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Commit 90090bff authored by Benedikt Engel's avatar Benedikt Engel
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all methods in SkillManagerComponentPlugin have Result return tzpe

parent 4b4f4350
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2 merge requests!452Resolve "Fluxio results and errors",!449Fluxio preliminary release
Pipeline #19061 failed
Stage: build-and-test
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source/RobotAPI/libraries/skills/core/error/Exception.h
+ 44
− 0
View file @ 90090bff
......@@ -97,4 +97,48 @@ namespace armarx::skills::error
{
}
};
class MutexError : public SkillException
{
public:
MutexError() = delete;
MutexError(const std::string& prettymethod) :
SkillException(prettymethod, "This method is not yet implemented!")
{
}
};
class ProfileNotFoundException: public SkillException
{
public:
ProfileNotFoundException() = delete;
ProfileNotFoundException (const std::string& prettymethod) :
SkillException(prettymethod, "This method is not yet implemented!")
{
}
};
class ProviderNotFoundException: public SkillException
{
public:
ProviderNotFoundException() = delete;
ProviderNotFoundException (const std::string& prettymethod) :
SkillException(prettymethod, "This method is not yet implemented!")
{
}
};
class SkillExecutionException: public SkillException
{
public:
SkillExecutionException() = delete;
SkillExecutionException (const std::string& prettymethod) :
SkillException(prettymethod, "This method is not yet implemented!")
{
}
};
} // namespace armarx::skills::error
source/RobotAPI/libraries/skills/manager/SkillManagerComponentPlugin.cpp
+ 44
− 40
View file @ 90090bff
......@@ -718,14 +718,14 @@ namespace armarx::plugins
}
}
std::optional<std::vector<skills::FluxioSkillStatusUpdate>>
skills::Result<std::vector<skills::FluxioSkillStatusUpdate>, skills::error::SkillException>
SkillManagerComponentPlugin::getFluxioSkillExecutionStatus(const std::string& executionId)
{
const auto& executorIt = fluxioDC.fluxioExecutors.find(executionId);
if (executorIt == fluxioDC.fluxioExecutors.end())
{
ARMARX_WARNING << "Execution with id '" << executionId << "' not found.";
return std::nullopt;
return {skills::error::SkillExecutionException("Execution with id" + executionId + " not found.")};
}
FluxioExecutor* executorPtr = executorIt->second;
......@@ -739,17 +739,17 @@ namespace armarx::plugins
{
ARMARX_WARNING << "Executor with id '" << executionId
<< "' is not a FluxioNativeExecutor.";
return std::nullopt;
return {skills::error::SkillExecutionException("Executor with id" + executionId + "is not a FluxioNativeExecutor")};
}
}
catch (const std::bad_cast& e)
{
ARMARX_WARNING << "Error while getting execution runner for fluxio skill with id "
<< executionId << ": " << e.what();
return std::nullopt;
return {skills::error::SkillExecutionException("Error while getting execution runner for fluxio skill with id " + executionId + ": " + e.what())};
}
return castedExecutor->getStatusUpdate();
return {(castedExecutor->getStatusUpdate()).value()};
}
FluxioCompositeExecutor* castedExecutor = nullptr;
......@@ -760,18 +760,18 @@ namespace armarx::plugins
{
ARMARX_WARNING << "Executor with id '" << executionId
<< "' is not a FluxioCompositeExecutor.";
return std::nullopt;
return {skills::error::SkillExecutionException("Executor not found")};
}
}
catch (const std::bad_cast& e)
{
ARMARX_WARNING << "Error while getting execution runner for fluxio skill with id "
<< executionId << ": " << e.what();
return std::nullopt;
return {skills::error::SkillExecutionException("Error while getting execution runner for fluxio skill")};
}
return castedExecutor->getStatusUpdate();
return {castedExecutor->getStatusUpdate().value()};
}
/**
......@@ -802,7 +802,7 @@ namespace armarx::plugins
}
}
std::vector<skills::FluxioSkill>
skills::Result<std::vector<skills::FluxioSkill>, skills::error::SkillException>
SkillManagerComponentPlugin::getSkillList()
{
std::map<skills::SkillID, skills::SkillDescription> skillDescriptions =
......@@ -921,7 +921,7 @@ namespace armarx::plugins
fluxioDC.skills[s.id] = s;
}
return convertMapValuesToVector(fluxioDC.skills);
return {convertMapValuesToVector(fluxioDC.skills)};
}
......@@ -943,7 +943,7 @@ namespace armarx::plugins
// TODO: does the user need to have the mutex here ?
