diff --git a/source/RobotAPI/components/skills/SkillProviderExample/CMakeLists.txt b/source/RobotAPI/components/skills/SkillProviderExample/CMakeLists.txt
index fbebe63f4288a73b4a445d98769020f68830225d..2a26553c3cb787b9c4864e00802b0d203554e054 100644
--- a/source/RobotAPI/components/skills/SkillProviderExample/CMakeLists.txt
+++ b/source/RobotAPI/components/skills/SkillProviderExample/CMakeLists.txt
@@ -16,6 +16,7 @@ set(SOURCES
HelloWorld.cpp
Incomplete.cpp
Chaining.cpp
+ ChainingAsync.cpp
Callback.cpp
Timeout.cpp
Segfault.cpp
@@ -30,6 +31,7 @@ set(HEADERS
HelloWorld.h
Incomplete.h
Chaining.h
+ ChainingAsync.h
Callback.h
Timeout.h
Segfault.h
diff --git a/source/RobotAPI/components/skills/SkillProviderExample/Chaining.cpp b/source/RobotAPI/components/skills/SkillProviderExample/Chaining.cpp
index 843f1a84dbf224a7af14fb354e0141e2c93fb2df..421a532fdec1d55defd41e12bff4257d7dd32456 100644
--- a/source/RobotAPI/components/skills/SkillProviderExample/Chaining.cpp
+++ b/source/RobotAPI/components/skills/SkillProviderExample/Chaining.cpp
@@ -14,9 +14,9 @@ namespace armarx::skills::provider
{
return SkillDescription{.skillId = armarx::skills::SkillID{.skillName = "Chaining"},
.description =
- "This skill calls the Timeout skill three times. The last "
+ "This skill calls the Timeout skill several times. At some point the "
"execution is aborted due to a timeout of this skill.",
- .timeout = armarx::core::time::Duration::MilliSeconds(5000)};
+ .timeout = armarx::core::time::Duration::MilliSeconds(10000)};
}
Skill::MainResult
@@ -26,12 +26,13 @@ namespace armarx::skills::provider
manager,
skills::SkillID{.providerId = *getSkillId().providerId, .skillName = "Timeout"});
- ARMARX_INFO << "CALL PROXY FIRST TIME";
- callSubskill(prx);
- ARMARX_INFO << "CALL PROXY SECOND TIME";
- callSubskill(prx);
- ARMARX_INFO << "CALL PROXY THIRD TIME";
- callSubskill(prx);
+ for (int i = 0; i < 25; i++)
+ {
+ this->throwIfSkillShouldTerminate();
+
+ ARMARX_INFO << "Call subskill number " << i;
+ callSubskill(prx); // Call the Timeout skill and wait for it to finish
+ }
this->throwIfSkillShouldTerminate();
diff --git a/source/RobotAPI/components/skills/SkillProviderExample/ChainingAsync.cpp b/source/RobotAPI/components/skills/SkillProviderExample/ChainingAsync.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..5f5e0972a79f8a22bdb769b63f6a5c3d1366f9d8
--- /dev/null
+++ b/source/RobotAPI/components/skills/SkillProviderExample/ChainingAsync.cpp
@@ -0,0 +1,38 @@
+#include "ChainingAsync.h"
+
+namespace armarx::skills::provider
+{
+
+ ChainingAsyncSkill::ChainingAsyncSkill() : SimpleSkill(GetSkillDescription())
+ {
+ }
+
+ SkillDescription
+ ChainingAsyncSkill::GetSkillDescription()
+ {
+ return SkillDescription{.skillId = armarx::skills::SkillID{.skillName = "ChainingAsync"},
+ .description =
+ "This skill calls the Timeout skill several times async.",
+ .timeout = armarx::core::time::Duration::MilliSeconds(5000)};
+ }
+
+ Skill::MainResult
+ ChainingAsyncSkill::main(const MainInput& in)
+ {
+ SkillProxy prx(
+ manager,
+ skills::SkillID{.providerId = *getSkillId().providerId, .skillName = "Timeout"});
+
+ for (int i = 0; i < 25; i++)
+ {
+ this->throwIfSkillShouldTerminate();
+
+ ARMARX_INFO << "Call subskill number " << i;
+ callSubskillAsync(prx); // Call the Timeout skill
+ }
+
+ this->throwIfSkillShouldTerminate();
+
+ return {TerminatedSkillStatus::Succeeded, nullptr};
+ }
+} // namespace armarx::skills::provider
diff --git a/source/RobotAPI/components/skills/SkillProviderExample/ChainingAsync.h b/source/RobotAPI/components/skills/SkillProviderExample/ChainingAsync.h
new file mode 100644
index 0000000000000000000000000000000000000000..b5f34c900618e70877008dde59a0b52e96498442
--- /dev/null
+++ b/source/RobotAPI/components/skills/SkillProviderExample/ChainingAsync.h
@@ -0,0 +1,40 @@
+
+/*
+ * This file is part of ArmarX.
