diff --git a/source/RobotAPI/libraries/skills/core/CMakeLists.txt b/source/RobotAPI/libraries/skills/core/CMakeLists.txt
index f757e4b5d8d069673c67d39e8b559250202d6c03..7e5a56debc7b98c758991bf6e3d389672f92b483 100644
--- a/source/RobotAPI/libraries/skills/core/CMakeLists.txt
+++ b/source/RobotAPI/libraries/skills/core/CMakeLists.txt
@@ -23,8 +23,6 @@ armarx_add_library(
SkillExecutionRequest.cpp
SkillStatusUpdate.cpp
SkillExecutionID.cpp
- SkillPreparationInput.cpp
- SkillParameterization.cpp
Skill.cpp
SkillProxy.cpp
SkillDescription.cpp
@@ -36,8 +34,6 @@ armarx_add_library(
SkillExecutionRequest.h
SkillStatusUpdate.h
SkillExecutionID.h
- SkillPreparationInput.h
- SkillParameterization.h
Skill.h
SkillProxy.h
SkillDescription.h
diff --git a/source/RobotAPI/libraries/skills/core/ProviderID.h b/source/RobotAPI/libraries/skills/core/ProviderID.h
index 5687f649185fa472d0afe1b7a60e6eb2eba46d34..d7710d96e3a6a65de86c0b1c4634f0c84220c8a0 100644
--- a/source/RobotAPI/libraries/skills/core/ProviderID.h
+++ b/source/RobotAPI/libraries/skills/core/ProviderID.h
@@ -1,10 +1,7 @@
#pragma once
-#include <string>
-#include <vector>
#include <RobotAPI/interface/skills/SkillManagerInterface.h>
-#include <RobotAPI/libraries/aron/core/data/variant/container/Dict.h>
namespace armarx
{
diff --git a/source/RobotAPI/libraries/skills/core/ProviderInfo.h b/source/RobotAPI/libraries/skills/core/ProviderInfo.h
index 438a2cf9d894f25f97150dc10ab6c5d9538cdc1e..b4a9c0470f017b1b21d43f70674ca1ab64afc556 100644
--- a/source/RobotAPI/libraries/skills/core/ProviderInfo.h
+++ b/source/RobotAPI/libraries/skills/core/ProviderInfo.h
@@ -1,16 +1,8 @@
#pragma once
-#include <string>
-#include <vector>
-#include <SimoxUtility/algorithm/string.h>
-
-#include <RobotAPI/interface/skills/SkillManagerInterface.h>
-
-#include "ProviderID.h"
-#include "SkillDescription.h"
-#include "SkillID.h"
-#include "error/Exception.h"
+#include <RobotAPI/libraries/skills/core/ProviderID.h>
+#include <RobotAPI/libraries/skills/core/SkillDescription.h>
namespace armarx
{
diff --git a/source/RobotAPI/libraries/skills/core/Skill.cpp b/source/RobotAPI/libraries/skills/core/Skill.cpp
index cf6c57f98d8970194c2f362dcfa122bb19c183a0..3a279a8b8e28bb2d7e01eb5ac5b17958c5b5ed51 100644
--- a/source/RobotAPI/libraries/skills/core/Skill.cpp
+++ b/source/RobotAPI/libraries/skills/core/Skill.cpp
@@ -1,4 +1,5 @@
#include "Skill.h"
+#include <ArmarXCore/core/time/Metronome.h>
#include <RobotAPI/libraries/skills/core/error/Exception.h>
@@ -450,5 +451,46 @@ namespace armarx
<< "'. Please overwrite this method.";
return {.status = TerminatedSkillStatus::Succeeded, .data = nullptr};
}
+
+ void
+ Skill::setProviderId(const skills::ProviderID& pid)
+ {
+ description.skillId.providerId = pid;
+ }
+
+ void
+ Skill::setCallback(const CallbackT& callback)
+ {
+ this->callback = callback;
+ }
+
+ void
+ Skill::setManager(const manager::dti::SkillManagerInterfacePrx& manager)
+ {
+ this->manager = manager;
+ }
+
+ void
+ Skill::setExecutorName(const std::string& executorName)
+ {
+ this->executorName = executorName;
+ }
+
+ SkillDescription
+ Skill::getSkillDescription() const
+ {
+ return description;
+ }
+
+ SkillID
+ Skill::getSkillId() const
+ {
+ return description.skillId;
+ }
+
+ Skill::~Skill()
+ {
+ //ARMARX_IMPORTANT << "DESTROY SKILL " << getSkillId();
+ }
} // namespace skills
} // namespace armarx
diff --git a/source/RobotAPI/libraries/skills/core/Skill.h b/source/RobotAPI/libraries/skills/core/Skill.h
index d9edf529c300968b4b428066836ba106a39e76e8..9be47862810009ec00fb8e9b8138b9ac1e0d5df0 100644
--- a/source/RobotAPI/libraries/skills/core/Skill.h
+++ b/source/RobotAPI/libraries/skills/core/Skill.h
@@ -4,17 +4,12 @@
