From c4c0eeb3d6300ffd39bddd0cf3d6c7c3f825c81a Mon Sep 17 00:00:00 2001
From: Julian Tusch <urhrf@student.kit.edu>
Date: Tue, 7 May 2024 14:23:31 +0200
Subject: [PATCH] renamed method, added basic implementation
---
.../skills/SkillManagerInterface.ice | 10 +--
.../manager/SkillManagerComponentPlugin.cpp | 70 ++++++++++++++++++-
.../manager/SkillManagerComponentPlugin.h | 14 ++--
.../SkillManagerComponentPluginUser.cpp | 4 +-
.../manager/SkillManagerComponentPluginUser.h | 2 +-
5 files changed, 82 insertions(+), 18 deletions(-)
diff --git a/source/RobotAPI/interface/skills/SkillManagerInterface.ice b/source/RobotAPI/interface/skills/SkillManagerInterface.ice
index f8049eee5..245cb1a90 100644
--- a/source/RobotAPI/interface/skills/SkillManagerInterface.ice
+++ b/source/RobotAPI/interface/skills/SkillManagerInterface.ice
@@ -248,10 +248,6 @@ module armarx
bool
updateSkill(string userId, dto::FluxioSkill skill); // updates an existing skill
- // TODO: implement dry-run
- void
- removeSkill(string id); // removes a skill
-
bool
getSkillMutex(string skillId, string userId); // request a mutex for a skill
@@ -260,7 +256,11 @@ module armarx
// TODO: implement dry-run
void
- removeSkillParameter(string userId, string skillId, string parameterId); // removes a parameter from a skill
+ deleteSkill(string skillId, string userId); // removes a skill
+
+ // TODO: implement dry-run
+ void
+ removeSkillParameter(string skillId, string parameterId, string userId); // removes a parameter from a skill
dto::FluxioProfileList
getProfileList(); // returns all profiles
diff --git a/source/RobotAPI/libraries/skills/manager/SkillManagerComponentPlugin.cpp b/source/RobotAPI/libraries/skills/manager/SkillManagerComponentPlugin.cpp
index 9a788ad0f..2101defa9 100644
--- a/source/RobotAPI/libraries/skills/manager/SkillManagerComponentPlugin.cpp
+++ b/source/RobotAPI/libraries/skills/manager/SkillManagerComponentPlugin.cpp
@@ -1,6 +1,5 @@
#include "SkillManagerComponentPlugin.h"
-#include <cstddef>
#include <list>
#include <optional>
#include <string>
@@ -15,10 +14,12 @@
#include <ArmarXCore/core/time/Duration.h>
#include <ArmarXCore/core/time/ice_conversions.h>
+#include "RobotAPI/libraries/skills/core/FluxioNode.h"
#include "RobotAPI/libraries/skills/core/FluxioParameter.h"
#include "RobotAPI/libraries/skills/core/FluxioProfile.h"
#include "RobotAPI/libraries/skills/core/FluxioProvider.h"
#include "RobotAPI/libraries/skills/core/FluxioSkill.h"
+#include "RobotAPI/libraries/skills/core/FluxioSubSkillNode.h"
#include "RobotAPI/libraries/skills/core/FluxioValue.h"
#include "RobotAPI/libraries/skills/manager/FluxioCompositeExecutor.h"
#include "RobotAPI/libraries/skills/manager/FluxioExecutor.h"
@@ -936,9 +937,72 @@ namespace armarx::plugins
}
void
- SkillManagerComponentPlugin::removeSkill(const std::string& id)
+ SkillManagerComponentPlugin::deleteSkill(const std::string& skillId, const std::string& userId)
{
- // TODO: does the user need to have the mutex here ?
