From b9ce4f14193619b0c1a489f27f62fea7ba78e890 Mon Sep 17 00:00:00 2001
From: Meixner <andre.meixner@kit.edu>
Date: Mon, 12 Aug 2024 13:40:16 +0200
Subject: [PATCH] Added BusyWaiting and Recursive Skill example
---
.../SkillProviderExample/BusyWaiting.cpp | 32 +++++++++++++
.../skills/SkillProviderExample/BusyWaiting.h | 42 ++++++++++++++++
.../SkillProviderExample/CMakeLists.txt | 5 ++
.../SkillProviderExample/RandomChaining.cpp | 2 +-
.../skills/SkillProviderExample/Recursive.cpp | 48 +++++++++++++++++++
.../skills/SkillProviderExample/Recursive.h | 42 ++++++++++++++++
.../SkillProviderExample.cpp | 6 +++
.../SkillProviderExample.h | 2 +
.../aron/RecursiveSkillParams.xml | 11 +++++
9 files changed, 189 insertions(+), 1 deletion(-)
create mode 100644 source/RobotAPI/components/skills/SkillProviderExample/BusyWaiting.cpp
create mode 100644 source/RobotAPI/components/skills/SkillProviderExample/BusyWaiting.h
create mode 100644 source/RobotAPI/components/skills/SkillProviderExample/Recursive.cpp
create mode 100644 source/RobotAPI/components/skills/SkillProviderExample/Recursive.h
create mode 100644 source/RobotAPI/components/skills/SkillProviderExample/aron/RecursiveSkillParams.xml
diff --git a/source/RobotAPI/components/skills/SkillProviderExample/BusyWaiting.cpp b/source/RobotAPI/components/skills/SkillProviderExample/BusyWaiting.cpp
new file mode 100644
index 000000000..cf93b5f6e
--- /dev/null
+++ b/source/RobotAPI/components/skills/SkillProviderExample/BusyWaiting.cpp
@@ -0,0 +1,32 @@
+#include "BusyWaiting.h"
+
+#include <chrono>
+#include <thread>
+
+namespace armarx::skills::provider
+{
+
+ BusyWaiting::BusyWaiting() : SimpleSkill(GetSkillDescription())
+ {
+ }
+
+ SkillDescription
+ BusyWaiting::GetSkillDescription()
+ {
+ return SkillDescription{.skillId = SkillID{.skillName = "BusyWaiting"},
+ .description = "This skill takes two seconds",
+ .timeout = armarx::core::time::Duration::MilliSeconds(10000)};
+ }
+
+ Skill::MainResult
+ BusyWaiting::main(const MainInput& in)
+ {
+ for (unsigned int i = 0; i < 10; i++)
+ {
+ throwIfSkillShouldTerminate();
+ std::this_thread::sleep_for(std::chrono::milliseconds(200));
+ }
+
+ return {TerminatedSkillStatus::Succeeded, nullptr};
+ }
+} // namespace armarx::skills::provider
diff --git a/source/RobotAPI/components/skills/SkillProviderExample/BusyWaiting.h b/source/RobotAPI/components/skills/SkillProviderExample/BusyWaiting.h
new file mode 100644
index 000000000..5a8094e5b
--- /dev/null
+++ b/source/RobotAPI/components/skills/SkillProviderExample/BusyWaiting.h
@@ -0,0 +1,42 @@
+
+/*
+ * 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 Andre Meixner ( andre dot meixner at kit dot edu )
+ * @date 2024
+ * @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 BusyWaiting : public SimpleSkill
+ {
+ public:
+ BusyWaiting();
+
+ static SkillDescription GetSkillDescription();
+
+ private:
+ Skill::MainResult main(const MainInput&) final;
+ };
+} // namespace armarx::skills::provider
diff --git a/source/RobotAPI/components/skills/SkillProviderExample/CMakeLists.txt b/source/RobotAPI/components/skills/SkillProviderExample/CMakeLists.txt