#include <mutex>
#include <thread>
-#include <ArmarXCore/core/logging/Logging.h>
-#include <ArmarXCore/core/time/DateTime.h>
-#include <ArmarXCore/core/time/Metronome.h>
+#include <ArmarXCore/core/time/Frequency.h>
-#include <RobotAPI/interface/skills/SkillManagerInterface.h>
-#include <RobotAPI/libraries/aron/core/data/variant/All.h>
+#include <RobotAPI/libraries/skills/core/SkillDescription.h>
+#include <RobotAPI/libraries/skills/core/SkillProxy.h>
+#include <RobotAPI/libraries/skills/core/SkillStatusUpdate.h>
-#include "SkillDescription.h"
-#include "SkillID.h"
-#include "SkillProxy.h"
-#include "SkillStatusUpdate.h"
namespace armarx
{
@@ -61,50 +56,23 @@ namespace armarx
Skill(const SkillDescription&);
/// Virtual destructor of a skill
- virtual ~Skill()
- {
- //ARMARX_IMPORTANT << "DESTROY SKILL " << getSkillId();
- }
+ virtual ~Skill();
/// Get the id of the skill
- SkillID
- getSkillId() const
- {
- return description.skillId;
- }
+ SkillID getSkillId() const;
/// Get the description of a skill
- SkillDescription
- getSkillDescription() const
- {
- return description;
- }
+ SkillDescription getSkillDescription() const;
/// Set the provider id of the description of the skill.
/// This method is called when creating a skill in a skill provider
- void
- setProviderId(const skills::ProviderID& pid)
- {
- description.skillId.providerId = pid;
- }
+ void setProviderId(const skills::ProviderID& pid);
- void
- setCallback(const CallbackT& callback)
- {
- this->callback = callback;
- }
+ void setCallback(const CallbackT& callback);
- void
- setManager(const manager::dti::SkillManagerInterfacePrx& manager)
- {
- this->manager = manager;
- }
+ void setManager(const manager::dti::SkillManagerInterfacePrx& manager);
- void
- setExecutorName(const std::string& executorName)
- {
- this->executorName = executorName;
- }
+ void setExecutorName(const std::string& executorName);
/// Prepare a skill once. This method is called in a loop as long as it returns RUNNING
/// If the loop does not terminate with SUCCEDED the skill execution is failed.
diff --git a/source/RobotAPI/libraries/skills/core/SkillDescription.cpp b/source/RobotAPI/libraries/skills/core/SkillDescription.cpp
index 2fa37b33ceab97b944e55644c99c530ba3f371c3..c7d5222e45de9215208c4d5547c50c4e367d3768 100644
--- a/source/RobotAPI/libraries/skills/core/SkillDescription.cpp
+++ b/source/RobotAPI/libraries/skills/core/SkillDescription.cpp
@@ -65,5 +65,14 @@ namespace armarx
.parametersType = armarx::aron::type::Object::FromAronObjectDTO(i.parametersType),
.resultType = armarx::aron::type::Object::FromAronObjectDTO(i.resultType)};
}
+
+ bool
+ SkillDescription::operator==(const SkillDescription& other) const
+ {
+ return this->skillId == other.skillId && this->description == other.description &&
+ this->rootProfileDefaults == other.rootProfileDefaults &&
+ this->timeout == other.timeout && this->parametersType == other.parametersType &&
+ this->resultType == other.resultType;
+ }
} // namespace skills
} // namespace armarx
diff --git a/source/RobotAPI/libraries/skills/core/SkillDescription.h b/source/RobotAPI/libraries/skills/core/SkillDescription.h
index f65ba3f45e5da2c36c223c79797bb3b27ac52450..a6f33333fb733c3ccafd6320bd03db5e89153101 100644
--- a/source/RobotAPI/libraries/skills/core/SkillDescription.h
+++ b/source/RobotAPI/libraries/skills/core/SkillDescription.h
@@ -30,15 +30,7 @@ namespace armarx
const std::optional<ProviderID>& = std::nullopt);
static SkillDescription FromIce(const manager::dto::SkillDescription& i);
- bool
- operator==(const SkillDescription& other) const
- {
- return this->skillId == other.skillId && this->description == other.description &&
- this->rootProfileDefaults == other.rootProfileDefaults &&
