diff --git a/source/RobotAPI/libraries/skills/core/FluxioProvider.cpp b/source/RobotAPI/libraries/skills/core/FluxioProvider.cpp
index 4151de3b440ec1d10a11aac4d8f40e70e3742197..65628a8d30a6094640066d9a4857b6112972b51a 100644
--- a/source/RobotAPI/libraries/skills/core/FluxioProvider.cpp
+++ b/source/RobotAPI/libraries/skills/core/FluxioProvider.cpp
@@ -1,5 +1,8 @@
#include "FluxioProvider.h"
+#include <experimental/memory>
+#include <memory>
+
#include <ArmarXCore/core/logging/Logging.h>
namespace armarx
@@ -28,7 +31,7 @@ namespace armarx
return ret;
}
- FluxioProvider*
+ std::experimental::observer_ptr<FluxioProvider>
FluxioProvider::FromFluxioIdentificatorIce(
const manager::dto::FluxioIdentificator& i,
std::map<std::string, FluxioProvider>& providersMap)
@@ -41,7 +44,7 @@ namespace armarx
return nullptr;
}
- return &(providersMap[providerIt->first]);
+ return std::experimental::make_observer(&(providersMap[providerIt->first]));
}
FluxioProvider
diff --git a/source/RobotAPI/libraries/skills/core/FluxioProvider.h b/source/RobotAPI/libraries/skills/core/FluxioProvider.h
index 500affcea1a1e81fa8bfd79bce0601ddc03c1d31..20d2d97d24cbf6094c91139cb812e506d454fae7 100644
--- a/source/RobotAPI/libraries/skills/core/FluxioProvider.h
+++ b/source/RobotAPI/libraries/skills/core/FluxioProvider.h
@@ -1,5 +1,6 @@
#pragma once
+#include <experimental/memory>
#include <string>
#include <RobotAPI/interface/skills/SkillManagerInterface.h>
@@ -16,7 +17,7 @@ namespace armarx
manager::dto::FluxioProvider toManagerIce() const;
manager::dto::FluxioIdentificator toFluxioIdentificatorIce() const;
- static FluxioProvider*
+ static std::experimental::observer_ptr<FluxioProvider>
FromFluxioIdentificatorIce(const manager::dto::FluxioIdentificator& i,
std::map<std::string, FluxioProvider>& providersMap);
static FluxioProvider FromIce(const manager::dto::FluxioProvider& i);
diff --git a/source/RobotAPI/libraries/skills/core/FluxioSkill.cpp b/source/RobotAPI/libraries/skills/core/FluxioSkill.cpp
index c1031c988acae2c24f45130019e17d1afb11e192..14727b45f95712cffbabf47eb5eb3af2856a32c4 100644
--- a/source/RobotAPI/libraries/skills/core/FluxioSkill.cpp
+++ b/source/RobotAPI/libraries/skills/core/FluxioSkill.cpp
@@ -21,31 +21,6 @@ namespace armarx
{
namespace skills
{
- // FluxioSkill::FluxioSkill(
- // std::string& id,
- // std::string& name,
- // std::string& description,
- // std::string& lastChanged,
- // bool executable,
- // bool native,
- // FluxioProvider* skillProviderPtr,
- // std::map<std::string, FluxioParameter> parameters,
- // std::map<const std::string, const std::unique_ptr<FluxioNode>>&& nodes,
- // std::list<FluxioEdge> edges) :
- //
- // id(id),
- // name(name),
- // description(description),
- // lastChanged(lastChanged),
- // executable(executable),
- // native(native),
- // skillProviderPtr(skillProviderPtr),
- // parameters(std::move(parameters)),
- // nodes(nodes),
- // edges(std::move(edges))
- // {
- // }
-
std::optional<manager::dto::FluxioSkill>
FluxioSkill::toManagerIce() const
{
@@ -152,8 +127,9 @@ namespace armarx
description = i.description;
lastChanged = armarx::DateTime::Now().toDateTimeString();
executable = i.executable;
- skillProviderPtr =
+ const auto skillProviderPtr =
skills::FluxioProvider::FromFluxioIdentificatorIce(i.skillProviderId, providersMap);
