From b37cb8c2c0fc2e8c7986cd770267e3052165b388 Mon Sep 17 00:00:00 2001
From: Rainer Kartmann <rainer.kartmann@kit.edu>
Date: Tue, 21 Nov 2023 16:04:31 +0100
Subject: [PATCH] Refactor callSubskill() overloads with @peller
---
.../RobotAPI/libraries/skills/core/Skill.cpp | 42 +++++----
source/RobotAPI/libraries/skills/core/Skill.h | 93 ++++++++++++++-----
2 files changed, 96 insertions(+), 39 deletions(-)
diff --git a/source/RobotAPI/libraries/skills/core/Skill.cpp b/source/RobotAPI/libraries/skills/core/Skill.cpp
index 22e1fc21e..a01eb4908 100644
--- a/source/RobotAPI/libraries/skills/core/Skill.cpp
+++ b/source/RobotAPI/libraries/skills/core/Skill.cpp
@@ -19,10 +19,22 @@ namespace armarx
}
std::optional<TerminatedSkillStatusUpdate>
- Skill::callSubskill(const SkillProxy& prx, const aron::data::DictPtr& params)
+ Skill::callSubskill(const SkillProxy& proxy)
{
- auto eid = callSubskillAsync(prx, params);
- auto ret = prx.join(eid);
+ return callSubskill(proxy, proxy.getRootProfileParameters());
+ }
+
+ std::optional<TerminatedSkillStatusUpdate>
+ Skill::callSubskill(const SkillProxy& proxy, const aron::data::DictPtr& parameters)
+ {
+ auto executionId = callSubskillAsync(proxy, parameters);
+ auto ret = proxy.join(executionId);
+
+ // While the sub skill was running, our skill might also have been aborted.
+ // In this case, the correct behavour would be aborting ourselves.
+ // The caller of callSubskill() can catch the thrown error::SkillAbortedException
+ // if necessary.
+ throwIfSkillShouldTerminate();
return ret;
}
@@ -38,17 +50,20 @@ namespace armarx
}
std::optional<TerminatedSkillStatusUpdate>
- Skill::callSubskillWithParameters(const SkillID& skillId,
- const aron::data::DictPtr& parameters)
+ Skill::callSubskill(const SkillID& skillId)
{
- SkillProxy proxy(manager, skillId);
- return callSubskill(proxy, parameters);
+ return callSubskill(SkillProxy(manager, skillId));
}
std::optional<TerminatedSkillStatusUpdate>
- Skill::callSubskillBasedOnDefaultParameters(
- const SkillID& skillId,
- std::function<void(aron::data::DictPtr&)> parametersFunction)
+ Skill::callSubskill(const SkillID& skillId, const aron::data::DictPtr& parameters)
+ {
+ return callSubskill(SkillProxy(manager, skillId), parameters);
+ }
+
+ std::optional<TerminatedSkillStatusUpdate>
+ Skill::callSubskill(const SkillID& skillId,
+ std::function<void(aron::data::DictPtr&)> parametersFunction)
{
SkillProxy proxy(manager, skillId);
@@ -63,13 +78,6 @@ namespace armarx
return callSubskill(proxy, parameters);
}
- std::optional<TerminatedSkillStatusUpdate>
- Skill::callSubskillWithDefaultParameters(const SkillID& skillId)
- {
- auto parametersFn = [](aron::data::DictPtr&) {};
- return callSubskillBasedOnDefaultParameters(skillId, parametersFn);
- }
-
void
Skill::updateParameters(const aron::data::DictPtr& d)
{
diff --git a/source/RobotAPI/libraries/skills/core/Skill.h b/source/RobotAPI/libraries/skills/core/Skill.h
index 8e42844ee..9fffd35a6 100644
--- a/source/RobotAPI/libraries/skills/core/Skill.h
+++ b/source/RobotAPI/libraries/skills/core/Skill.h
@@ -23,6 +23,9 @@ namespace armarx
{
namespace skills
{
+ /**
+ * @brief Base class for skills.
+ */
class Skill : public armarx::Logging
{
public:
@@ -181,36 +184,82 @@ namespace armarx
void installConditionWithCallback(std::function<bool()>&& f,
std::function<void()>&& cb);
- /// call a subskill and block until the subskill terminates.
- /// If you call a subskill this way it will be stopped if the current skill stops.
+ // Calling subskills
+
+ /**
+ * @brief Call a subskill with default parameters and block until the subskill terminates.
+ *
+ * If you call a subskill this way it will be stopped if the current skill stops.
+ *
+ * @param proxy Skill proxy.
+ * @return Terminated skill status update.
+ * @throw armarx::skills::error::SkillAbortedException
+ * If the calling skill has been aborted.
+ * @throw armarx::skills::error::SkillFailedException
+ * If the calling skill's timeout was reached.
+ */
std::optional<TerminatedSkillStatusUpdate>
- callSubskill(const skills::SkillProxy& prx, const aron::data::DictPtr& = nullptr);
+ callSubskill(const skills::SkillProxy& proxy);
+
+ /**
+ * @brief Call a subskill with given parameters and block until the subskill terminates.