- this->timeout == other.timeout &&
- this->parametersType == other.parametersType &&
- this->resultType == other.resultType;
- }
+ bool operator==(const SkillDescription& other) const;
};
template <class T>
diff --git a/source/RobotAPI/libraries/skills/core/SkillExecutionID.cpp b/source/RobotAPI/libraries/skills/core/SkillExecutionID.cpp
index 2bf5f3235ba19f60f4475e9fe3d126fbcfec1db9..b93ef522c7d604e2fd43870da541d4d59d74e122 100644
--- a/source/RobotAPI/libraries/skills/core/SkillExecutionID.cpp
+++ b/source/RobotAPI/libraries/skills/core/SkillExecutionID.cpp
@@ -1,5 +1,7 @@
#include "SkillExecutionID.h"
+#include <ArmarXCore/core/time/ice_conversions.h>
+
namespace armarx
{
namespace skills
@@ -51,5 +53,22 @@ namespace armarx
executionStartedTime.toDateTimeString() + EXIT_SEPARATOR;
}
+ bool
+ SkillExecutionID::operator<=(const SkillExecutionID& other) const
+ {
+ return this->executionStartedTime <= other.executionStartedTime;
+ }
+
+ bool
+ SkillExecutionID::operator<(const SkillExecutionID& other) const
+ {
+ return this->executionStartedTime < other.executionStartedTime;
+ }
+
+ bool
+ SkillExecutionID::operator==(const SkillExecutionID& other) const
+ {
+ return this->toString() == other.toString();
+ }
} // namespace skills
} // namespace armarx
diff --git a/source/RobotAPI/libraries/skills/core/SkillExecutionID.h b/source/RobotAPI/libraries/skills/core/SkillExecutionID.h
index 39f3bc008324d046486d4eb1cd486ef87a1860f8..7a7d5e9e1efccf43f7dfcb3f4dce4d4655c0f395 100644
--- a/source/RobotAPI/libraries/skills/core/SkillExecutionID.h
+++ b/source/RobotAPI/libraries/skills/core/SkillExecutionID.h
@@ -1,16 +1,12 @@
#pragma once
#include <string>
-#include <vector>
#include <ArmarXCore/core/time/DateTime.h>
-#include <ArmarXCore/core/time/ice_conversions.h>
#include <RobotAPI/interface/skills/SkillProviderInterface.h>
#include <RobotAPI/libraries/aron/core/data/variant/container/Dict.h>
-
-#include "SkillID.h"
-#include "SkillParameterization.h"
+#include <RobotAPI/libraries/skills/core/SkillID.h>
namespace armarx
{
@@ -27,23 +23,11 @@ namespace armarx
static const constexpr char* EXIT_SEPARATOR = "]";
static const constexpr char* SEPARATOR = "@";
- bool
- operator==(const SkillExecutionID& other) const
- {
- return this->toString() == other.toString();
- }
-
- bool
- operator<(const SkillExecutionID& other) const
- {
- return this->executionStartedTime < other.executionStartedTime;
- }
-
- bool
- operator<=(const SkillExecutionID& other) const
- {
- return this->executionStartedTime <= other.executionStartedTime;
- }
+ bool operator==(const SkillExecutionID& other) const;
+
+ bool operator<(const SkillExecutionID& other) const;
+
+ bool operator<=(const SkillExecutionID& other) const;
skills::manager::dto::SkillExecutionID toManagerIce() const;
diff --git a/source/RobotAPI/libraries/skills/core/SkillExecutionRequest.h b/source/RobotAPI/libraries/skills/core/SkillExecutionRequest.h
index d1f5bbcdd175f9f3516d45856186d453af2f987e..453291831f7e8e5c53d45855c51c81e04e011c70 100644
--- a/source/RobotAPI/libraries/skills/core/SkillExecutionRequest.h
+++ b/source/RobotAPI/libraries/skills/core/SkillExecutionRequest.h
@@ -1,18 +1,10 @@
#pragma once
-#include <string>
-#include <vector>
-
-#include <SimoxUtility/algorithm/string.h>
-
-#include <ArmarXCore/core/time/DateTime.h>
-#include <ArmarXCore/core/time/ice_conversions.h>
-
#include <RobotAPI/interface/skills/SkillManagerInterface.h>
+#include <RobotAPI/interface/skills/SkillProviderInterface.h>
#include <RobotAPI/libraries/aron/core/data/variant/container/Dict.h>
-
-#include "SkillID.h"
-#include "error/Exception.h"
+#include <RobotAPI/libraries/skills/core/ProviderID.h>
