From 7d682970ed37b292cd6365024ea04e5e3ed63046 Mon Sep 17 00:00:00 2001
From: Fabian Peller <fabian.peller-konrad@kit.edu>
Date: Wed, 18 Oct 2023 12:42:23 +0200
Subject: [PATCH] switch to aggregated ctors
---
.../skills/SkillProviderExample/Callback.cpp | 8 +--
.../skills/SkillProviderExample/Chaining.cpp | 15 ++---
.../SkillProviderExample/HelloWorld.cpp | 11 ++--
.../SkillProviderExample/Incomplete.cpp | 9 ++-
.../SkillProviderExample.cpp | 9 ++-
.../skills/SkillProviderExample/Timeout.cpp | 8 +--
.../SkillManagerMonitorWidgetController.cpp | 21 ++++---
.../SkillManagerMonitorWidgetController.h | 3 +-
.../armem_skills/aron_conversions.cpp | 2 +-
.../segment/SkillExecutionRequestSegment.cpp | 4 +-
.../libraries/skills/core/ProviderID.cpp | 14 +----
.../libraries/skills/core/ProviderID.h | 4 --
.../libraries/skills/core/ProviderInfo.cpp | 9 +--
.../libraries/skills/core/ProviderInfo.h | 5 --
.../skills/core/SkillDescription.cpp | 58 +++++--------------
.../libraries/skills/core/SkillDescription.h | 34 ++---------
.../skills/core/SkillExecutionID.cpp | 7 ---
.../libraries/skills/core/SkillExecutionID.h | 5 --
.../skills/core/SkillExecutionRequest.cpp | 12 ----
.../skills/core/SkillExecutionRequest.h | 18 ++----
.../libraries/skills/core/SkillID.cpp | 26 ++-------
.../RobotAPI/libraries/skills/core/SkillID.h | 6 +-
.../skills/core/SkillStatusUpdate.cpp | 54 ++++++++---------
.../libraries/skills/core/SkillStatusUpdate.h | 12 ----
.../manager/SkillManagerComponentPlugin.cpp | 37 ++++++------
.../provider/SkillProviderComponentPlugin.cpp | 37 +++++++-----
.../detail/SkillImplementationWrapper.cpp | 23 ++++----
27 files changed, 160 insertions(+), 291 deletions(-)
diff --git a/source/RobotAPI/components/skills/SkillProviderExample/Callback.cpp b/source/RobotAPI/components/skills/SkillProviderExample/Callback.cpp
index 5fcb8e0cb..6dcea52a5 100644
--- a/source/RobotAPI/components/skills/SkillProviderExample/Callback.cpp
+++ b/source/RobotAPI/components/skills/SkillProviderExample/Callback.cpp
@@ -10,11 +10,9 @@ namespace armarx::skills::provider
SkillDescription
CallbackSkill::GetSkillDescription()
{
- return SkillDescription{{"ShowMeCallbacks"},
- "This skill does shows callbacks",
- nullptr,
- armarx::core::time::Duration::MilliSeconds(1000),
- nullptr};
+ return SkillDescription{.skillId = skills::SkillID{.skillName = "ShowMeCallbacks"},
+ .description = "This skill does shows callbacks",
+ .timeout = armarx::core::time::Duration::MilliSeconds(1000)};
}
Skill::MainResult
diff --git a/source/RobotAPI/components/skills/SkillProviderExample/Chaining.cpp b/source/RobotAPI/components/skills/SkillProviderExample/Chaining.cpp
index 1a4d32fe4..983902512 100644
--- a/source/RobotAPI/components/skills/SkillProviderExample/Chaining.cpp
+++ b/source/RobotAPI/components/skills/SkillProviderExample/Chaining.cpp
@@ -12,18 +12,19 @@ namespace armarx::skills::provider
SkillDescription
ChainingSkill::GetSkillDescription()
{
- return SkillDescription{{"ChainingSkill"},
- "This skill calls the Timeout skill three times. The last "
- "execution is aborted due to a timeout of this skill.",
- nullptr,
- armarx::core::time::Duration::MilliSeconds(5000),
- nullptr};
+ return SkillDescription{.skillId = armarx::skills::SkillID{.skillName = "ChainingSkill"},
+ .description =
+ "This skill calls the Timeout skill three times. The last "
+ "execution is aborted due to a timeout of this skill.",
+ .timeout = armarx::core::time::Duration::MilliSeconds(5000)};
}
Skill::MainResult
ChainingSkill::main(const MainInput& in)
{
- SkillProxy prx(manager, skills::SkillID(*getSkillId().providerId, "Timeout"));
+ SkillProxy prx(
+ manager,
+ skills::SkillID{.providerId = *getSkillId().providerId, .skillName = "Timeout"});
ARMARX_INFO << "CALL PROXY FIRST TIME";
callSubskill(prx);
diff --git a/source/RobotAPI/components/skills/SkillProviderExample/HelloWorld.cpp b/source/RobotAPI/components/skills/SkillProviderExample/HelloWorld.cpp
index ccfa7f31a..6779f1d6a 100644
--- a/source/RobotAPI/components/skills/SkillProviderExample/HelloWorld.cpp
+++ b/source/RobotAPI/components/skills/SkillProviderExample/HelloWorld.cpp
@@ -23,11 +23,12 @@ namespace armarx::skills::provider
root_profile_params.some_list_of_matrices.push_back(Eigen::Matrix3f::Zero());
root_profile_params.some_matrix = Eigen::Matrix3f::Zero();
- return SkillDescription{{"HelloWorld"},
- "This skill logs a message on ARMARX_IMPORTANT",
- root_profile_params.toAron(),
- armarx::core::time::Duration::MilliSeconds(1000),
- armarx::skills::Example::HelloWorldAcceptedType::ToAronType()};
+ return SkillDescription{.skillId = skills::SkillID{.skillName = "HelloWorld"},
+ .description = "This skill logs a message on ARMARX_IMPORTANT",
+ .rootProfileDefaults = root_profile_params.toAron(),
+ .timeout = armarx::core::time::Duration::MilliSeconds(1000),
+ .resultType =
+ armarx::skills::Example::HelloWorldAcceptedType::ToAronType()};
}
Skill::MainResult
diff --git a/source/RobotAPI/components/skills/SkillProviderExample/Incomplete.cpp b/source/RobotAPI/components/skills/SkillProviderExample/Incomplete.cpp
index ac9bf9af3..264876a7e 100644
--- a/source/RobotAPI/components/skills/SkillProviderExample/Incomplete.cpp
+++ b/source/RobotAPI/components/skills/SkillProviderExample/Incomplete.cpp
@@ -17,11 +17,10 @@ namespace armarx::skills::provider
IncompleteSkill::GetSkillDescription()