+ * @param proxy Skill proxy.
+ * @param parameters Parameters passed to the skill.
+ * @return Terminated skill status update.
+ * @throw armarx::skills::error::SkillAbortedException
+ * If the calling skill has been aborted.
+ * @throw armarx::skills::error::SkillFailedException
+ * If the calling skill's timeout was reached.
+ */
+ std::optional<TerminatedSkillStatusUpdate>
+ callSubskill(const skills::SkillProxy& proxy, const aron::data::DictPtr& parameters);
+
+ /// Similar to callSubskill but non-blocking
+ skills::SkillExecutionID callSubskillAsync(const skills::SkillProxy& proxy);
/// Similar to callSubskill but non-blocking
- skills::SkillExecutionID callSubskillAsync(const skills::SkillProxy& prx,
- const aron::data::DictPtr& = nullptr);
+ skills::SkillExecutionID callSubskillAsync(const skills::SkillProxy& proxy,
+ const aron::data::DictPtr& parameters);
+
+ /**
+ * @brief Call a subskill with the given ID and its default parameters.
+ * @param skillId The subskill's ID.
+ * @return The terminated skill status update.
+ * @throw armarx::skills::error::SkillAbortedException
+ * If the calling skill has been aborted.
+ * @throw armarx::skills::error::SkillFailedException
+ * If the calling skill's timeout was reached.
+ */
+ std::optional<TerminatedSkillStatusUpdate> callSubskill(const SkillID& skillId);
/**
* @brief Call a subskill with the given ID and parameters.
* @param skillId The subskill's ID.
* @param parameters The parameters.
* @return The terminated skill status update.
+ * @throw armarx::skills::error::SkillAbortedException
+ * If the calling skill has been aborted.
+ * @throw armarx::skills::error::SkillFailedException
+ * If the calling skill's timeout was reached.
*/
std::optional<TerminatedSkillStatusUpdate>
- callSubskillWithParameters(const SkillID& skillId,
- const aron::data::DictPtr& parameters);
+ callSubskill(const SkillID& skillId, const aron::data::DictPtr& parameters);
/**
* @brief Call a subskill with the given ID and parameters.
* @param skillId The subskill's ID.
* @param parameters The parameters.
* @return The terminated skill status update.
+ * @throw armarx::skills::error::SkillAbortedException
+ * If the calling skill has been aborted.
+ * @throw armarx::skills::error::SkillFailedException
+ * If the calling skill's timeout was reached.
*/
template <class ParameterT>
std::optional<TerminatedSkillStatusUpdate>
- callSubskillWithParameters(const SkillID& skillId, const ParameterT& parameters)
+ callSubskill(const SkillID& skillId, const ParameterT& parameters)
{
- return callSubskillWithParameters(skillId, parameters.toAron());
+ return callSubskill(skillId, parameters.toAron());
}
/**
@@ -222,18 +271,14 @@ namespace armarx
* @param skillId The subskill's ID.
* @param parametersFunction Function which edits the parameters.
* @return The terminated skill status update.
- */
- std::optional<TerminatedSkillStatusUpdate> callSubskillBasedOnDefaultParameters(
- const SkillID& skillId,
- std::function<void(aron::data::DictPtr& parameters)> parametersFunction);
-
- /**
- * @brief Call a subskill with its default parameters.
- * @param skillId The subskill's ID.
- * @return The terminated skill status update.
+ * @throw armarx::skills::error::SkillAbortedException
+ * If the calling skill has been aborted.
+ * @throw armarx::skills::error::SkillFailedException
+ * If the calling skill's timeout was reached.
*/
std::optional<TerminatedSkillStatusUpdate>
- callSubskillWithDefaultParameters(const SkillID& skillId);
+ callSubskill(const SkillID& skillId,
+ std::function<void(aron::data::DictPtr& parameters)> parametersFunction);
/**
* @brief Call a subskill with parameters based on the default parameters.
@@ -246,12 +291,15 @@ namespace armarx
* @param skillId The subskill's ID.
* @param parametersFunction Function which edits the parameters.
* @return The terminated skill status update.
+ * @throw armarx::skills::error::SkillAbortedException
+ * If the calling skill has been aborted.
+ * @throw armarx::skills::error::SkillFailedException
+ * If the calling skill's timeout was reached.
*/
template <class ParameterT>
std::optional<TerminatedSkillStatusUpdate>
- callSubskillBasedOnDefaultParameters(
- const SkillID& skillId,
- std::function<void(ParameterT& parameters)> parametersFunction)
+ callSubskill(const SkillID& skillId,
+ std::function<void(ParameterT& parameters)> parametersFunction)
{
SkillProxy proxy(manager, skillId);
@@ -266,6 +314,7 @@ namespace armarx
return callSubskill(proxy, parameters.toAron());
}
+
public:
// running params
armarx::core::time::DateTime started = armarx::core::time::DateTime::Now();
--
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