diff --git a/source/RobotAPI/libraries/skills/core/CMakeLists.txt b/source/RobotAPI/libraries/skills/core/CMakeLists.txt
index 29145e60e305fa10decf06200685dcb99ec6a3d5..f757e4b5d8d069673c67d39e8b559250202d6c03 100644
--- a/source/RobotAPI/libraries/skills/core/CMakeLists.txt
+++ b/source/RobotAPI/libraries/skills/core/CMakeLists.txt
@@ -4,6 +4,8 @@ armarx_component_set_name("${LIB_NAME}")
armarx_set_target("Library: ${LIB_NAME}")
armarx_add_library(
+ ARON_FILES
+ aron/SkillErrorResult.xml
LIBS
ArmarXCoreInterfaces
ArmarXCore
diff --git a/source/RobotAPI/libraries/skills/core/aron/SkillErrorResult.xml b/source/RobotAPI/libraries/skills/core/aron/SkillErrorResult.xml
new file mode 100644
index 0000000000000000000000000000000000000000..f222af7c14a350cfcb90c5081d938af5355ad2f4
--- /dev/null
+++ b/source/RobotAPI/libraries/skills/core/aron/SkillErrorResult.xml
@@ -0,0 +1,23 @@
+<?xml version="1.0" encoding="UTF-8" ?>
+<AronTypeDefinition>
+
+ <GenerateTypes>
+
+ <Object name='armarx::skills::arondto::SkillErrorResult'>
+ <ObjectChild key='errorCode'>
+ <string />
+ </ObjectChild>
+
+ <ObjectChild key='data'>
+ <AnyObject shared_ptr="true" />
+ </ObjectChild>
+
+ <ObjectChild key='errorMessage'>
+ <string />
+ </ObjectChild>
+
+ </Object>
+
+ </GenerateTypes>
+
+</AronTypeDefinition>
diff --git a/source/RobotAPI/libraries/skills/provider/detail/SkillImplementationWrapper.cpp b/source/RobotAPI/libraries/skills/provider/detail/SkillImplementationWrapper.cpp
index ae4c5dd5cc39aac9ba52557f62527a50451c4c93..e9ca4358858f81395714792d44e4878c2acef008 100644
--- a/source/RobotAPI/libraries/skills/provider/detail/SkillImplementationWrapper.cpp
+++ b/source/RobotAPI/libraries/skills/provider/detail/SkillImplementationWrapper.cpp
@@ -1,5 +1,10 @@
#include "SkillImplementationWrapper.h"
+#include <ArmarXCore/core/exceptions/LocalException.h>
+#include "RobotAPI/libraries/aron/core/data/variant/container/Dict.h"
+#include "RobotAPI/libraries/aron/core/data/variant/primitive/Long.h"
+#include "RobotAPI/libraries/aron/core/data/variant/primitive/String.h"
+#include <RobotAPI/libraries/skills/core/aron/SkillErrorResult.aron.generated.h>
namespace armarx
{
namespace skills::detail
@@ -75,6 +80,7 @@ namespace armarx
{
std::unique_lock l(skillStatusesMutex);
statusUpdate.status = status;
+
statusUpdate.result = data;
if (skill) // if skill has been constructed
{
@@ -89,14 +95,6 @@ namespace armarx
}
};
- auto createErrorMessageData = [](const std::string& message)
- {
- auto obj = aron::make_dict();
- auto m = aron::make_string(message, aron::Path({"errormessage"}));
- obj->addElement("errormessage", m);
- return obj;
- };
-
{
std::unique_lock l(skillStatusesMutex);
@@ -130,9 +128,14 @@ namespace armarx
// set initial parameters that were attached to the execution request (only add as we are not sure whether some updates already arrived)
this->updateSkillParameters(initial_aron_params);
- auto makeAbortedResult = [&](const aron::data::DictPtr& data)
+ auto makeAbortedResult = [&](const std::string& errorCode, const aron::data::DictPtr& data, const std::string& message)
{
- updateStatus(SkillStatus::Aborted, data);
+ armarx::skills::arondto::SkillErrorResult errorResult;
+ errorResult.errorCode = errorCode;
+ errorResult.data = data;
+ errorResult.errorMessage = message;
+
+ updateStatus(SkillStatus::Aborted, errorResult.toAron());
std::unique_lock l(skillStatusesMutex);
auto terminated = TerminatedSkillStatusUpdate{
@@ -145,9 +148,14 @@ namespace armarx
};
- auto makeFailedResult = [&](const aron::data::DictPtr& data)
+ auto makeFailedResult = [&](const std::string& errorCode, const aron::data::DictPtr& data, const std::string& message)
{
- updateStatus(SkillStatus::Failed, data);
+ armarx::skills::arondto::SkillErrorResult errorResult;
+ errorResult.errorCode = errorCode;
+ errorResult.data = data;
+ errorResult.errorMessage = message;
+
+ updateStatus(SkillStatus::Failed, errorResult.toAron());
std::unique_lock l(skillStatusesMutex);
auto terminated = TerminatedSkillStatusUpdate{
@@ -174,15 +182,15 @@ namespace armarx
// }
- auto exitAndMakeFailedResult = [&](const aron::data::DictPtr& data)
+ auto exitAndMakeFailedResult = [&](const std::string& errorCode, const aron::data::DictPtr& data, const std::string& message)
{
skill->exitSkill(); // try to exit skill. Ignore return value
- return makeFailedResult(data);
+ return makeFailedResult(errorCode, data, message);
};
- auto exitAndMakeAbortedResult = [&](const aron::data::DictPtr& data)
+ auto exitAndMakeAbortedResult = [&](const std::string& errorCode, const aron::data::DictPtr& data, const std::string& message)
{
skill->exitSkill(); // try to exit skill. Ignore return value
- return makeAbortedResult(data);
+ return makeAbortedResult(errorCode, data, message);
};
// Construction succeeded!