+ *
+ * ArmarX is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License version 2 as
+ * published by the Free Software Foundation.
+ *
+ * ArmarX is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ * @author Fabian Reister ( fabian dot reister at kit dot edu )
+ * @date 2021
+ * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
+ * GNU General Public License
+ */
+
+#pragma once
+
+// RobotAPI
+#include <RobotAPI/libraries/skills/provider/SimpleSkill.h>
+
+namespace armarx::skills::provider
+{
+ class ChainingAsyncSkill : public SimpleSkill
+ {
+ public:
+ ChainingAsyncSkill();
+
+ static SkillDescription GetSkillDescription();
+
+ private:
+ Skill::MainResult main(const MainInput&) final;
+ };
+} // namespace armarx::skills::provider
diff --git a/source/RobotAPI/components/skills/SkillProviderExample/InstantKill.cpp b/source/RobotAPI/components/skills/SkillProviderExample/InstantKill.cpp
index fa81224c1a659de619a13b5c20133e7d6e24e365..ca3e90e5bb70c0ee9bfb961b529bc1b0cc24aa49 100644
--- a/source/RobotAPI/components/skills/SkillProviderExample/InstantKill.cpp
+++ b/source/RobotAPI/components/skills/SkillProviderExample/InstantKill.cpp
@@ -31,7 +31,7 @@ namespace armarx::skills::provider
manager,
skills::SkillID{.providerId = *getSkillId().providerId, .skillName = "Chaining"});
- for (unsigned int i = 0; i < 10; ++i)
+ for (unsigned int i = 0; i < 25; ++i)
{
auto id = callSubskillAsync(prx);
prx.abortSkillAsync(id);
diff --git a/source/RobotAPI/components/skills/SkillProviderExample/SkillProviderExample.cpp b/source/RobotAPI/components/skills/SkillProviderExample/SkillProviderExample.cpp
index fe98dc157eb556fb51991d48f5f4428155117950..a4e2806c9210078e13b6c28a98da745b2e80fade 100644
--- a/source/RobotAPI/components/skills/SkillProviderExample/SkillProviderExample.cpp
+++ b/source/RobotAPI/components/skills/SkillProviderExample/SkillProviderExample.cpp
@@ -54,6 +54,10 @@ namespace armarx::skills::provider
ARMARX_INFO << "Adding skill ChainingSkill";
addSkillFactory<ChainingSkill>();
+ // chainingAsync
+ ARMARX_INFO << "Adding skill ChainingAsyncSkill";
+ addSkillFactory<ChainingAsyncSkill>();
+
// incomplete and prepare
ARMARX_INFO << "Adding skill IncompleteSkill";
addSkillFactory<IncompleteSkill>();
diff --git a/source/RobotAPI/components/skills/SkillProviderExample/SkillProviderExample.h b/source/RobotAPI/components/skills/SkillProviderExample/SkillProviderExample.h
index 63168c11da2be2a36eb6a0a911dab85d9cf1ae01..bf4c851da0a71382e9e3c3fb8bc6315306bb8d20 100644
--- a/source/RobotAPI/components/skills/SkillProviderExample/SkillProviderExample.h
+++ b/source/RobotAPI/components/skills/SkillProviderExample/SkillProviderExample.h
@@ -31,6 +31,7 @@
#include "Callback.h"
#include "Chaining.h"
+#include "ChainingAsync.h"
#include "HelloWorld.h"
#include "Incomplete.h"
#include "Segfault.h"
diff --git a/source/RobotAPI/libraries/skills/manager/SkillManagerComponentPlugin.cpp b/source/RobotAPI/libraries/skills/manager/SkillManagerComponentPlugin.cpp
index c0d4757462c142c3792a323bc44c09407c2431a5..fbecf04e57c7039612b3a0e7567c5e0a5d8e078b 100644
--- a/source/RobotAPI/libraries/skills/manager/SkillManagerComponentPlugin.cpp