+#include <RobotAPI/libraries/skills/core/SkillID.h>
namespace armarx
{
diff --git a/source/RobotAPI/libraries/skills/core/SkillID.cpp b/source/RobotAPI/libraries/skills/core/SkillID.cpp
index 2bf5cb5596a89a8daab37ef8e957a8c9fcc2b532..87fa6cd75b4faf144e593f7d5702b893aa9dab4c 100644
--- a/source/RobotAPI/libraries/skills/core/SkillID.cpp
+++ b/source/RobotAPI/libraries/skills/core/SkillID.cpp
@@ -1,5 +1,9 @@
#include "SkillID.h"
+#include <optional>
+
+#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
+
namespace armarx
{
namespace skills
@@ -69,6 +73,28 @@ namespace armarx
}
return NAME_SEPARATOR + skillName;
}
+
+ bool
+ SkillID::isFullySpecified() const
+ {
+ return isSkillSpecified() and isProviderSpecified();
+ }
+
+ bool
+ SkillID::isSkillSpecified() const
+ {
+ return not skillName.empty();
+ }
+
+ bool
+ SkillID::isProviderSpecified() const
+ {
+ if (not providerId.has_value())
+ {
+ return false;
+ }
+ return not providerId->providerName.empty();
+ }
} // namespace skills
std::ostream&
diff --git a/source/RobotAPI/libraries/skills/core/SkillID.h b/source/RobotAPI/libraries/skills/core/SkillID.h
index 8bf5eb0f34a4a73ef8255f1ac64e1222ca71692d..1de4e5fc764d10bb5af2324f02ce4f71b81b60ef 100644
--- a/source/RobotAPI/libraries/skills/core/SkillID.h
+++ b/source/RobotAPI/libraries/skills/core/SkillID.h
@@ -1,8 +1,7 @@
#pragma once
#include <string>
-
-#include <SimoxUtility/algorithm/string.h>
+#include <optional>
#include <RobotAPI/interface/skills/SkillManagerInterface.h>
@@ -23,27 +22,11 @@ namespace armarx
bool operator<(const SkillID& other) const;
bool operator<=(const SkillID& other) const;
- bool
- isFullySpecified() const
- {
- return isSkillSpecified() and isProviderSpecified();
- }
-
- bool
- isSkillSpecified() const
- {
- return not skillName.empty();
- }
-
- bool
- isProviderSpecified() const
- {
- if (not providerId.has_value())
- {
- return false;
- }
- return not providerId->providerName.empty();
- }
+ bool isFullySpecified() const;
+
+ bool isSkillSpecified() const;
+
+ bool isProviderSpecified() const;
manager::dto::SkillID toManagerIce() const;
provider::dto::SkillID toProviderIce() const;
diff --git a/source/RobotAPI/libraries/skills/core/SkillParameterization.cpp b/source/RobotAPI/libraries/skills/core/SkillParameterization.cpp
deleted file mode 100644
index d0ec681e2b772aa773a6cc890198e24c28714207..0000000000000000000000000000000000000000
--- a/source/RobotAPI/libraries/skills/core/SkillParameterization.cpp
+++ /dev/null
@@ -1,8 +0,0 @@
-#include "SkillParameterization.h"
-
-namespace armarx
-{
- namespace skills
- {
- }
-} // namespace armarx
diff --git a/source/RobotAPI/libraries/skills/core/SkillParameterization.h b/source/RobotAPI/libraries/skills/core/SkillParameterization.h
deleted file mode 100644
index 9b54b3fff3bfe0aaedcb79d9c275165aefe5a37d..0000000000000000000000000000000000000000
--- a/source/RobotAPI/libraries/skills/core/SkillParameterization.h
+++ /dev/null
@@ -1,14 +0,0 @@
-#pragma once
-
-#include <string>
-#include <vector>
-
-#include <RobotAPI/interface/skills/SkillProviderInterface.h>
-#include <RobotAPI/libraries/aron/core/data/variant/container/Dict.h>
-
-namespace armarx
-{
- namespace skills
- {
- } // namespace skills
-} // namespace armarx
diff --git a/source/RobotAPI/libraries/skills/core/SkillPreparationInput.cpp b/source/RobotAPI/libraries/skills/core/SkillPreparationInput.cpp
deleted file mode 100644
index d0ec681e2b772aa773a6cc890198e24c28714207..0000000000000000000000000000000000000000
--- a/source/RobotAPI/libraries/skills/core/SkillPreparationInput.cpp
+++ /dev/null
@@ -1,8 +0,0 @@
-#include "SkillParameterization.h"
-
-namespace armarx
-{
- namespace skills
- {
- }
-} // namespace armarx