}
bool
skills::Result<bool, skills::error::SkillException>
SkillManagerComponentPlugin::getSkillMutex(const std::string& skillId,
const std::string& userId)
{
......@@ -965,33 +965,33 @@ namespace armarx::plugins
// TODO: check if mutex is held by user
}
std::vector<skills::FluxioProfile>
skills::Result<std::vector<skills::FluxioProfile>, skills::error::SkillException>
SkillManagerComponentPlugin::getProfileList()
{
return convertMapValuesToVector(fluxioDC.profiles);
return {convertMapValuesToVector(fluxioDC.profiles)};
}
std::optional<skills::FluxioProfile>
skills::Result<skills::FluxioProfile, skills::error::ProfileNotFoundException>
SkillManagerComponentPlugin::getProfile(const std::string& id)
{
const auto& profilesEntry = fluxioDC.profiles.find(id);
if (profilesEntry != fluxioDC.profiles.end())
{
return profilesEntry->second;
return {profilesEntry->second};
}
return std::nullopt;
return {skills::error::ProfileNotFoundException("Profile could not be found")};
}
skills::FluxioProfile
skills::Result<skills::FluxioProfile, skills::error::SkillException>
SkillManagerComponentPlugin::createProfile(const skills::FluxioProfile& profile)
{
std::string id = IceUtil::generateUUID(); // TODO: use boost library for uuids
fluxioDC.profiles[id] = profile; // a copy is created when the profile is added to the map
fluxioDC.profiles[id].id = id; // this copy can then be modified
return fluxioDC.profiles[id];
return {fluxioDC.profiles[id]};
}
void
......@@ -999,15 +999,17 @@ namespace armarx::plugins
{
auto oldProfile = getProfile(profile.id);
if (oldProfile.has_value() && oldProfile->id == profile.id)
if (oldProfile.isSuccess() && oldProfile.getResult().id == profile.id)
{
fluxioDC.profiles[profile.id].name = profile.name;
fluxioDC.profiles[profile.id].description = profile.description;
fluxioDC.profiles[profile.id].parentPtr = profile.parentPtr;
} else {
//TODO: Do we throw the error here?
}
}
std::vector<skills::FluxioProvider>
skills::Result<std::vector<skills::FluxioProvider>, skills::error::SkillException>
SkillManagerComponentPlugin::getProviderList()
{
for (const auto& [providerName, providerPrx] : skillProviderMap)
......@@ -1024,10 +1026,10 @@ namespace armarx::plugins
providerName.providerName};
}
return convertMapValuesToVector(fluxioDC.providers);
return {convertMapValuesToVector(fluxioDC.providers)};
}
std::optional<skills::FluxioProvider>
skills::Result<std::optional<skills::FluxioProvider>, skills::error::SkillException>
SkillManagerComponentPlugin::getProvider(const std::string& id)
{
getProviderList();
......@@ -1035,13 +1037,13 @@ namespace armarx::plugins
if (providersEntry != fluxioDC.providers.end())
{
return providersEntry->second;
return {providersEntry->second};
}
return std::nullopt;
return {skills::error::ProviderNotFoundException("Provider could not be found")};
}
std::optional<std::vector<skills::FluxioSkill>>
skills::Result<std::vector<skills::FluxioSkill>, skills::error::SkillException>
SkillManagerComponentPlugin::getSkillsOfProvider(const std::string& id)
{
getProviderList();
......@@ -1049,10 +1051,10 @@ namespace armarx::plugins
if (providersEntry == fluxioDC.providers.end())
{
return std::nullopt;
return {skills::error::SkillNotFoundException("Skill could not be found","Skill is not in skill list of Provider")};
}
std::vector<skills::FluxioSkill> allSkills = getSkillList();
std::vector<skills::FluxioSkill> allSkills = getSkillList().getResult();
std::vector<skills::FluxioSkill> ret;
for (const auto& skill : allSkills)
......@@ -1063,10 +1065,11 @@ namespace armarx::plugins
}
}
return ret;
return {ret};
}
std::optional<skills::FluxioSkill>
skills::Result<skills::FluxioSkill, skills::error::SkillException>
SkillManagerComponentPlugin::addSkillToProvider(const std::string& userId,
const std::string& providerId,
skills::FluxioSkill& skill)
......@@ -1112,7 +1115,7 @@ namespace armarx::plugins
const auto& providerIt = fluxioDC.providers.find(providerId);
if (providerIt == fluxioDC.providers.end())
{
return std::nullopt;
return {skills::error::ProviderNotFoundException("Provider could not be found")};
}
// set id, lastChanged and store in data collector
......@@ -1124,10 +1127,10 @@ namespace armarx::plugins
// set mutex
setEditFluxioSkillMutex(true, userId, id);
return fluxioDC.skills[id];
return {fluxioDC.skills[id]};
}
bool // TODO: add armarx info messages
skills::Result<bool,skills::error::SkillException>
SkillManagerComponentPlugin::setEditFluxioSkillMutex(bool aquireMutex,
const std::string& userId,
const std::string& skillId)
......@@ -1141,7 +1144,7 @@ namespace armarx::plugins
{
// skill is free, set mutex
fluxioDC.skillMutexMap[skillId] = std::make_tuple(userId, armarx::DateTime::Now());
return true;
return {true};
}
// skill is already locked
......@@ -1149,7 +1152,7 @@ namespace armarx::plugins
{
// user already holds the mutex -> reset timestamp / prolong mutex
std::get<1>(fluxioDC.skillMutexMap[skillId]) = armarx::DateTime::Now();
return true;
return {true};
}
// another user holds the mutex -> is it still valid ?