+ // check if the skill exists
+ const auto& skill = getSkill(skillId);
+ if (!skill.has_value())
+ {
+ ARMARX_WARNING << "Skill with id '" << skillId << "' not found.";
+ return;
+ }
+
+ // check if the skill is a native skill
+ if (skill->native)
+ {
+ ARMARX_WARNING << "Skill with id '" << skillId
+ << "' is a native skill and cannot be deleted.";
+ return;
+ }
+
+ // check mutex
+ if (!getSkillMutex(skillId, userId))
+ {
+ ARMARX_WARNING << "User '" << userId << "' needs to acquire the mutex for skill '"
+ << skillId << "' in order to delete it.";
+ return;
+ }
+
+ // check which skills are affected
+ std::vector<std::string> affectedSkills;
+ for (const auto& [id, s] : fluxioDC.skills)
+ {
+ if(s.native || s.id == skillId)
+ {
+ continue; // ignore native skills and the skill to be deleted
+ }
+
+ for (const auto& [nodeId, node] : s.nodes)
+ {
+ if (node->nodeType == "Subskill")
+ {
+ // cast to the right node type
+ const auto& subSkillNodeptr = dynamic_cast<skills::FluxioSubSkillNode*>(node);
+ if (subSkillNodeptr == nullptr)
+ {
+ ARMARX_WARNING << "Error while casting node to FluxioSubSkillNode.";
+ continue;
+ }
+
+ if (subSkillNodeptr->skillPtr->id == skillId)
+ {
+ affectedSkills.push_back(id);
+ break;
+ }
+ }
+ }
+ }
+
+ // TODO: remove the relevant subskill nodes and all edges connected to them from the affected skills
+
+ // FIXME: for now, only allow deletion if there are no affected skills
+ if (affectedSkills.empty())
+ {
+ fluxioDC.skills.erase(skillId);
+ }
+ else {
+ ARMARX_WARNING << "Skill with id " << skillId << " cannot be deleted because it is used in one or more skills";
+ }
}
bool
diff --git a/source/RobotAPI/libraries/skills/manager/SkillManagerComponentPlugin.h b/source/RobotAPI/libraries/skills/manager/SkillManagerComponentPlugin.h
index fd27f9a26..a531c4938 100644
--- a/source/RobotAPI/libraries/skills/manager/SkillManagerComponentPlugin.h
+++ b/source/RobotAPI/libraries/skills/manager/SkillManagerComponentPlugin.h
@@ -75,7 +75,7 @@ namespace armarx::plugins
//****************************//
FluxioExecutor* executeFluxioSkill(std::string skillId,
- std::string executorName = "Fluxio");
+ std::string executorName = "Fluxio");
void abortFluxioSkill(const std::string& executionId);
@@ -86,7 +86,7 @@ namespace armarx::plugins
std::optional<skills::FluxioSkill> getSkill(const std::string& id);
- void removeSkill(const std::string& id);
+ void deleteSkill(const std::string& id, const std::string& userId);
bool getSkillMutex(const std::string& skillId, const std::string& userId);
@@ -117,12 +117,12 @@ namespace armarx::plugins
private:
struct FluxioDataCollector
{
- std::map<std::string, skills::FluxioSkill> skills = {};
- std::map<std::string, skills::FluxioProfile> profiles = {};
- std::map<std::string, skills::FluxioProvider> providers = {};
- std::map<std::string, std::tuple<std::string, armarx::DateTime>> skillMutexMap = {};
+ std::map<std::string, skills::FluxioSkill> skills;
+ std::map<std::string, skills::FluxioProfile> profiles;
+ std::map<std::string, skills::FluxioProvider> providers;
+ std::map<std::string, std::tuple<std::string, armarx::DateTime>> skillMutexMap;
const std::int64_t mutexTimeout = 30; // minutes
- std::map<std::string, FluxioExecutor*> fluxioExecutors = {};
+ std::map<std::string, FluxioExecutor*> fluxioExecutors;
};
FluxioDataCollector fluxioDC = {};
diff --git a/source/RobotAPI/libraries/skills/manager/SkillManagerComponentPluginUser.cpp b/source/RobotAPI/libraries/skills/manager/SkillManagerComponentPluginUser.cpp
index a559ad78e..09305a49e 100644
--- a/source/RobotAPI/libraries/skills/manager/SkillManagerComponentPluginUser.cpp
+++ b/source/RobotAPI/libraries/skills/manager/SkillManagerComponentPluginUser.cpp
@@ -268,9 +268,9 @@ namespace armarx
}
void
- SkillManagerComponentPluginUser::removeSkill(const std::string& id, const Ice::Current& current)
+ SkillManagerComponentPluginUser::deleteSkill(const std::string& skillId, const std::string& userId, const Ice::Current& current)
{
- this->plugin->removeSkill(id);
+ this->plugin->deleteSkill(skillId, userId);
}
bool
diff --git a/source/RobotAPI/libraries/skills/manager/SkillManagerComponentPluginUser.h b/source/RobotAPI/libraries/skills/manager/SkillManagerComponentPluginUser.h
index b297ef22d..d9d592bb5 100644
--- a/source/RobotAPI/libraries/skills/manager/SkillManagerComponentPluginUser.h
+++ b/source/RobotAPI/libraries/skills/manager/SkillManagerComponentPluginUser.h
@@ -85,7 +85,7 @@ namespace armarx
const skills::manager::dto::FluxioSkill& skill,
const Ice::Current& current) override;
- void removeSkill(const std::string& id, const Ice::Current& current) override;
+ void deleteSkill(const std::string& skillId, const std::string& userId, const Ice::Current& current) override;
bool getSkillMutex(const std::string& skillId,
const std::string& userId,
--
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