diff --git a/source/RobotAPI/libraries/skills/core/SkillPreparationInput.h b/source/RobotAPI/libraries/skills/core/SkillPreparationInput.h
deleted file mode 100644
index b5cc2bb20c392864ccb31607e1ef02e9174fb211..0000000000000000000000000000000000000000
--- a/source/RobotAPI/libraries/skills/core/SkillPreparationInput.h
+++ /dev/null
@@ -1,15 +0,0 @@
-#pragma once
-
-#include <string>
-#include <vector>
-
-#include <RobotAPI/interface/skills/SkillProviderInterface.h>
-#include <RobotAPI/libraries/aron/core/data/variant/container/Dict.h>
-
-namespace armarx
-{
- namespace skills
- {
-
- } // namespace skills
-} // namespace armarx
diff --git a/source/RobotAPI/libraries/skills/core/SkillStatusUpdate.cpp b/source/RobotAPI/libraries/skills/core/SkillStatusUpdate.cpp
index 8e5ade1866d4d71a389443c1b5ce1fc48485e9ea..2f57db3940b0d622650565951ccc04e8950d2277 100644
--- a/source/RobotAPI/libraries/skills/core/SkillStatusUpdate.cpp
+++ b/source/RobotAPI/libraries/skills/core/SkillStatusUpdate.cpp
@@ -406,5 +406,103 @@ namespace armarx
return ret;
}
+ bool
+ SkillStatusUpdate::operator<(const SkillStatusUpdate& o) const
+ {
+ if (!hasBeenConstructed() and o.hasBeenConstructed())
+ {
+ return true;
+ }
+ if (!hasBeenInitialized() and o.hasBeenInitialized())
+ {
+ return true;
+ }
+ if (!hasBeenPrepared() and o.hasBeenPrepared())
+ {
+ return true;
+ }
+ if (!hasBeenRunning() and o.hasBeenRunning())
+ {
+ return true;
+ }
+ if (!hasBeenTerminated() and o.hasBeenTerminated())
+ {
+ return true;
+ }
+ return false;
+ }
+
+ bool
+ SkillStatusUpdate::operator<=(const SkillStatusUpdate& o) const
+ {
+ if (status == o.status)
+ {
+ return true;
+ }
+ return *this < o;
+ }
+
+ bool
+ SkillStatusUpdate::hasBeenConstructed() const
+ {
+ return status != SkillStatus::Constructing;
+ }
+
+ bool
+ SkillStatusUpdate::hasBeenInitialized() const
+ {
+ return status != SkillStatus::Initializing && hasBeenConstructed();
+ }
+
+ bool
+ SkillStatusUpdate::hasBeenPrepared() const
+ {
+ return status != SkillStatus::Preparing && hasBeenInitialized();
+ }
+
+ bool
+ SkillStatusUpdate::hasBeenRunning() const
+ {
+ return status != SkillStatus::Running || hasBeenPrepared();
+ }
+
+ bool
+ SkillStatusUpdate::hasBeenTerminated() const
+ {
+ return status == SkillStatus::Succeeded || status == SkillStatus::Failed ||
+ status == SkillStatus::Aborted;
+ }
+
+ bool
+ SkillStatusUpdate::hasBeenSucceeded() const
+ {
+ return status == SkillStatus::Succeeded;
+ }
+
+ bool
+ ActiveOrTerminatedSkillStatusUpdate::hasBeenTerminated() const
+ {
+ return status == ActiveOrTerminatedSkillStatus::Succeeded ||
+ status == ActiveOrTerminatedSkillStatus::Failed ||
+ status == ActiveOrTerminatedSkillStatus::Aborted;
+ }
+
+ bool
+ ActiveOrTerminatedSkillStatusUpdate::hasBeenSucceeded() const
+ {
+ return status == ActiveOrTerminatedSkillStatus::Succeeded;
+ }
+
+ bool
+ TerminatedSkillStatusUpdate::hasBeenTerminated() const
+ {
+ return true;
+ }
+
+ bool
+ TerminatedSkillStatusUpdate::hasBeenSucceeded() const
+ {
+ return status == TerminatedSkillStatus::Succeeded;
+ }
} // namespace skills
} // namespace armarx
diff --git a/source/RobotAPI/libraries/skills/core/SkillStatusUpdate.h b/source/RobotAPI/libraries/skills/core/SkillStatusUpdate.h
index f6318d5c1993fd94d17a6a5e5e16086794d1f34d..4ce5cba6afad707bac55c6155b64cb44115819b7 100644
--- a/source/RobotAPI/libraries/skills/core/SkillStatusUpdate.h
+++ b/source/RobotAPI/libraries/skills/core/SkillStatusUpdate.h
@@ -75,17 +75,9 @@ namespace armarx
{
TerminatedSkillStatus status = TerminatedSkillStatus::Failed;
- bool
- hasBeenTerminated() const
- {
- return true;
- }
-
- bool
- hasBeenSucceeded() const
- {
- return status == TerminatedSkillStatus::Succeeded;