{
auto d = HelloWorldSkill::GetSkillDescription();
- return SkillDescription{{"IncompleteSkill"},
- d.description,
- {},
- d.timeout + armarx::core::time::Duration::Seconds(2),
- d.parametersType};
+ return SkillDescription{.skillId = {.skillName = "IncompleteSkill"},
+ .description = d.description,
+ .timeout = d.timeout + armarx::core::time::Duration::Seconds(2),
+ .parametersType = d.parametersType};
}
Skill::PrepareResult
diff --git a/source/RobotAPI/components/skills/SkillProviderExample/SkillProviderExample.cpp b/source/RobotAPI/components/skills/SkillProviderExample/SkillProviderExample.cpp
index 4230249f7..5ab480cd5 100644
--- a/source/RobotAPI/components/skills/SkillProviderExample/SkillProviderExample.cpp
+++ b/source/RobotAPI/components/skills/SkillProviderExample/SkillProviderExample.cpp
@@ -30,11 +30,10 @@ namespace armarx::skills::provider
// Add another lambda example skill
{
- skills::SkillDescription fooDesc({"Foo"},
- "This skill does exactly nothing.",
- nullptr,
- armarx::core::time::Duration::MilliSeconds(1000),
- nullptr);
+ skills::SkillDescription fooDesc{.skillId = SkillID{.skillName = "Foo"},
+ .description = "This skill does exactly nothing.",
+ .timeout =
+ armarx::core::time::Duration::MilliSeconds(1000)};
addSkillFactory(fooDesc,
[]()
{
diff --git a/source/RobotAPI/components/skills/SkillProviderExample/Timeout.cpp b/source/RobotAPI/components/skills/SkillProviderExample/Timeout.cpp
index 9c0266f8e..31dc03ae0 100644
--- a/source/RobotAPI/components/skills/SkillProviderExample/Timeout.cpp
+++ b/source/RobotAPI/components/skills/SkillProviderExample/Timeout.cpp
@@ -12,11 +12,9 @@ namespace armarx::skills::provider
SkillDescription
TimeoutSkill::GetSkillDescription()
{
- return SkillDescription{{"Timeout"},
- "This fails with timeout reached",
- nullptr,
- armarx::core::time::Duration::MilliSeconds(2000),
- nullptr};
+ return SkillDescription{.skillId = SkillID{.skillName = "Timeout"},
+ .description = "This fails with timeout reached",
+ .timeout = armarx::core::time::Duration::MilliSeconds(2000)};
}
PeriodicSkill::StepResult
diff --git a/source/RobotAPI/gui-plugins/SkillManagerPlugin/SkillManagerMonitorWidgetController.cpp b/source/RobotAPI/gui-plugins/SkillManagerPlugin/SkillManagerMonitorWidgetController.cpp
index 87450efc5..191c16019 100644
--- a/source/RobotAPI/gui-plugins/SkillManagerPlugin/SkillManagerMonitorWidgetController.cpp
+++ b/source/RobotAPI/gui-plugins/SkillManagerPlugin/SkillManagerMonitorWidgetController.cpp
@@ -231,7 +231,8 @@ namespace armarx
{
auto description = skills::SkillDescription::FromIce(desc);
auto skillId = skills::SkillID::FromIce(sid);
- auto providerId = skills::ProviderID(skillId);
+ auto providerId = skillId.providerId.value_or(
+ skills::ProviderID{.providerName = "UNKNOWN PROVIDER NAME"});
ARMARX_CHECK(skillId.isFullySpecified());
@@ -245,7 +246,7 @@ namespace armarx
{
auto* providerItem = widget.treeWidgetSkills->topLevelItem(i);
auto providerName = providerItem->text(0).toStdString();
- skills::ProviderID providerId(providerName);
+ skills::ProviderID providerId{.providerName = providerName};
if (skills.find(providerId) == skills.end())
{
@@ -264,7 +265,9 @@ namespace armarx
auto* skillItem = providerItem->child(j);
auto skillName = skillItem->text(0).toStdString();
- skills::SkillID skillId(providerName, skillName);
+ skills::SkillID skillId{.providerId =
+ skills::ProviderID{.providerName = providerName},
+ .skillName = skillName};
if (providedSkills.find(skillId) == providedSkills.end())
{
@@ -286,7 +289,7 @@ namespace armarx
{
auto el = widget.treeWidgetSkills->topLevelItem(i);
auto providerName = el->text(0).toStdString();
- skills::ProviderID elProviderId(providerName);
+ skills::ProviderID elProviderId{.providerName = providerName};
if (providerId == elProviderId)
{
@@ -308,7 +311,7 @@ namespace armarx
{
auto el = providerItem->child(i);
auto skillName = el->text(0).toStdString();
- skills::SkillID elSkillId(providerId.providerName, skillName);
+ skills::SkillID elSkillId{providerId, skillName};
if (skillId == elSkillId)
{
@@ -441,7 +444,7 @@ namespace armarx
std::scoped_lock l(updateMutex);
- auto providerId = skills::ProviderID(selectedSkill.skillId);
+ auto providerId = *selectedSkill.skillId.providerId;
const auto& skillDescriptions = skills.at(providerId);
if (skillDescriptions.find(selectedSkill.skillId) == skillDescriptions.end())
{
@@ -453,10 +456,10 @@ namespace armarx
char hostname[HOST_NAME_MAX];
gethostname(hostname, HOST_NAME_MAX);
- skills::SkillExecutionRequest req(selectedSkill.skillId,
+ skills::SkillExecutionRequest req{selectedSkill.skillId,
"Skills.Manager GUI (hostname: " + std::string(hostname) +
")",
- data);
+ data};
ARMARX_CHECK(selectedSkill.skillId.isFullySpecified()); // sanity check
ARMARX_IMPORTANT << "Executing skill from GUI: " << selectedSkill.skillId << ".";
@@ -525,7 +528,7 @@ namespace armarx
skillsArgumentsTreeWidgetItem = nullptr;
// We assert that the skill exists
- ARMARX_CHECK(skills.count(selectedSkill.skillId) > 0);
+ ARMARX_CHECK(skills.count(*selectedSkill.skillId.providerId) > 0);
ARMARX_CHECK(skills.at(*selectedSkill.skillId.providerId).count(selectedSkill.skillId) > 0);
auto skillDesc = skills.at(*selectedSkill.skillId.providerId).at(selectedSkill.skillId);