+++ b/source/RobotAPI/libraries/skills/manager/SkillManagerComponentPlugin.cpp
@@ -332,11 +332,15 @@ namespace armarx::plugins
try
{
- auto async = provider->begin_abortSkill(executionId.toProviderIce());
- return true;
+ auto async = provider->begin_abortSkillAsync(executionId.toProviderIce());
+ l.unlock(); // allow parallel e.g. stopping. Otherwise the manager would lock himself in nested calls
+ auto r = provider->end_abortSkillAsync(async);
+ return r.success;
}
catch (const std::exception &e)
{
+ l.lock();
+
handleExceptionNonLocking(__PRETTY_FUNCTION__, e, providerId);
return false;
@@ -392,6 +396,8 @@ namespace armarx::plugins
}
catch (const std::exception &e)
{
+ l.lock();
+
handleExceptionNonLockingThrow(__PRETTY_FUNCTION__, e, providerId);
}
}
@@ -406,7 +412,7 @@ namespace armarx::plugins
{
std::map<skills::SkillID, skills::SkillDescription> ret;
- std::scoped_lock l(skillProviderMapMutex);
+ std::unique_lock l(skillProviderMapMutex);
for (auto it = skillProviderMap.cbegin(); it != skillProviderMap.cend();)
{
const auto& providerId = it->first;
@@ -422,7 +428,9 @@ namespace armarx::plugins
try
{
- skills::provider::dto::SkillDescriptionMap m = provider->getSkillDescriptions();
+ auto async = provider->begin_getSkillDescriptions();
+ l.unlock();
+ auto m = provider->end_getSkillDescriptions(async);
for (const auto& [provider_skillId_ice, skillDescription_ice] : m)
{
@@ -435,6 +443,8 @@ namespace armarx::plugins
}
catch (const std::exception &e)
{
+ l.lock();
+
if (auto _it = handleExceptionNonLocking(__PRETTY_FUNCTION__, e, providerId))
{
it = _it.value(); // next element
@@ -505,7 +515,7 @@ namespace armarx::plugins
{
std::map<skills::SkillExecutionID, skills::SkillStatusUpdate> ret;
- std::scoped_lock l(skillProviderMapMutex);
+ std::unique_lock l(skillProviderMapMutex);
for (auto it = skillProviderMap.cbegin(); it != skillProviderMap.cend();)
{
const auto& providerId = it->first;
@@ -521,7 +531,9 @@ namespace armarx::plugins
try
{
- auto m = provider->getSkillExecutionStatuses();
+ auto async = provider->begin_getSkillExecutionStatuses();
+ l.unlock(); // allow parallel e.g. stopping. Otherwise the manager would lock himself in nested calls
+ auto m = provider->end_getSkillExecutionStatuses(async);
for (const auto& [provider_executionId_ice, provider_statusUpdate_ice] : m)
{
diff --git a/source/RobotAPI/libraries/skills/provider/SkillProviderComponentPlugin.cpp b/source/RobotAPI/libraries/skills/provider/SkillProviderComponentPlugin.cpp
index 09b9d248be794aa673eea7db7a051d405004d739..72024a427cfb9e2b0907a36f3bccd6e886e12d4a 100644
--- a/source/RobotAPI/libraries/skills/provider/SkillProviderComponentPlugin.cpp
+++ b/source/RobotAPI/libraries/skills/provider/SkillProviderComponentPlugin.cpp
@@ -315,6 +315,7 @@ namespace armarx::plugins
{
break;
}
+
}
std::this_thread::sleep_for(std::chrono::milliseconds(20));
@@ -370,7 +371,7 @@ namespace armarx::plugins
while (true)
{
{
- std::scoped_lock l(runtime.skillStatusesMutex);
+ std::scoped_lock l2(runtime.skillStatusesMutex);
auto status = runtime.statusUpdate;
if (status.hasBeenTerminated())