- }
+ bool hasBeenTerminated() const;
+
+ bool hasBeenSucceeded() const;
manager::dto::SkillStatusUpdate toManagerIce() const;
@@ -104,19 +96,9 @@ namespace armarx
{
ActiveOrTerminatedSkillStatus status = ActiveOrTerminatedSkillStatus::Failed;
- bool
- hasBeenTerminated() const
- {
- return status == ActiveOrTerminatedSkillStatus::Succeeded ||
- status == ActiveOrTerminatedSkillStatus::Failed ||
- status == ActiveOrTerminatedSkillStatus::Aborted;
- }
+ bool hasBeenTerminated() const;
- bool
- hasBeenSucceeded() const
- {
- return status == ActiveOrTerminatedSkillStatus::Succeeded;
- }
+ bool hasBeenSucceeded() const;
manager::dto::SkillStatusUpdate toManagerIce() const;
@@ -135,78 +117,21 @@ namespace armarx
{
SkillStatus status = SkillStatus::Constructing;
- bool
- operator<(const SkillStatusUpdate& o) const
- {
- if (!hasBeenConstructed() and o.hasBeenConstructed())
- {
- return true;
- }
- if (!hasBeenInitialized() and o.hasBeenInitialized())
- {
- return true;
- }
- if (!hasBeenPrepared() and o.hasBeenPrepared())
- {
- return true;
- }
- if (!hasBeenRunning() and o.hasBeenRunning())
- {
- return true;
- }
- if (!hasBeenTerminated() and o.hasBeenTerminated())
- {
- return true;
- }
- return false;
- }
-
- bool
- operator<=(const SkillStatusUpdate& o) const
- {
- if (status == o.status)
- {
- return true;
- }
- return *this < o;
- }
-
- bool
- hasBeenConstructed() const
- {
- return status != SkillStatus::Constructing;
- }
-
- bool
- hasBeenInitialized() const
- {
- return status != SkillStatus::Initializing && hasBeenConstructed();
- }
-
- bool
- hasBeenPrepared() const
- {
- return status != SkillStatus::Preparing && hasBeenInitialized();
- }
-
- bool
- hasBeenRunning() const
- {
- return status != SkillStatus::Running || hasBeenPrepared();
- }
-
- bool
- hasBeenTerminated() const
- {
- return status == SkillStatus::Succeeded || status == SkillStatus::Failed ||
- status == SkillStatus::Aborted;
- }
-
- bool
- hasBeenSucceeded() const
- {
- return status == SkillStatus::Succeeded;
- }
+ bool operator<(const SkillStatusUpdate& o) const;
+
+ bool operator<=(const SkillStatusUpdate& o) const;
+
+ bool hasBeenConstructed() const;
+
+ bool hasBeenInitialized() const;
+
+ bool hasBeenPrepared() const;
+
+ bool hasBeenRunning() const;
+
+ bool hasBeenTerminated() const;
+
+ bool hasBeenSucceeded() const;
manager::dto::SkillStatusUpdate toManagerIce() const;
diff --git a/source/RobotAPI/libraries/skills/core/error/Exception.cpp b/source/RobotAPI/libraries/skills/core/error/Exception.cpp
index 32521fedeb0428e384897ce88e2f9f42ebb57a71..c2668867df8b5f5e5ea0f703582f0c92f14c4587 100644
--- a/source/RobotAPI/libraries/skills/core/error/Exception.cpp
+++ b/source/RobotAPI/libraries/skills/core/error/Exception.cpp
@@ -1,2 +1,33 @@
#include "Exception.h"
+
+armarx::skills::error::SkillException::SkillException(const std::string& prettymethod,
+ const std::string& reason) :
+ LocalException(prettymethod + ": " + reason + ".")
+{
+}
+
+armarx::skills::error::SkillNotFoundException::SkillNotFoundException(
+ const std::string& prettymethod,
+ const std::string& reason) :
+ SkillException(prettymethod, reason)
+{
+}
+
+armarx::skills::error::SkillAbortedException::SkillAbortedException(const std::string& prettymethod,
+ const std::string& reason) :
+ SkillException(prettymethod, reason)
+{
+}
+
+armarx::skills::error::SkillFailedException::SkillFailedException(const std::string& prettymethod,
+ const std::string& reason) :
+ SkillException(prettymethod, reason)
+{
+}
+
+armarx::skills::error::NotImplementedYetException::NotImplementedYetException(
+ const std::string& prettymethod) :
+ SkillException(prettymethod, "This method is not yet implemented!")