diff --git a/source/RobotAPI/gui-plugins/SkillManagerPlugin/SkillManagerMonitorWidgetController.h b/source/RobotAPI/gui-plugins/SkillManagerPlugin/SkillManagerMonitorWidgetController.h
index 665982d64..1fd2e2f11 100644
--- a/source/RobotAPI/gui-plugins/SkillManagerPlugin/SkillManagerMonitorWidgetController.h
+++ b/source/RobotAPI/gui-plugins/SkillManagerPlugin/SkillManagerMonitorWidgetController.h
@@ -154,7 +154,8 @@ namespace armarx
skills::SkillID skillId;
// make default constructable
- SelectedSkill() : skillId({""}, "")
+ SelectedSkill() :
+ skillId{.providerId = skills::ProviderID{.providerName = ""}, .skillName = ""}
{
}
} selectedSkill;
diff --git a/source/RobotAPI/libraries/armem_skills/aron_conversions.cpp b/source/RobotAPI/libraries/armem_skills/aron_conversions.cpp
index 13ea60902..3b1d8925f 100644
--- a/source/RobotAPI/libraries/armem_skills/aron_conversions.cpp
+++ b/source/RobotAPI/libraries/armem_skills/aron_conversions.cpp
@@ -133,7 +133,7 @@ namespace armarx::armem
fromAron(const armarx::skills::arondto::SkillID& dto, skills::SkillID& bo)
{
bo.skillName = dto.skillName;
- bo.providerId = skills::ProviderID("");
+ bo.providerId = skills::ProviderID{.providerName = ""};
fromAron(dto.providerId, *bo.providerId);
}
diff --git a/source/RobotAPI/libraries/armem_skills/server/segment/SkillExecutionRequestSegment.cpp b/source/RobotAPI/libraries/armem_skills/server/segment/SkillExecutionRequestSegment.cpp
index 4b57e0b44..833deb3f6 100644
--- a/source/RobotAPI/libraries/armem_skills/server/segment/SkillExecutionRequestSegment.cpp
+++ b/source/RobotAPI/libraries/armem_skills/server/segment/SkillExecutionRequestSegment.cpp
@@ -39,7 +39,9 @@ namespace armarx::skills::segment
skills::arondto::SkillExecutionRequest request;
request.fromAron(commitDataAron);
- skills::SkillExecutionRequest info({{""}, ""}, "", nullptr);
+ skills::SkillExecutionRequest info{
+ .skillId = SkillID{.providerId = ProviderID{.providerName = ""}, .skillName = ""},
+ .executorName = ""};
armem::fromAron(request, info);
return info;
}
diff --git a/source/RobotAPI/libraries/skills/core/ProviderID.cpp b/source/RobotAPI/libraries/skills/core/ProviderID.cpp
index 990898f38..53d6aad68 100644
--- a/source/RobotAPI/libraries/skills/core/ProviderID.cpp
+++ b/source/RobotAPI/libraries/skills/core/ProviderID.cpp
@@ -6,16 +6,6 @@ namespace armarx
{
namespace skills
{
- ProviderID::ProviderID(const std::string& pname) : providerName(pname)
- {
- }
-
- ProviderID::ProviderID(const skills::SkillID& skillid)
- {
- ARMARX_CHECK(skillid.providerId.has_value());
- providerName = skillid.providerId->providerName;
- }
-
bool
ProviderID::operator==(const ProviderID& other) const
{
@@ -43,13 +33,13 @@ namespace armarx
ProviderID
ProviderID::FromIce(const manager::dto::ProviderID& s)
{
- return ProviderID(s.providerName);
+ return ProviderID{.providerName = s.providerName};
}
ProviderID
ProviderID::FromIce(const callback::dto::ProviderID& s)
{
- return ProviderID(s.providerName);
+ return ProviderID{.providerName = s.providerName};
}
manager::dto::ProviderID
diff --git a/source/RobotAPI/libraries/skills/core/ProviderID.h b/source/RobotAPI/libraries/skills/core/ProviderID.h
index 10079220b..5687f6491 100644
--- a/source/RobotAPI/libraries/skills/core/ProviderID.h
+++ b/source/RobotAPI/libraries/skills/core/ProviderID.h
@@ -15,10 +15,6 @@ namespace armarx
class ProviderID
{
public:
- ProviderID() = default;
- ProviderID(const skills::SkillID& skillid);
- ProviderID(const std::string& pName);
-
bool operator==(const ProviderID& other) const;
bool operator!=(const ProviderID& other) const;
bool operator<(const ProviderID& other) const;
diff --git a/source/RobotAPI/libraries/skills/core/ProviderInfo.cpp b/source/RobotAPI/libraries/skills/core/ProviderInfo.cpp
index 7ae36dbfa..135b81c59 100644
--- a/source/RobotAPI/libraries/skills/core/ProviderInfo.cpp
+++ b/source/RobotAPI/libraries/skills/core/ProviderInfo.cpp
@@ -4,13 +4,6 @@ namespace armarx
{
namespace skills
{
- ProviderInfo::ProviderInfo(const ProviderID& pid,
- const provider::dti::SkillProviderInterfacePrx& i,
- const std::map<SkillID, SkillDescription>& skills) :
- providerId(pid), providerInterface(i), providedSkills(skills)
- {
- }
-
skills::manager::dto::ProviderInfo
ProviderInfo::toIce() const
{
@@ -33,7 +26,7 @@ namespace armarx
{
m.insert({skills::SkillID::FromIce(k), skills::SkillDescription::FromIce(v)});
}
- return ProviderInfo(skills::ProviderID::FromIce(i.providerId), i.providerInterface, m);
+ return ProviderInfo{skills::ProviderID::FromIce(i.providerId), i.providerInterface, m};
}
} // namespace skills
} // namespace armarx
diff --git a/source/RobotAPI/libraries/skills/core/ProviderInfo.h b/source/RobotAPI/libraries/skills/core/ProviderInfo.h
index f9d3ac132..438a2cf9d 100644
--- a/source/RobotAPI/libraries/skills/core/ProviderInfo.h
+++ b/source/RobotAPI/libraries/skills/core/ProviderInfo.h
@@ -23,11 +23,6 @@ namespace armarx
provider::dti::SkillProviderInterfacePrx providerInterface;
std::map<SkillID, SkillDescription> providedSkills;
- ProviderInfo() = default;
- ProviderInfo(const ProviderID& pid,
- const provider::dti::SkillProviderInterfacePrx& i,
- const std::map<SkillID, SkillDescription>& skills);
-
skills::manager::dto::ProviderInfo toIce() const;
static ProviderInfo FromIce(const manager::dto::ProviderInfo&);
diff --git a/source/RobotAPI/libraries/skills/core/SkillDescription.cpp b/source/RobotAPI/libraries/skills/core/SkillDescription.cpp