@@ -199,16 +207,16 @@ namespace armarx
{
std::string message = "SkillError 101: The initialization of skill '" +
skillName + "' did not succeed.";
- return exitAndMakeFailedResult(createErrorMessageData(message));
+ return exitAndMakeFailedResult("101", nullptr, message);
}
}
catch (const error::SkillAbortedException& ex)
{
- return exitAndMakeAbortedResult(createErrorMessageData(GetHandledExceptionString()));
+ return exitAndMakeAbortedResult("101x", nullptr, GetHandledExceptionString());
}
catch (const error::SkillFailedException& ex)
{
- return exitAndMakeFailedResult(createErrorMessageData(GetHandledExceptionString()));
+ return exitAndMakeFailedResult("101x", nullptr, GetHandledExceptionString());
}
catch (const std::exception& ex)
{
@@ -216,7 +224,7 @@ namespace armarx
"SkillError 101e: An error occured during the initialization of skill '" +
skillName + "'. The error was: " + GetHandledExceptionString();
ARMARX_ERROR_S << message;
- return exitAndMakeFailedResult(createErrorMessageData(message));
+ return exitAndMakeFailedResult("101e", nullptr, message);
}
// Init succeeded!
@@ -244,16 +252,16 @@ namespace armarx
std::string message = "SkillError 201: The prepare method of skill '" +
skillName + "' did not succeed.";
ARMARX_ERROR_S << message;
- return exitAndMakeFailedResult(createErrorMessageData(message));
+ return exitAndMakeFailedResult("201", nullptr, message);
}
}
catch (const error::SkillAbortedException& ex)
{
- return exitAndMakeAbortedResult(createErrorMessageData(GetHandledExceptionString()));
+ return exitAndMakeAbortedResult("201x", nullptr, GetHandledExceptionString());
}
catch (const error::SkillFailedException& ex)
{
- return exitAndMakeFailedResult(createErrorMessageData(GetHandledExceptionString()));
+ return exitAndMakeFailedResult("201x", nullptr, GetHandledExceptionString());
}
catch (const std::exception& ex)
{
@@ -262,7 +270,7 @@ namespace armarx
skillName +
"'. The error was: " + GetHandledExceptionString();
ARMARX_ERROR_S << message;
- return exitAndMakeFailedResult(createErrorMessageData(message));
+ return exitAndMakeFailedResult("201e", nullptr, message);
}
// Prepare succeeded!
@@ -282,22 +290,22 @@ namespace armarx
std::string message =
"SkillError 501: The main method of skill '" + skillName + "' did fail.";
- return exitAndMakeFailedResult(mainRet.data);
+ return exitAndMakeFailedResult("501", mainRet.data, message);
}
else if (mainRet.status == TerminatedSkillStatus::Aborted)
{
std::string message =
"SkillError 501: The main method of skill '" + skillName + "' got aborted.";
- return exitAndMakeAbortedResult(mainRet.data);
+ return exitAndMakeAbortedResult("501", mainRet.data, message);
}
}
catch (const error::SkillAbortedException& ex)
{
- return exitAndMakeAbortedResult(mainRet.data);
+ return exitAndMakeAbortedResult("501x", mainRet.data, GetHandledExceptionString());
}
catch (const error::SkillFailedException& ex)
{
- return exitAndMakeFailedResult(mainRet.data);
+ return exitAndMakeFailedResult("501x", mainRet.data, GetHandledExceptionString());
}
catch (const std::exception& ex)
{
@@ -305,7 +313,7 @@ namespace armarx
"SkillError 501e: An error occured during the main method of skill '" +
skillName + "'. The error was: " + GetHandledExceptionString();
ARMARX_ERROR_S << message;
- return exitAndMakeFailedResult(mainRet.data);
+ return exitAndMakeFailedResult("501e", mainRet.data, message);
}
// Main succeeded!
@@ -318,18 +326,18 @@ namespace armarx
Skill::ExitResult exitRet = skill->exitSkill();
if (exitRet.status != TerminatedSkillStatus::Succeeded)
{
- // std::string message = "SkillError 601: The exit method of skill '" + skillName +
- // "' did not succeed.";
- return makeFailedResult(mainRet.data);
+ std::string message = "SkillError 601: The exit method of skill '" + skillName +
+ "' did not succeed.";
+ return makeFailedResult("601", mainRet.data, message);
}
}
catch (const error::SkillAbortedException& ex)
{
- return makeAbortedResult(mainRet.data);
+ return makeAbortedResult("601x", mainRet.data, GetHandledExceptionString());
}
catch (const error::SkillFailedException& ex)
{
- return makeFailedResult(mainRet.data);
+ return makeFailedResult("601x", mainRet.data, GetHandledExceptionString());
}
catch (const std::exception& ex)
{
@@ -337,7 +345,7 @@ namespace armarx
"SkillError 601e: An error occured during the exit method of skill '" +
skillName + "'. The error was: " + GetHandledExceptionString();
ARMARX_ERROR_S << message;
- return makeFailedResult(mainRet.data);
+ return makeFailedResult("601e", mainRet.data, message);
}
// Exit succeeded!