From 90090bff37b9af01e7eec1d5336086644e449ae6 Mon Sep 17 00:00:00 2001
From: uyqhv_engel <uyqhv@student.kit.edu>
Date: Thu, 2 May 2024 00:28:48 +0200
Subject: [PATCH] all methods in SkillManagerComponentPlugin have Result return
tzpe
---
.../libraries/skills/core/error/Exception.h | 44 ++++++++++
.../manager/SkillManagerComponentPlugin.cpp | 84 ++++++++++---------
.../manager/SkillManagerComponentPlugin.h | 22 ++---
.../SkillManagerComponentPluginUser.cpp | 7 +-
4 files changed, 104 insertions(+), 53 deletions(-)
diff --git a/source/RobotAPI/libraries/skills/core/error/Exception.h b/source/RobotAPI/libraries/skills/core/error/Exception.h
index 9e01205b2..df43682ed 100644
--- a/source/RobotAPI/libraries/skills/core/error/Exception.h
+++ b/source/RobotAPI/libraries/skills/core/error/Exception.h
@@ -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
diff --git a/source/RobotAPI/libraries/skills/manager/SkillManagerComponentPlugin.cpp b/source/RobotAPI/libraries/skills/manager/SkillManagerComponentPlugin.cpp
index fb11ced49..448c9c071 100644
--- a/source/RobotAPI/libraries/skills/manager/SkillManagerComponentPlugin.cpp
+++ b/source/RobotAPI/libraries/skills/manager/SkillManagerComponentPlugin.cpp
@@ -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
diff --git a/source/RobotAPI/libraries/skills/manager/SkillManagerComponentPlugin.h b/source/RobotAPI/libraries/skills/manager/SkillManagerComponentPlugin.h
index 760395ae9..81f6dd9c4 100644
--- a/source/RobotAPI/libraries/skills/manager/SkillManagerComponentPlugin.h
+++ b/source/RobotAPI/libraries/skills/manager/SkillManagerComponentPlugin.h
@@ -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);
diff --git a/source/RobotAPI/libraries/skills/manager/SkillManagerComponentPluginUser.cpp b/source/RobotAPI/libraries/skills/manager/SkillManagerComponentPluginUser.cpp
index 94a93cffd..5b674d154 100644
--- a/source/RobotAPI/libraries/skills/manager/SkillManagerComponentPluginUser.cpp
+++ b/source/RobotAPI/libraries/skills/manager/SkillManagerComponentPluginUser.cpp
@@ -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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