index 474b16398..2fa37b33c 100644
--- a/source/RobotAPI/libraries/skills/core/SkillDescription.cpp
+++ b/source/RobotAPI/libraries/skills/core/SkillDescription.cpp
@@ -7,34 +7,6 @@ namespace armarx
{
namespace skills
{
-
- SkillDescription::SkillDescription(const SkillID& id,
- const std::string& desc,
- const aron::data::DictPtr& defaultParameters,
- const armarx::core::time::Duration& timeout,
- const aron::type::ObjectPtr& parametersType,
- const aron::type::ObjectPtr& resultType) :
- skillId(id),
- description(desc),
- rootProfileDefaults(defaultParameters),
- timeout(timeout),
- parametersType(parametersType),
- resultType(resultType)
- {
- }
-
- // LEGACY CTOR
- SkillDescription::SkillDescription(const std::string& skillName,
- const std::string& desc,
- const std::vector<std::string>&,
- const armarx::core::time::Duration& timeout,
- const aron::data::DictPtr& data,
- const aron::type::ObjectPtr& parametersType,
- const aron::type::ObjectPtr& resultType) :
- SkillDescription({skillName}, desc, data, timeout, parametersType, resultType)
- {
- }
-
provider::dto::SkillDescription
SkillDescription::toProviderIce() const
{
@@ -69,13 +41,14 @@ namespace armarx
{
armarx::core::time::Duration _d;
armarx::core::time::fromIce(i.timeout, _d);
- return SkillDescription(
- SkillID::FromIce(i.skillId, pid),
- i.description,
- armarx::aron::data::Dict::FromAronDictDTO(i.rootProfileDefaults),
- _d,
- armarx::aron::type::Object::FromAronObjectDTO(i.parametersType),
- armarx::aron::type::Object::FromAronObjectDTO(i.resultType));
+ return SkillDescription{
+ .skillId = SkillID::FromIce(i.skillId, pid),
+ .description = i.description,
+ .rootProfileDefaults =
+ armarx::aron::data::Dict::FromAronDictDTO(i.rootProfileDefaults),
+ .timeout = _d,
+ .parametersType = armarx::aron::type::Object::FromAronObjectDTO(i.parametersType),
+ .resultType = armarx::aron::type::Object::FromAronObjectDTO(i.resultType)};
}
SkillDescription
@@ -83,13 +56,14 @@ namespace armarx
{
armarx::core::time::Duration _d;
armarx::core::time::fromIce(i.timeout, _d);
- return SkillDescription(
- SkillID::FromIce(i.skillId),
- i.description,
- armarx::aron::data::Dict::FromAronDictDTO(i.rootProfileDefaults),
- _d,
- armarx::aron::type::Object::FromAronObjectDTO(i.parametersType),
- armarx::aron::type::Object::FromAronObjectDTO(i.resultType));
+ return SkillDescription{
+ .skillId = SkillID::FromIce(i.skillId),
+ .description = i.description,
+ .rootProfileDefaults =
+ armarx::aron::data::Dict::FromAronDictDTO(i.rootProfileDefaults),
+ .timeout = _d,
+ .parametersType = armarx::aron::type::Object::FromAronObjectDTO(i.parametersType),
+ .resultType = armarx::aron::type::Object::FromAronObjectDTO(i.resultType)};
}
} // namespace skills
} // namespace armarx
diff --git a/source/RobotAPI/libraries/skills/core/SkillDescription.h b/source/RobotAPI/libraries/skills/core/SkillDescription.h
index 509411adb..4bc8a3cd8 100644
--- a/source/RobotAPI/libraries/skills/core/SkillDescription.h
+++ b/source/RobotAPI/libraries/skills/core/SkillDescription.h
@@ -17,36 +17,12 @@ namespace armarx
{
struct SkillDescription
{
-
- SkillDescription() = default;
- SkillDescription(const SkillID& id,
- const std::string& desc,
- const aron::data::DictPtr& data = nullptr,
- const armarx::core::time::Duration& timeout =
- armarx::core::time::Duration::MilliSeconds(-1),
- const aron::type::ObjectPtr& parametersType = nullptr,
- const aron::type::ObjectPtr& resultType = nullptr);
-
- // LEGACY
- SkillDescription(const std::string& skillName,
- const std::string& desc,
- const std::vector<std::string>& ignore_me_i_am_not_used_anymore,
- const armarx::core::time::Duration& timeout =
- armarx::core::time::Duration::MilliSeconds(-1),
- const aron::data::DictPtr& data = nullptr,
- const aron::type::ObjectPtr& parametersType = nullptr,
- const aron::type::ObjectPtr& resultType = nullptr);
-
- SkillDescription(const SkillDescription&) = default;
-
- SkillDescription& operator=(const SkillDescription&) = default;
-
SkillID skillId;
- std::string description;
- aron::data::DictPtr rootProfileDefaults;
- armarx::core::time::Duration timeout;
- aron::type::ObjectPtr parametersType;
- aron::type::ObjectPtr resultType;
+ std::string description = "";
+ aron::data::DictPtr rootProfileDefaults = nullptr;
+ armarx::core::time::Duration timeout = armarx::core::time::Duration::MilliSeconds(-1);
+ aron::type::ObjectPtr parametersType = nullptr;
+ aron::type::ObjectPtr resultType = nullptr;
provider::dto::SkillDescription toProviderIce() const;
manager::dto::SkillDescription toManagerIce() const;
diff --git a/source/RobotAPI/libraries/skills/core/SkillExecutionID.cpp b/source/RobotAPI/libraries/skills/core/SkillExecutionID.cpp
index f048167a1..d2f305c1a 100644
--- a/source/RobotAPI/libraries/skills/core/SkillExecutionID.cpp
+++ b/source/RobotAPI/libraries/skills/core/SkillExecutionID.cpp
@@ -4,13 +4,6 @@ namespace armarx
{
namespace skills
{
- SkillExecutionID::SkillExecutionID(const SkillID& id,
- const std::string& executorName,
- const armarx::core::time::DateTime& time) :
- skillId(id), executorName(executorName), executionStartedTime(time)
- {
- }
-
skills::manager::dto::SkillExecutionID
SkillExecutionID::toManagerIce() const
{
diff --git a/source/RobotAPI/libraries/skills/core/SkillExecutionID.h b/source/RobotAPI/libraries/skills/core/SkillExecutionID.h