+{
+}
diff --git a/source/RobotAPI/libraries/skills/core/error/Exception.h b/source/RobotAPI/libraries/skills/core/error/Exception.h
index d9107d8213b9d5d2b1e70f578ee7b376be0f102a..66e72e418d51ffb1555498741cf928d1e417e497 100644
--- a/source/RobotAPI/libraries/skills/core/error/Exception.h
+++ b/source/RobotAPI/libraries/skills/core/error/Exception.h
@@ -23,12 +23,10 @@
#pragma once
-// STD/STL
+
#include <string>
-// ArmarX
-#include <ArmarXCore/core/exceptions/Exception.h>
-#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
+#include <ArmarXCore/core/exceptions/LocalException.h>
namespace armarx::skills::error
{
@@ -40,10 +38,7 @@ namespace armarx::skills::error
public:
SkillException() = delete;
- SkillException(const std::string& prettymethod, const std::string& reason) :
- LocalException(prettymethod + ": " + reason + ".")
- {
- }
+ SkillException(const std::string& prettymethod, const std::string& reason);
};
/**
@@ -54,10 +49,7 @@ namespace armarx::skills::error
public:
SkillNotFoundException() = delete;
- SkillNotFoundException(const std::string& prettymethod, const std::string& reason) :
- SkillException(prettymethod, reason)
- {
- }
+ SkillNotFoundException(const std::string& prettymethod, const std::string& reason);
};
class SkillAbortedException : public SkillException
@@ -65,10 +57,7 @@ namespace armarx::skills::error
public:
SkillAbortedException() = delete;
- SkillAbortedException(const std::string& prettymethod, const std::string& reason) :
- SkillException(prettymethod, reason)
- {
- }
+ SkillAbortedException(const std::string& prettymethod, const std::string& reason);
};
class SkillFailedException : public SkillException
@@ -76,10 +65,7 @@ namespace armarx::skills::error
public:
SkillFailedException() = delete;
- SkillFailedException(const std::string& prettymethod, const std::string& reason) :
- SkillException(prettymethod, reason)
- {
- }
+ SkillFailedException(const std::string& prettymethod, const std::string& reason);
};
/**
@@ -90,9 +76,6 @@ namespace armarx::skills::error
public:
NotImplementedYetException() = delete;
- NotImplementedYetException(const std::string& prettymethod) :
- SkillException(prettymethod, "This method is not yet implemented!")
- {
- }
+ NotImplementedYetException(const std::string& prettymethod);
};
} // namespace armarx::skills::error
diff --git a/source/RobotAPI/libraries/skills/provider/SimplePeriodicSkill.cpp b/source/RobotAPI/libraries/skills/provider/SimplePeriodicSkill.cpp
index db3c05d511872e082bf4b2bb3a01a1293f7468af..68b1fb7e137bbf33045cc320100de697e7ab52e5 100644
--- a/source/RobotAPI/libraries/skills/provider/SimplePeriodicSkill.cpp
+++ b/source/RobotAPI/libraries/skills/provider/SimplePeriodicSkill.cpp
@@ -1,4 +1,5 @@
#include "SimplePeriodicSkill.h"
+#include <ArmarXCore/core/time/Metronome.h>
#include <RobotAPI/libraries/skills/core/error/Exception.h>
diff --git a/source/RobotAPI/libraries/skills/provider/SimplePeriodicSpecializedSkill.h b/source/RobotAPI/libraries/skills/provider/SimplePeriodicSpecializedSkill.h
index c0f8b7ebd23df0d41429b2e9c7ddd3a7b0f66e94..37d1e6084e81f99dd59973e9d22df022df509fb0 100644
--- a/source/RobotAPI/libraries/skills/provider/SimplePeriodicSpecializedSkill.h
+++ b/source/RobotAPI/libraries/skills/provider/SimplePeriodicSpecializedSkill.h
@@ -1,5 +1,6 @@
#pragma once
+#include <ArmarXCore/core/time/Metronome.h>
#include <RobotAPI/libraries/skills/core/error/Exception.h>
#include "PeriodicSkill.h"
#include "SimpleSpecializedSkill.h"
diff --git a/source/RobotAPI/libraries/skills/provider/SkillProviderComponentPlugin.h b/source/RobotAPI/libraries/skills/provider/SkillProviderComponentPlugin.h