+ this->skillProviderPtr = skillProviderPtr;
// parameters
// create a parameter dto map for convenience
diff --git a/source/RobotAPI/libraries/skills/core/FluxioSkill.h b/source/RobotAPI/libraries/skills/core/FluxioSkill.h
index db08d5617ac4226ab4843073329eee55da392e7d..8bb4afc2679e753c130a104900bdf515bbbfd2e2 100644
--- a/source/RobotAPI/libraries/skills/core/FluxioSkill.h
+++ b/source/RobotAPI/libraries/skills/core/FluxioSkill.h
@@ -25,7 +25,7 @@ namespace armarx
bool executable =
false; // TODO: change from explicit to implicit storing of executable state
bool native;
- FluxioProvider* skillProviderPtr;
+ std::experimental::observer_ptr<const FluxioProvider> skillProviderPtr;
std::map<std::string, FluxioParameter> parameters;
std::map<const std::string, const std::unique_ptr<FluxioNode>> nodes;
std::list<FluxioEdge> edges;
diff --git a/source/RobotAPI/libraries/skills/manager/SkillManagerComponentPlugin.cpp b/source/RobotAPI/libraries/skills/manager/SkillManagerComponentPlugin.cpp
index 641a603a0c10f4508f6f406c4a6982d41bef1a30..aa913ade84488afe0674d55a1ba6c3f81b13dd78 100644
--- a/source/RobotAPI/libraries/skills/manager/SkillManagerComponentPlugin.cpp
+++ b/source/RobotAPI/libraries/skills/manager/SkillManagerComponentPlugin.cpp
@@ -805,12 +805,17 @@ namespace armarx::plugins
fluxioDC.providers.find(boost::uuids::to_string(providerId));
if (providersEntry != fluxioDC.providers.end())
{
- s.skillProviderPtr = &(providersEntry->second);
+ s.skillProviderPtr = std::experimental::make_observer(&(providersEntry->second));
}
else
{
- const auto& p = addFluxioProvider(skillId.providerId->providerName);
- s.skillProviderPtr = &fluxioDC.providers[p.id];
+ const auto p = addFluxioProvider(skillId.providerId->providerName);
+ if (p == nullptr)
+ {
+ ARMARX_WARNING << "Failed to add provider with name '"
+ << skillId.providerId->providerName << "'.";
+ }
+ s.skillProviderPtr = p;
}
s.parameters = {};
@@ -908,6 +913,8 @@ namespace armarx::plugins
return std::experimental::make_observer(&skillsEntry->second);
}
+ ARMARX_WARNING << "Skill with id '" << id << "' not found.";
+
return nullptr;
}
@@ -981,7 +988,7 @@ namespace armarx::plugins
}
}
- skills::FluxioProvider&
+ std::experimental::observer_ptr<const skills::FluxioProvider>
SkillManagerComponentPlugin::addFluxioProvider(const std::string& name)
{
const std::string& providerId = boost::uuids::to_string(createUuidWithString(name));
@@ -989,7 +996,7 @@ namespace armarx::plugins
if (fluxioDC.providers.find(providerId) != fluxioDC.providers.end())
{
ARMARX_WARNING << "Provider with name '" << name << "' already exists.";
- return fluxioDC.providers[providerId];
+ return std::experimental::make_observer(&fluxioDC.providers[providerId]);
}
skills::FluxioProvider p;
@@ -997,7 +1004,7 @@ namespace armarx::plugins
p.name = name;
fluxioDC.providers[p.id] = p;
- return fluxioDC.providers[p.id];
+ return std::experimental::make_observer(&fluxioDC.providers[p.id]);
}
std::vector<std::experimental::observer_ptr<const skills::FluxioProvider>>
@@ -1067,12 +1074,13 @@ namespace armarx::plugins
std::experimental::observer_ptr<skills::FluxioSkill>
SkillManagerComponentPlugin::addSkillToProvider(const std::string& userId,
const std::string& providerId,