index 6d9975bb4..6c4975388 100644
--- a/source/RobotAPI/libraries/skills/core/SkillExecutionID.h
+++ b/source/RobotAPI/libraries/skills/core/SkillExecutionID.h
@@ -18,11 +18,6 @@ namespace armarx
{
struct SkillExecutionID
{
- SkillExecutionID() = default;
- SkillExecutionID(const SkillID&,
- const std::string& executorName,
- const armarx::core::time::DateTime&);
-
bool
operator==(const SkillExecutionID& other) const
{
diff --git a/source/RobotAPI/libraries/skills/core/SkillExecutionRequest.cpp b/source/RobotAPI/libraries/skills/core/SkillExecutionRequest.cpp
index f4fdceca8..2d6a0181b 100644
--- a/source/RobotAPI/libraries/skills/core/SkillExecutionRequest.cpp
+++ b/source/RobotAPI/libraries/skills/core/SkillExecutionRequest.cpp
@@ -4,18 +4,6 @@ namespace armarx
{
namespace skills
{
- SkillExecutionRequest::SkillExecutionRequest(
- const skills::SkillID& skill,
- const std::string executorName,
- const armarx::aron::data::DictPtr& params,
- const callback::dti::SkillProviderCallbackInterfacePrx& callback) :
- skillId(skill),
- executorName(executorName),
- parameters(params),
- callbackInterface(callback)
- {
- }
-
manager::dto::SkillExecutionRequest
SkillExecutionRequest::toManagerIce() const
{
diff --git a/source/RobotAPI/libraries/skills/core/SkillExecutionRequest.h b/source/RobotAPI/libraries/skills/core/SkillExecutionRequest.h
index 7031f8db1..d1f5bbcdd 100644
--- a/source/RobotAPI/libraries/skills/core/SkillExecutionRequest.h
+++ b/source/RobotAPI/libraries/skills/core/SkillExecutionRequest.h
@@ -21,18 +21,6 @@ namespace armarx
class SkillExecutionRequest
{
public:
- skills::SkillID skillId;
- std::string executorName;
- armarx::aron::data::DictPtr parameters;
- callback::dti::SkillProviderCallbackInterfacePrx callbackInterface;
-
- SkillExecutionRequest() = default;
- SkillExecutionRequest(
- const skills::SkillID& skill,
- const std::string executorName,
- const armarx::aron::data::DictPtr& params,
- const callback::dti::SkillProviderCallbackInterfacePrx& callback = nullptr);
-
manager::dto::SkillExecutionRequest toManagerIce() const;
provider::dto::SkillExecutionRequest toProviderIce() const;
@@ -40,6 +28,12 @@ namespace armarx
static SkillExecutionRequest
FromIce(const provider::dto::SkillExecutionRequest&,
const std::optional<skills::ProviderID>& providerId = std::nullopt);
+
+
+ skills::SkillID skillId;
+ std::string executorName;
+ armarx::aron::data::DictPtr parameters = nullptr;
+ callback::dti::SkillProviderCallbackInterfacePrx callbackInterface = nullptr;
};
} // namespace skills
} // namespace armarx
diff --git a/source/RobotAPI/libraries/skills/core/SkillID.cpp b/source/RobotAPI/libraries/skills/core/SkillID.cpp
index fea0eca31..ece268aee 100644
--- a/source/RobotAPI/libraries/skills/core/SkillID.cpp
+++ b/source/RobotAPI/libraries/skills/core/SkillID.cpp
@@ -4,24 +4,6 @@ namespace armarx
{
namespace skills
{
- SkillID::SkillID(const std::string& skillName) :
- providerId(std::nullopt), skillName(skillName)
- {
- }
-
- SkillID::SkillID(const ProviderID& providerId, const std::string& skillName) :
- providerId(providerId), skillName(skillName)
- {
- if (simox::alg::contains(providerId.providerName, NAME_SEPARATOR) or
- simox::alg::contains(skillName, NAME_SEPARATOR))
- {
- throw error::SkillException(
- __PRETTY_FUNCTION__,
- std::string("A skill provider or a skill contains the blacklisted token '") +
- NAME_SEPARATOR + "'.");
- }
- }
-
bool
SkillID::operator==(const SkillID& other) const
{
@@ -49,7 +31,9 @@ namespace armarx
SkillID
SkillID::FromIce(const manager::dto::SkillID& s)
{
- return SkillID(s.providerId.providerName, s.skillName);
+ return SkillID{.providerId =
+ skills::ProviderID{.providerName = s.providerId.providerName},
+ .skillName = s.skillName};
}
SkillID
@@ -58,9 +42,9 @@ namespace armarx
{
if (providerId.has_value())
{
- return SkillID(*providerId, s.skillName);
+ return SkillID{.providerId = *providerId, .skillName = s.skillName};
}
- return SkillID(s.skillName);
+ return SkillID{.skillName = s.skillName};
}
manager::dto::SkillID
diff --git a/source/RobotAPI/libraries/skills/core/SkillID.h b/source/RobotAPI/libraries/skills/core/SkillID.h
index 5d0da2a67..e611a8282 100644
--- a/source/RobotAPI/libraries/skills/core/SkillID.h
+++ b/source/RobotAPI/libraries/skills/core/SkillID.h
@@ -19,10 +19,6 @@ namespace armarx
public:
static const constexpr char* NAME_SEPARATOR = "/";
- SkillID() = default;
- SkillID(const std::string& skillName);
- SkillID(const ProviderID& providerId, const std::string& skillName);
-
bool operator==(const SkillID& other) const;
bool operator!=(const SkillID& other) const;
bool operator<(const SkillID& other) const;
@@ -59,7 +55,7 @@ namespace armarx
std::string toString() const;
- std::optional<ProviderID> providerId;
+ std::optional<ProviderID> providerId = std::nullopt;
std::string skillName;
};
diff --git a/source/RobotAPI/libraries/skills/core/SkillStatusUpdate.cpp b/source/RobotAPI/libraries/skills/core/SkillStatusUpdate.cpp
index c5c7e3ac7..986aab1bc 100644
--- a/source/RobotAPI/libraries/skills/core/SkillStatusUpdate.cpp
+++ b/source/RobotAPI/libraries/skills/core/SkillStatusUpdate.cpp
@@ -239,14 +239,6 @@ namespace armarx
throw error::SkillException(__PRETTY_FUNCTION__, "Should not happen!");
}
- SkillStatusUpdateBase::SkillStatusUpdateBase(
- const SkillExecutionID& exec,
- const aron::data::DictPtr& params,
