armarx
+{
+ namespace skills
+ {
+ template <class AronT>
+ class SpecializedSkillProxy : public SkillProxy
+ {
+ public:
+ using SkillProxy::SkillProxy;
+
+ // Provide a similar API as the skillprovider
+ TerminatedSkillStatusUpdate
+ executeSkill(const std::string& executorName, const AronT& params)
+ {
+ return SkillProxy::executeSkill(executorName, params.toAron());
+ }
+
+ SkillExecutionID
+ executeSkillAsync(const std::string& executorName, const AronT& params = nullptr)
+ {
+ return SkillProxy::executeSkillAsync(executorName, params.toAron());
+ }
+
+ // Utiliy methods
+ AronT
+ getDefaultParameters(const std::string& profileName = "root")
+ {
+ auto dict = SkillProxy::getDefaultParameters(profileName);
+ if (dict)
+ {
+ return AronT::FromAron(dict);
+ }
+ return {};
+ }
+ };
+ } // namespace skills
+} // namespace armarx
--
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