- skills::FluxioSkill& skill)
+ skills::FluxioSkill&& skill)
{
// check if the provider exists
const auto& providerIt = fluxioDC.providers.find(providerId);
if (providerIt == fluxioDC.providers.end())
{
+ ARMARX_WARNING << "Provider with id '" << providerId << "' not found.";
return nullptr;
}
@@ -1135,12 +1143,13 @@ namespace armarx::plugins
skill.lastChanged = armarx::DateTime::Now().toDateTimeString();
// store in data collector
- fluxioDC.skills.emplace(skill.id, std::move(skill));
+ const auto skillId = skill.id;
+ fluxioDC.skills.emplace(skillId, std::move(skill));
// set mutex
setEditFluxioSkillMutex(true, userId, skill.id);
- return std::experimental::make_observer(&fluxioDC.skills[skill.id]);
+ return std::experimental::make_observer(&(fluxioDC.skills[skillId]));
}
bool // TODO: add armarx info messages
diff --git a/source/RobotAPI/libraries/skills/manager/SkillManagerComponentPlugin.h b/source/RobotAPI/libraries/skills/manager/SkillManagerComponentPlugin.h
index 5fa8ed804a93f2df224611e0d37f0098140b41bc..85fc56af154f5e2fc1f0239f34f9390eba1585cc 100644
--- a/source/RobotAPI/libraries/skills/manager/SkillManagerComponentPlugin.h
+++ b/source/RobotAPI/libraries/skills/manager/SkillManagerComponentPlugin.h
@@ -109,7 +109,8 @@ namespace armarx::plugins
std::vector<std::experimental::observer_ptr<const skills::FluxioProvider>>
getProviderList();
- skills::FluxioProvider& addFluxioProvider(const std::string& name);
+ std::experimental::observer_ptr<const skills::FluxioProvider>
+ addFluxioProvider(const std::string& name);
std::optional<skills::FluxioProvider> getProvider(const std::string& id);
@@ -119,7 +120,7 @@ namespace armarx::plugins
std::experimental::observer_ptr<skills::FluxioSkill>
addSkillToProvider(const std::string& userId,
const std::string& providerId,
- skills::FluxioSkill& skill);
+ skills::FluxioSkill&& skill);
private:
struct FluxioDataCollector
diff --git a/source/RobotAPI/libraries/skills/manager/SkillManagerComponentPluginUser.cpp b/source/RobotAPI/libraries/skills/manager/SkillManagerComponentPluginUser.cpp
index 9df07a129e45d8fcbcf2d6bb5993a02831b86db8..bfe66b33510ec281c82da4b46e9bf46955825ff6 100644
--- a/source/RobotAPI/libraries/skills/manager/SkillManagerComponentPluginUser.cpp
+++ b/source/RobotAPI/libraries/skills/manager/SkillManagerComponentPluginUser.cpp
@@ -425,18 +425,25 @@ namespace armarx
return {};
}
- auto s = this->plugin->addSkillToProvider(userId, providerId, *skillBO);
- if (s != nullptr)
+ auto& skillReleesed = *skillBO.release();
+
+ const auto s =
+ this->plugin->addSkillToProvider(userId, providerId, std::move(skillReleesed));
+ if (s == nullptr)
{
- const auto& ret = s->toManagerIce();
- if (ret.has_value())
- {
- return *ret;
- }
+ ARMARX_WARNING << "Skill with id " << skill.id
+ << " could not be added to provider with id " << providerId;
+ return {};
}
+ auto test = (s->skillProviderPtr == nullptr) ? "nullptr" : s->skillProviderPtr->id;
+ const auto& ret = s->toManagerIce();
- ARMARX_WARNING << "Skill with id " << skill.id << " could not be added to provider with id "
- << providerId;
- return {};
+ if (!ret.has_value())
+ {
+ ARMARX_WARNING << "Skill with id " << skill.id << " could not be converted";
+ return {};
+ }
+
+ return *ret;
}
} // namespace armarx