- const callback::dti::SkillProviderCallbackInterfacePrx& i) :
- executionId(exec), parameters(params), callbackInterface(i)
- {
- }
-
manager::dto::SkillStatusUpdate
SkillStatusUpdateBase::toManagerIce() const
{
@@ -326,10 +318,10 @@ namespace armarx
TerminatedSkillStatusUpdate
TerminatedSkillStatusUpdate::FromIce(const manager::dto::SkillStatusUpdate& update)
{
- TerminatedSkillStatusUpdate ret(
- skills::SkillExecutionID::FromIce(update.executionId),
- armarx::aron::data::Dict::FromAronDictDTO(update.parameters),
- update.callbackInterface);
+ TerminatedSkillStatusUpdate ret{
+ {.executionId = skills::SkillExecutionID::FromIce(update.executionId),
+ .parameters = armarx::aron::data::Dict::FromAronDictDTO(update.parameters),
+ .callbackInterface = update.callbackInterface}};
skills::fromIce(update.status, ret.status);
return ret;
}
@@ -338,10 +330,10 @@ namespace armarx
TerminatedSkillStatusUpdate::FromIce(const provider::dto::SkillStatusUpdate& update,
const std::optional<skills::ProviderID>& providerId)
{
- TerminatedSkillStatusUpdate ret(
- skills::SkillExecutionID::FromIce(update.executionId, providerId),
- armarx::aron::data::Dict::FromAronDictDTO(update.parameters),
- update.callbackInterface);
+ TerminatedSkillStatusUpdate ret{
+ {.executionId = skills::SkillExecutionID::FromIce(update.executionId, providerId),
+ .parameters = armarx::aron::data::Dict::FromAronDictDTO(update.parameters),
+ .callbackInterface = update.callbackInterface}};
skills::fromIce(update.status, ret.status);
return ret;
}
@@ -349,9 +341,10 @@ namespace armarx
SkillStatusUpdate
SkillStatusUpdate::FromIce(const manager::dto::SkillStatusUpdate& update)
{
- SkillStatusUpdate ret(skills::SkillExecutionID::FromIce(update.executionId),
- armarx::aron::data::Dict::FromAronDictDTO(update.parameters),
- update.callbackInterface);
+ SkillStatusUpdate ret{
+ {.executionId = skills::SkillExecutionID::FromIce(update.executionId),
+ .parameters = armarx::aron::data::Dict::FromAronDictDTO(update.parameters),
+ .callbackInterface = update.callbackInterface}};
skills::fromIce(update.status, ret.status);
return ret;
}
@@ -360,9 +353,10 @@ namespace armarx
SkillStatusUpdate::FromIce(const provider::dto::SkillStatusUpdate& update,
const std::optional<skills::ProviderID>& providerId)
{
- SkillStatusUpdate ret(skills::SkillExecutionID::FromIce(update.executionId, providerId),
- armarx::aron::data::Dict::FromAronDictDTO(update.parameters),
- update.callbackInterface);
+ SkillStatusUpdate ret{
+ {.executionId = skills::SkillExecutionID::FromIce(update.executionId, providerId),
+ .parameters = armarx::aron::data::Dict::FromAronDictDTO(update.parameters),
+ .callbackInterface = update.callbackInterface}};
skills::fromIce(update.status, ret.status);
return ret;
}
@@ -370,10 +364,10 @@ namespace armarx
ActiveOrTerminatedSkillStatusUpdate
ActiveOrTerminatedSkillStatusUpdate::FromIce(const manager::dto::SkillStatusUpdate& update)
{
- ActiveOrTerminatedSkillStatusUpdate ret(
- skills::SkillExecutionID::FromIce(update.executionId),
- armarx::aron::data::Dict::FromAronDictDTO(update.parameters),
- update.callbackInterface);
+ ActiveOrTerminatedSkillStatusUpdate ret{
+ {.executionId = skills::SkillExecutionID::FromIce(update.executionId),
+ .parameters = armarx::aron::data::Dict::FromAronDictDTO(update.parameters),
+ .callbackInterface = update.callbackInterface}};
skills::fromIce(update.status, ret.status);
return ret;
}
@@ -383,10 +377,10 @@ namespace armarx
const provider::dto::SkillStatusUpdate& update,
const std::optional<skills::ProviderID>& providerId)
{
- ActiveOrTerminatedSkillStatusUpdate ret(
- skills::SkillExecutionID::FromIce(update.executionId, providerId),
- armarx::aron::data::Dict::FromAronDictDTO(update.parameters),
- update.callbackInterface);
+ ActiveOrTerminatedSkillStatusUpdate ret{
+ {.executionId = skills::SkillExecutionID::FromIce(update.executionId, providerId),
+ .parameters = armarx::aron::data::Dict::FromAronDictDTO(update.parameters),
+ .callbackInterface = update.callbackInterface}};
skills::fromIce(update.status, ret.status);
return ret;
}
diff --git a/source/RobotAPI/libraries/skills/core/SkillStatusUpdate.h b/source/RobotAPI/libraries/skills/core/SkillStatusUpdate.h
index 148cd8312..d517fc1ec 100644
--- a/source/RobotAPI/libraries/skills/core/SkillStatusUpdate.h
+++ b/source/RobotAPI/libraries/skills/core/SkillStatusUpdate.h
@@ -67,12 +67,6 @@ namespace armarx
aron::data::DictPtr parameters;
callback::dti::SkillProviderCallbackInterfacePrx callbackInterface;
- SkillStatusUpdateBase() = default;
- SkillStatusUpdateBase(const SkillExecutionID& exec,
- const aron::data::DictPtr& params,
- const callback::dti::SkillProviderCallbackInterfacePrx& i);
- SkillStatusUpdateBase(const SkillStatusUpdateBase&) = default;
-
// data
aron::data::DictPtr result = nullptr;
@@ -86,8 +80,6 @@ namespace armarx
{
TerminatedSkillStatus status = TerminatedSkillStatus::Failed;
- using SkillStatusUpdateBase::SkillStatusUpdateBase;
-
bool
hasBeenTerminated() const
{
@@ -111,8 +103,6 @@ namespace armarx
{
ActiveOrTerminatedSkillStatus status = ActiveOrTerminatedSkillStatus::Failed;
- using SkillStatusUpdateBase::SkillStatusUpdateBase;
-
bool
hasBeenTerminated() const
{
@@ -138,8 +128,6 @@ namespace armarx
{
SkillStatus status = SkillStatus::Constructing;
- using SkillStatusUpdateBase::SkillStatusUpdateBase;
-