index 858ee511de6fa042e257b202b6cee3bf94a446a1..21e0d6d97ecb7841237b4ed495355531c38d1972 100644
--- a/source/RobotAPI/libraries/skills/provider/SkillProviderComponentPlugin.h
+++ b/source/RobotAPI/libraries/skills/provider/SkillProviderComponentPlugin.h
@@ -1,11 +1,7 @@
#pragma once
#include <experimental/memory>
-#include <functional>
-#include <queue>
#include <shared_mutex>
-#include <thread>
-#include <type_traits>
#include <ArmarXCore/core/ComponentPlugin.h>
#include <ArmarXCore/core/ManagedIceObject.h>
@@ -14,20 +10,13 @@
#include <RobotAPI/interface/skills/SkillManagerInterface.h>
#include <RobotAPI/libraries/aron/core/data/variant/container/Dict.h>
-// Include all types of skills
#include <RobotAPI/libraries/skills/core/Skill.h>
#include <RobotAPI/libraries/skills/core/SkillExecutionRequest.h>
-#include <RobotAPI/libraries/skills/core/SkillPreparationInput.h>
-#include "LambdaSkill.h"
-#include "PeriodicSkill.h"
-#include "PeriodicSpecializedSkill.h"
-#include "SkillFactory.h"
-#include "SpecializedSkill.h"
-
-// Helper wrapper for execution
#include "detail/SkillImplementationWrapper.h"
+#include "LambdaSkill.h"
+
namespace armarx
{
class SkillProviderComponentPluginUser; // forward declaration
diff --git a/source/RobotAPI/libraries/skills/provider/blueprints/SkillWithContextBlueprint.h b/source/RobotAPI/libraries/skills/provider/blueprints/SkillWithContextBlueprint.h
index db852e076274c6f8b479a25d4b7d65c474912fae..6a6802204822692867f0a9c5545359d4a0fc77bb 100644
--- a/source/RobotAPI/libraries/skills/provider/blueprints/SkillWithContextBlueprint.h
+++ b/source/RobotAPI/libraries/skills/provider/blueprints/SkillWithContextBlueprint.h
@@ -22,6 +22,8 @@
#pragma once
+#include <atomic>
+
#include <RobotAPI/libraries/skills/provider/SkillFactory.h>
namespace armarx
@@ -79,4 +81,4 @@ namespace armarx
ContextT context_;
};
} // namespace skills
-} // namespace armarx
\ No newline at end of file
+} // namespace armarx
diff --git a/source/RobotAPI/libraries/skills/provider/detail/SkillImplementationWrapper.cpp b/source/RobotAPI/libraries/skills/provider/detail/SkillImplementationWrapper.cpp
index 0e1515343b7cf9bf84daa949eb70d2035f35e751..35fc69ddd8a073f3b78ae008a67466dddc36ce68 100644
--- a/source/RobotAPI/libraries/skills/provider/detail/SkillImplementationWrapper.cpp
+++ b/source/RobotAPI/libraries/skills/provider/detail/SkillImplementationWrapper.cpp
@@ -4,6 +4,8 @@
#include <RobotAPI/libraries/aron/core/data/variant/container/Dict.h>
#include <RobotAPI/libraries/skills/core/aron/SkillErrorResult.aron.generated.h>
+
+
namespace armarx
{
namespace skills::detail
diff --git a/source/RobotAPI/libraries/skills/provider/detail/SkillImplementationWrapper.h b/source/RobotAPI/libraries/skills/provider/detail/SkillImplementationWrapper.h
index 935fa227bf13831d3bcc789a124b36d12f1ba423..8b3f51277fe351229dbbb4f00eab72655cc724ea 100644
--- a/source/RobotAPI/libraries/skills/provider/detail/SkillImplementationWrapper.h
+++ b/source/RobotAPI/libraries/skills/provider/detail/SkillImplementationWrapper.h
@@ -1,12 +1,10 @@
#pragma once
#include <experimental/memory>
-#include <shared_mutex>
+#include <mutex>
-#include <RobotAPI/interface/skills/SkillManagerInterface.h>
-#include <RobotAPI/libraries/skills/core/Skill.h>
-#include <RobotAPI/libraries/skills/core/SkillDescription.h>
-#include <RobotAPI/libraries/skills/core/SkillPreparationInput.h>
+#include <RobotAPI/interface/skills/SkillProviderInterface.h>
+#include <RobotAPI/libraries/aron/core/data/variant/container/Dict.h>
#include <RobotAPI/libraries/skills/core/SkillStatusUpdate.h>
#include <RobotAPI/libraries/skills/provider/SkillFactory.h>