index 97da6c47a..fbebe63f4 100644
--- a/source/RobotAPI/components/skills/SkillProviderExample/CMakeLists.txt
+++ b/source/RobotAPI/components/skills/SkillProviderExample/CMakeLists.txt
@@ -21,6 +21,8 @@ set(SOURCES
Segfault.cpp
RandomChaining.cpp
InstantKill.cpp
+ BusyWaiting.cpp
+ Recursive.cpp
)
set(HEADERS
@@ -33,6 +35,8 @@ set(HEADERS
Segfault.h
RandomChaining.h
InstantKill.h
+ BusyWaiting.h
+ Recursive.h
)
armarx_add_component("${SOURCES}" "${HEADERS}")
@@ -42,6 +46,7 @@ armarx_enable_aron_file_generation_for_target(
${ARMARX_COMPONENT_NAME}
ARON_FILES
aron/HelloWorldAcceptedType.xml
+ aron/RecursiveSkillParams.xml
)
#generate the application
diff --git a/source/RobotAPI/components/skills/SkillProviderExample/RandomChaining.cpp b/source/RobotAPI/components/skills/SkillProviderExample/RandomChaining.cpp
index b48462eef..28d1f23ed 100644
--- a/source/RobotAPI/components/skills/SkillProviderExample/RandomChaining.cpp
+++ b/source/RobotAPI/components/skills/SkillProviderExample/RandomChaining.cpp
@@ -33,7 +33,7 @@ namespace armarx::skills::provider
Skill::MainResult
RandomChainingSkill::main(const MainInput& in)
{
- std::vector<std::string> subskillNames = {"Timeout", "ChainingSkill", "Foo", "HelloWorld", "IncompleteSkill", "ShowMeCallbacks"};
+ std::vector<std::string> subskillNames = {"Timeout", "ChainingSkill", "Foo", "HelloWorld", "IncompleteSkill", "ShowMeCallbacks", "BusyWaiting", "Recursive"};
ARMARX_CHECK(subskillNames.size() > 0);
diff --git a/source/RobotAPI/components/skills/SkillProviderExample/Recursive.cpp b/source/RobotAPI/components/skills/SkillProviderExample/Recursive.cpp
new file mode 100644
index 000000000..f2266cc40
--- /dev/null
+++ b/source/RobotAPI/components/skills/SkillProviderExample/Recursive.cpp
@@ -0,0 +1,48 @@
+#include "Recursive.h"
+#include "RobotAPI/libraries/skills/core/SkillDescription.h"
+
+namespace armarx::skills::provider
+{
+
+ Recursive::Recursive() : SimpleSpecializedSkill<skills::Example::RecursiveSkillParams>(GetSkillDescription())
+ {
+ }
+
+ SkillDescription
+ Recursive::GetSkillDescription()
+ {
+ armarx::skills::Example::RecursiveSkillParams root_profile_params;
+ root_profile_params.n = 10;
+
+ return SkillDescription{.skillId = skills::SkillID{.skillName = "Recursive"},
+ .description = "This skill calls itself recursively {n} times",
+ .rootProfileDefaults = root_profile_params.toAron(),
+ .timeout = armarx::core::time::Duration::MilliSeconds(10000),
+ .parametersType =
+ armarx::skills::Example::RecursiveSkillParams::ToAronType(),
+ .resultType = armarx::skills::Example::RecursiveSkillParams::ToAronType()};
+ }
+
+ Skill::MainResult
+ Recursive::main(const SpecializedMainInput& in)
+ {
+ const int n = in.parameters.n;
+
+ if (n > 0)
+ {
+ SkillProxy prx(manager,
+ skills::SkillID{.providerId = *getSkillId().providerId, .skillName = "Recursive"});
+
+ armarx::skills::Example::RecursiveSkillParams params;
+ params.n = n - 1;
+
+ std::this_thread::sleep_for(std::chrono::milliseconds(100));
+
+ callSubskill(prx, params.toAron());
+ }
+
+ throwIfSkillShouldTerminate();