bool
operator<(const SkillStatusUpdate& o) const
{
diff --git a/source/RobotAPI/libraries/skills/manager/SkillManagerComponentPlugin.cpp b/source/RobotAPI/libraries/skills/manager/SkillManagerComponentPlugin.cpp
index 233aa841b..3999c956b 100644
--- a/source/RobotAPI/libraries/skills/manager/SkillManagerComponentPlugin.cpp
+++ b/source/RobotAPI/libraries/skills/manager/SkillManagerComponentPlugin.cpp
@@ -49,12 +49,11 @@ namespace armarx::plugins
SkillManagerComponentPlugin::addProvider(const skills::ProviderInfo& providerInfo)
{
std::scoped_lock l(skillProviderMapMutex);
- if (skillProviderMap.find(providerInfo.providerId.providerName) == skillProviderMap.end())
+ if (skillProviderMap.find(providerInfo.providerId) == skillProviderMap.end())
{
ARMARX_INFO << "Adding a provider with name '" << providerInfo.providerId.providerName
<< "'.";
- skillProviderMap.insert(
- {providerInfo.providerId.providerName, providerInfo.providerInterface});
+ skillProviderMap.insert({providerInfo.providerId, providerInfo.providerInterface});
}
else
{
@@ -62,7 +61,7 @@ namespace armarx::plugins
<< providerInfo.providerId.providerName
<< "' but the provider already exists. "
<< "Overwriting the old provider info.";
- skillProviderMap[providerInfo.providerId.providerName] = providerInfo.providerInterface;
+ skillProviderMap[providerInfo.providerId] = providerInfo.providerInterface;
}
}
@@ -70,7 +69,7 @@ namespace armarx::plugins
SkillManagerComponentPlugin::removeProvider(const skills::ProviderID& providerId)
{
std::scoped_lock l(skillProviderMapMutex);
- if (auto it = skillProviderMap.find(providerId.providerName); it != skillProviderMap.end())
+ if (auto it = skillProviderMap.find(providerId); it != skillProviderMap.end())
{
ARMARX_INFO << "Removing a provider with name '" << providerId.providerName << "'.";
skillProviderMap.erase(it);
@@ -89,12 +88,12 @@ namespace armarx::plugins
std::unique_lock l(skillProviderMapMutex);
- skills::ProviderID provderId(executionRequest.skillId);
+ skills::ProviderID provderId(*executionRequest.skillId.providerId);
// TODO: Really support regexes!
if (executionRequest.skillId.providerId->providerName == "*")
{
- provderId = getFirstProviderNameThatHasSkill(executionRequest.skillId.skillName);
+ provderId = getFirstProviderNameThatHasSkill(executionRequest.skillId);
}
@@ -116,11 +115,11 @@ namespace armarx::plugins
try
{
- skills::SkillExecutionRequest provider_executionRequest(
- executionRequest.skillId,
- executionRequest.executorName,
- executionRequest.parameters,
- myPrx);
+ skills::SkillExecutionRequest provider_executionRequest{
+ .skillId = executionRequest.skillId,
+ .executorName = executionRequest.executorName,
+ .parameters = executionRequest.parameters,
+ .callbackInterface = myPrx};
auto async =
provider->begin_executeSkill(provider_executionRequest.toProviderIce());
@@ -162,12 +161,12 @@ namespace armarx::plugins
std::unique_lock l(skillProviderMapMutex);
- skills::ProviderID provderId(executionRequest.skillId);
+ skills::ProviderID provderId(*executionRequest.skillId.providerId);
// TODO: Really support regexes!
if (executionRequest.skillId.providerId->providerName == "*")
{
- provderId = getFirstProviderNameThatHasSkill(executionRequest.skillId.skillName);
+ provderId = getFirstProviderNameThatHasSkill(executionRequest.skillId);
}
@@ -189,11 +188,11 @@ namespace armarx::plugins
try
{
- skills::SkillExecutionRequest provider_executionRequest(
- executionRequest.skillId,
- executionRequest.executorName,
- executionRequest.parameters,
- myPrx);
+ skills::SkillExecutionRequest provider_executionRequest{
+ .skillId = executionRequest.skillId,
+ .executorName = executionRequest.executorName,
+ .parameters = executionRequest.parameters,
+ .callbackInterface = myPrx};
auto async =
provider->begin_executeSkillAsync(provider_executionRequest.toProviderIce());
diff --git a/source/RobotAPI/libraries/skills/provider/SkillProviderComponentPlugin.cpp b/source/RobotAPI/libraries/skills/provider/SkillProviderComponentPlugin.cpp
index e5c169c04..e9e86b054 100644
--- a/source/RobotAPI/libraries/skills/provider/SkillProviderComponentPlugin.cpp
+++ b/source/RobotAPI/libraries/skills/provider/SkillProviderComponentPlugin.cpp
@@ -26,7 +26,9 @@ namespace armarx::plugins
const std::string providerName = p.getName();
// register self to manager
- skills::ProviderInfo i(skills::ProviderID(providerName), myPrx, getSkillDescriptions());
+ skills::ProviderInfo i{.providerId = skills::ProviderID{.providerName = providerName},
+ .providerInterface = myPrx,
+ .providedSkills = getSkillDescriptions()};
ARMARX_INFO << "Adding provider to manager: " << i.providerId;
manager->addProvider(i.toIce()); // add provider info to manager
@@ -188,12 +190,13 @@ namespace armarx::plugins
{
ARMARX_CHECK(executionRequest.skillId.isFullySpecified());
- skills::SkillExecutionID executionId(executionRequest.skillId,
- executionRequest.executorName,
- armarx::core::time::DateTime::Now());
+ skills::SkillExecutionID executionId{.skillId = executionRequest.skillId,
+ .executorName = executionRequest.executorName,
+ .executionStartedTime =
+ armarx::core::time::DateTime::Now()};
skills::SkillStatusUpdate ret{
- executionId, executionRequest.parameters, executionRequest.callbackInterface};
+ {executionId, executionRequest.parameters, executionRequest.callbackInterface}};
skills::detail::SkillRuntime* wrapper;
