From aebb6ae37887d8083f5fa5aeed0580413b26a5ec Mon Sep 17 00:00:00 2001
From: Firat Yusuf Duran <uzivy@student.kit.edu>
Date: Fri, 13 Sep 2024 21:56:30 +0200
Subject: [PATCH] skillID/Description to FluxioSkill conversion changed
- Conversion made it's own method
- Conversion only run once on addition of provider
- Loading of composite skills from provider still needs to be thought out
---
.../manager/SkillManagerComponentPlugin.cpp | 35 +++++++++++++------
.../manager/SkillManagerComponentPlugin.h | 2 ++
.../SkillManagerComponentPluginUser.cpp | 12 +++++++
3 files changed, 38 insertions(+), 11 deletions(-)
diff --git a/source/RobotAPI/libraries/skills/manager/SkillManagerComponentPlugin.cpp b/source/RobotAPI/libraries/skills/manager/SkillManagerComponentPlugin.cpp
index a31c15b7c..acec36d35 100644
--- a/source/RobotAPI/libraries/skills/manager/SkillManagerComponentPlugin.cpp
+++ b/source/RobotAPI/libraries/skills/manager/SkillManagerComponentPlugin.cpp
@@ -42,6 +42,7 @@
#include "RobotAPI/libraries/skills/core/FluxioSubSkillNode.h"
#include "RobotAPI/libraries/skills/core/FluxioTypeIdentificator.h"
#include "RobotAPI/libraries/skills/core/FluxioValue.h"
+#include "RobotAPI/libraries/skills/core/SkillDescription.h"
#include "RobotAPI/libraries/skills/core/error/FluxioErrorMessages.h"
#include "RobotAPI/libraries/skills/core/error/FluxioException.h"
#include "RobotAPI/libraries/skills/core/executor/FluxioCompositeExecutor.h"
@@ -158,6 +159,12 @@ namespace armarx::plugins
<< "Overwriting the old provider info.";
skillProviderMap[providerInfo.providerId] = providerInfo.providerInterface;
}
+
+ for (const auto& [skillID, skillDesc] : providerInfo.providedSkills)
+ {
+ descriptionIdToFluxioSkill(skillID, skillDesc);
+ ARMARX_INFO << "Adding skill '" << skillID.skillName << "as FluxioSkill.";
+ }
}
void
@@ -945,14 +952,16 @@ namespace armarx::plugins
return generator(str);
}
- skills::Result<std::vector<std::experimental::observer_ptr<const skills::FluxioSkill>>,
- skills::error::FluxioException>
- SkillManagerComponentPlugin::getSkillList()
+ /**
+ * @brief Converts the old skill structure to the new FluxioSkill structure.
+ * @param skillId The id of the skill.
+ * @param skillDescription The description of the skill.
+ */
+ void
+ SkillManagerComponentPlugin::descriptionIdToFluxioSkill(
+ skills::SkillID skillId,
+ skills::SkillDescription skillDescription)
{
- std::map<skills::SkillID, skills::SkillDescription> skillDescriptions =
- getSkillDescriptions();
-
- for (const auto& [skillId, skillDescription] : skillDescriptions)
{
// generate skill id (idempotent)
const auto& providerId = createUuidWithString(skillId.providerId->providerName);
@@ -963,7 +972,7 @@ namespace armarx::plugins
if (skillsEntry != fluxioDC.skills.end())
{
skillsLock.unlock();
- continue;
+ return;
}
skills::FluxioSkill s;
@@ -994,7 +1003,7 @@ namespace armarx::plugins
<< skillId.providerId->providerName << "'. Skill: '" << s.name
<< " with id: '" << s.id << "' will not be added.";
skillsLock.unlock();
- continue;
+ return;
}
const auto p = res.getResult(); // TODO: nullptr check
s.skillProviderPtr = p;
@@ -1007,7 +1016,7 @@ namespace armarx::plugins
<< s.id << "' will not be added.";
typesLock.unlock();
skillsLock.unlock();
- continue;
+ return;
}
typesLock.unlock();
const auto& eventType = eventTypeIt->second->getMemberType("Event");
@@ -1109,8 +1118,12 @@ namespace armarx::plugins
fluxioDC.skills.emplace(s.id, std::move(s));
skillsLock.unlock();
}
+ }
-
+ skills::Result<std::vector<std::experimental::observer_ptr<const skills::FluxioSkill>>,
+ skills::error::FluxioException>
+ SkillManagerComponentPlugin::getSkillList()
+ {
return {convertMapValuesToObserverVector(fluxioDC.skills)};
}
diff --git a/source/RobotAPI/libraries/skills/manager/SkillManagerComponentPlugin.h b/source/RobotAPI/libraries/skills/manager/SkillManagerComponentPlugin.h
index 320627aa4..c7ccdfa10 100644
--- a/source/RobotAPI/libraries/skills/manager/SkillManagerComponentPlugin.h
+++ b/source/RobotAPI/libraries/skills/manager/SkillManagerComponentPlugin.h
@@ -219,6 +219,8 @@ namespace armarx::plugins
const std::string& userId,
const std::string& skillId);
+ void descriptionIdToFluxioSkill(skills::SkillID skillId, skills::SkillDescription skillDescription);
+
friend class armarx::SkillManagerComponentPluginUser;
};
} // namespace armarx::plugins
diff --git a/source/RobotAPI/libraries/skills/manager/SkillManagerComponentPluginUser.cpp b/source/RobotAPI/libraries/skills/manager/SkillManagerComponentPluginUser.cpp
index e5c7edd46..f948e8d51 100644
--- a/source/RobotAPI/libraries/skills/manager/SkillManagerComponentPluginUser.cpp
+++ b/source/RobotAPI/libraries/skills/manager/SkillManagerComponentPluginUser.cpp
@@ -40,6 +40,18 @@ namespace armarx
{
auto i = skills::ProviderInfo::FromIce(info);
this->plugin->addProvider(i);
+ std::optional<std::vector<skills::manager::arondto::FluxioSkill>> opt =
+ loadCompositeSkillsOfProvider(info.providerId.providerName);
+
+ if (!opt.has_value()) {
+ ARMARX_ERROR << "Failed to load composite skills for provider " << info.providerId.providerName;
+ return;
+ }
+
+ for (const auto& skill : opt.value())
+ {
+ // TODO: Implement a proper way to load all skills from memory without breaking dependencies etc.
+ }
}
void
--
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