......@@ -1159,28 +1162,29 @@ namespace armarx::plugins
{
// mutex invalid, requesting user gets the mutex instead
fluxioDC.skillMutexMap[skillId] = std::make_tuple(userId, armarx::DateTime::Now());
return true;
return {true};
}
// mutex could not be aquired
return false;
return {skills::error::MutexError("Mutex could not be acquired")};
}
// remove mutex
if (skillMutexIt == fluxioDC.skillMutexMap.end())
{
// skill is already free
return true;
return {true};
}
// check if the user holds the mutex, as only the user that holds the mutex can release it
if (std::get<0>(fluxioDC.skillMutexMap[skillId]) == userId)
{
fluxioDC.skillMutexMap.erase(skillId);
return true;
return {true};
}
// mutex could not be removed
return false;
return {skills::error::MutexError("Mutex could not be acquired")};
}
} // namespace armarx::plugins
source/RobotAPI/libraries/skills/manager/SkillManagerComponentPlugin.h
+ 11
− 11
View file @ 90090bff
......@@ -81,16 +81,16 @@ namespace armarx::plugins
void abortFluxioSkill(const std::string& executionId);
std::optional<std::vector<skills::FluxioSkillStatusUpdate>>
skills::Result<std::vector<skills::FluxioSkillStatusUpdate>, skills::error::SkillException>
getFluxioSkillExecutionStatus(const std::string& executionId);
std::vector<skills::FluxioSkill> getSkillList();
skills::Result<std::vector<skills::FluxioSkill>, skills::error::SkillException> getSkillList();
skills::Result<skills::FluxioSkill, skills::error::SkillException>getSkill(const std::string& id);
void removeSkill(const std::string& id);
bool getSkillMutex(const std::string& skillId, const std::string& userId);
skills::Result<bool, skills::error::SkillException> getSkillMutex(const std::string& skillId, const std::string& userId);
void deleteSkillMutex(const std::string& skillId, const std::string& userId);
......@@ -98,21 +98,21 @@ namespace armarx::plugins
const std::string& skillId,
const std::string& parameterId);
std::vector<skills::FluxioProfile> getProfileList();
skills::Result<std::vector<skills::FluxioProfile>, skills::error::SkillException> getProfileList();
std::optional<skills::FluxioProfile> getProfile(const std::string& id);
skills::Result<skills::FluxioProfile, skills::error::ProfileNotFoundException> getProfile(const std::string& id);
skills::FluxioProfile createProfile(const skills::FluxioProfile& profile);
skills::Result<skills::FluxioProfile, skills::error::SkillException> createProfile(const skills::FluxioProfile& profile);
void updateProfile(const skills::FluxioProfile& profile);
std::vector<skills::FluxioProvider> getProviderList();
skills::Result<std::vector<skills::FluxioProvider>, skills::error::SkillException> getProviderList();
std::optional<skills::FluxioProvider> getProvider(const std::string& id);
skills::Result<std::optional<skills::FluxioProvider>, skills::error::SkillException> getProvider(const std::string& id);
std::optional<std::vector<skills::FluxioSkill>> getSkillsOfProvider(const std::string& id);
skills::Result<std::vector<skills::FluxioSkill>, skills::error::SkillException> getSkillsOfProvider(const std::string& id);
std::optional<skills::FluxioSkill> addSkillToProvider(const std::string& userId,
skills::Result<skills::FluxioSkill, skills::error::SkillException> addSkillToProvider(const std::string& userId,
const std::string& providerId,
skills::FluxioSkill& skill);
......@@ -147,7 +147,7 @@ namespace armarx::plugins
void replaceVectorContent(std::vector<T>& originalVector,
const std::vector<T>& replacementVector);
bool setEditFluxioSkillMutex(bool aquireMutex,
skills::Result<bool, skills::error::SkillException> setEditFluxioSkillMutex(bool aquireMutex,
const std::string& userId,
const std::string& skillId);
......
source/RobotAPI/libraries/skills/manager/SkillManagerComponentPluginUser.cpp
+ 5
− 2
View file @ 90090bff
......@@ -6,6 +6,8 @@
#include "RobotAPI/libraries/skills/core/FluxioProfile.h"
#include "RobotAPI/libraries/skills/core/FluxioProvider.h"
#include "RobotAPI/libraries/skills/core/error/Exception.h"
#include "RobotAPI/libraries/skills/manager/SkillManagerComponentPlugin.h"
#include <RobotAPI/interface/skills/SkillManagerInterface.h>
namespace armarx
......@@ -257,10 +259,11 @@ namespace armarx
}
// Check if the user has the mutex for the skill
if (!this->plugin->getSkillMutex(skill.id, userId))
auto res = this->plugin->getSkillMutex(skill.id, userId);
if (!res.isSuccess())
{
ARMARX_WARNING << "SkillManagerComponentPluginUser::updateSkill: User " << userId
<< " does not have the mutex for skill with id " << skill.id;
<< res.getError().getReason().append("User does not have Mutex for this Skill") << skill.id;
return false;
}
......
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