{
@@ -245,9 +248,9 @@ namespace armarx::plugins
{
ARMARX_CHECK(executionRequest.skillId.isFullySpecified());
- skills::SkillExecutionID executionId(executionRequest.skillId,
+ skills::SkillExecutionID executionId{executionRequest.skillId,
executionRequest.executorName,
- armarx::core::time::DateTime::Now());
+ armarx::core::time::DateTime::Now()};
skills::detail::SkillRuntime* wrapper;
{
@@ -387,7 +390,7 @@ namespace armarx
const skills::provider::dto::SkillID& skillId,
const Ice::Current& /*unused*/)
{
- auto id = skills::SkillID::FromIce(skillId, getName());
+ auto id = skills::SkillID::FromIce(skillId, skills::ProviderID{.providerName = getName()});
auto o = plugin->getSkillDescription(id);
if (o.has_value())
{
@@ -412,7 +415,8 @@ namespace armarx
const skills::provider::dto::SkillExecutionID& executionId,
const Ice::Current& /*unused*/)
{
- auto execId = skills::SkillExecutionID::FromIce(executionId, getName());
+ auto execId = skills::SkillExecutionID::FromIce(
+ executionId, skills::ProviderID{.providerName = getName()});
auto o = plugin->getSkillExecutionStatus(execId);
if (o.has_value())
{
@@ -438,7 +442,8 @@ namespace armarx
const skills::provider::dto::SkillExecutionRequest& info,
const Ice::Current& /*unused*/)
{
- auto exec = skills::SkillExecutionRequest::FromIce(info, getName());
+ auto exec = skills::SkillExecutionRequest::FromIce(
+ info, skills::ProviderID{.providerName = getName()});
auto up = this->plugin->executeSkill(exec);
return up.toProviderIce();
}
@@ -448,7 +453,8 @@ namespace armarx
const skills::provider::dto::SkillExecutionRequest& info,
const Ice::Current& current /*unused*/)
{
- auto exec = skills::SkillExecutionRequest::FromIce(info, getName());
+ auto exec = skills::SkillExecutionRequest::FromIce(
+ info, skills::ProviderID{.providerName = getName()});
auto id = this->plugin->executeSkillAsync(exec);
return id.toProviderIce();
}
@@ -461,7 +467,8 @@ namespace armarx
{
skills::provider::dto::ParameterUpdateResult res;
- auto exec = skills::SkillExecutionID::FromIce(id, getName());
+ auto exec =
+ skills::SkillExecutionID::FromIce(id, skills::ProviderID{.providerName = getName()});
auto prep = armarx::aron::data::Dict::FromAronDictDTO(input);
res.success = this->plugin->updateSkillParameters(exec, prep);
return res;
@@ -472,7 +479,8 @@ namespace armarx
const Ice::Current& /*unused*/)
{
skills::provider::dto::AbortSkillResult res;
- auto exec = skills::SkillExecutionID::FromIce(id, getName());
+ auto exec =
+ skills::SkillExecutionID::FromIce(id, skills::ProviderID{.providerName = getName()});
res.success = this->plugin->abortSkill(exec);
return res;
}
@@ -483,7 +491,8 @@ namespace armarx
const Ice::Current& /*unused*/)
{
skills::provider::dto::AbortSkillResult res;
- auto exec = skills::SkillExecutionID::FromIce(id, getName());
+ auto exec =
+ skills::SkillExecutionID::FromIce(id, skills::ProviderID{.providerName = getName()});
res.success = this->plugin->abortSkillAsync(exec);
return res;
}
diff --git a/source/RobotAPI/libraries/skills/provider/detail/SkillImplementationWrapper.cpp b/source/RobotAPI/libraries/skills/provider/detail/SkillImplementationWrapper.cpp
index 5c20567a2..b9529ee7f 100644
--- a/source/RobotAPI/libraries/skills/provider/detail/SkillImplementationWrapper.cpp
+++ b/source/RobotAPI/libraries/skills/provider/detail/SkillImplementationWrapper.cpp
@@ -9,7 +9,7 @@ namespace armarx
const skills::SkillExecutionID& execId,
const aron::data::DictPtr& initial_parameters,
const skills::callback::dti::SkillProviderCallbackInterfacePrx& callbackInterface) :
- factory(fac), statusUpdate(execId, initial_parameters, callbackInterface)
+ factory(fac), statusUpdate{{execId, initial_parameters, callbackInterface}}
{
}
@@ -134,9 +134,10 @@ namespace armarx
updateStatus(SkillStatus::Aborted, createErrorMessageData(message));
std::unique_lock l(skillStatusesMutex);
- auto terminated = TerminatedSkillStatusUpdate(statusUpdate.executionId,
- statusUpdate.parameters,
- statusUpdate.callbackInterface);
+ auto terminated = TerminatedSkillStatusUpdate{
+ {.executionId = statusUpdate.executionId,
+ .parameters = statusUpdate.parameters,
+ .callbackInterface = statusUpdate.callbackInterface}};
terminated.status = TerminatedSkillStatus::Aborted;
return terminated;
};
@@ -147,9 +148,10 @@ namespace armarx
updateStatus(SkillStatus::Failed, createErrorMessageData(message));
std::unique_lock l(skillStatusesMutex);
- auto terminated = TerminatedSkillStatusUpdate(statusUpdate.executionId,
- statusUpdate.parameters,
- statusUpdate.callbackInterface);
+ auto terminated = TerminatedSkillStatusUpdate{
+ {.executionId = statusUpdate.executionId,
+ .parameters = statusUpdate.parameters,
+ .callbackInterface = statusUpdate.callbackInterface}};
terminated.status = TerminatedSkillStatus::Failed;
return terminated;
};
@@ -334,9 +336,10 @@ namespace armarx
// return result of main method
std::unique_lock l(skillStatusesMutex);
- TerminatedSkillStatusUpdate ret(statusUpdate.executionId,
- statusUpdate.parameters,
- statusUpdate.callbackInterface);
+ TerminatedSkillStatusUpdate ret{
+ {.executionId = statusUpdate.executionId,
+ .parameters = statusUpdate.parameters,
+ .callbackInterface = statusUpdate.callbackInterface}};
ret.result = mainRet.data;
ret.status = TerminatedSkillStatus::Succeeded;
return ret;
--
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