+
+ return {TerminatedSkillStatus::Succeeded, nullptr};
+ }
+} // namespace armarx::skills::provider
diff --git a/source/RobotAPI/components/skills/SkillProviderExample/Recursive.h b/source/RobotAPI/components/skills/SkillProviderExample/Recursive.h
new file mode 100644
index 000000000..a6c03497a
--- /dev/null
+++ b/source/RobotAPI/components/skills/SkillProviderExample/Recursive.h
@@ -0,0 +1,42 @@
+
+/*
+ * 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 Andre Meixner ( andre dot meixner at kit dot edu )
+ * @date 2024
+ * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
+ * GNU General Public License
+ */
+
+#pragma once
+
+// RobotAPI
+#include <RobotAPI/libraries/skills/provider/SimpleSpecializedSkill.h>
+
+#include <RobotAPI/components/skills/SkillProviderExample/aron/RecursiveSkillParams.aron.generated.h>
+
+namespace armarx::skills::provider
+{
+ class Recursive : public SimpleSpecializedSkill<skills::Example::RecursiveSkillParams>
+ {
+ public:
+ Recursive();
+
+ static SkillDescription GetSkillDescription();
+
+ private:
+ Skill::MainResult main(const SpecializedMainInput&) final;
+ };
+} // namespace armarx::skills::provider
diff --git a/source/RobotAPI/components/skills/SkillProviderExample/SkillProviderExample.cpp b/source/RobotAPI/components/skills/SkillProviderExample/SkillProviderExample.cpp
index 0ee70319b..3d324e7dd 100644
--- a/source/RobotAPI/components/skills/SkillProviderExample/SkillProviderExample.cpp
+++ b/source/RobotAPI/components/skills/SkillProviderExample/SkillProviderExample.cpp
@@ -69,6 +69,12 @@ namespace armarx::skills::provider
// insta kill
ARMARX_INFO << "Adding skill InstaKill";
addSkillFactory<InstantKillSkill>();
+
+ ARMARX_INFO << "Adding skill BusyWaiting";
+ addSkillFactory<BusyWaiting>();
+
+ ARMARX_INFO << "Adding skill Recursive";
+ addSkillFactory<Recursive>();
}
void
diff --git a/source/RobotAPI/components/skills/SkillProviderExample/SkillProviderExample.h b/source/RobotAPI/components/skills/SkillProviderExample/SkillProviderExample.h
index 43357844d..63168c11d 100644
--- a/source/RobotAPI/components/skills/SkillProviderExample/SkillProviderExample.h
+++ b/source/RobotAPI/components/skills/SkillProviderExample/SkillProviderExample.h
@@ -37,6 +37,8 @@
#include "Timeout.h"
#include "RandomChaining.h"
#include "InstantKill.h"
+#include "BusyWaiting.h"
+#include "Recursive.h"
namespace armarx::skills::provider
{
diff --git a/source/RobotAPI/components/skills/SkillProviderExample/aron/RecursiveSkillParams.xml b/source/RobotAPI/components/skills/SkillProviderExample/aron/RecursiveSkillParams.xml
new file mode 100644
index 000000000..47d69a1b7
--- /dev/null
+++ b/source/RobotAPI/components/skills/SkillProviderExample/aron/RecursiveSkillParams.xml
@@ -0,0 +1,11 @@
+<?xml version="1.0" encoding="UTF-8" ?>
+<AronTypeDefinition>
+ <GenerateTypes>
+ <Object name='armarx::skills::Example::RecursiveSkillParams'>
+ <ObjectChild key='n'>
+ <int32 />
+ </ObjectChild>
+ </Object>
+ </GenerateTypes>
+
+</AronTypeDefinition>
\ No newline at end of file
--
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