add getTypes

source/RobotAPI/interface/skills/SkillManagerInterface.ice

@@ -187,6 +187,8 @@ module armarx
                 };
 
                 sequence<dto::FluxioSkill> FluxioSkillList;
+
+                dictionary<string, aron::type::dto::GenericType> FluxioTypeMap;
             }
 
             module dti
@@ -233,6 +235,9 @@ module armarx
                     //** Fluxio related methods **//
                     //****************************//
 
+                    dto::FluxioTypeMap
+                    getTypes(); // returns all types
+
                     optional(3) string
                     executeFluxioSkill(string skillId); // executes a fluxio skill
                     

source/RobotAPI/libraries/skills/manager/SkillManagerComponentPlugin.cpp

@@ -2,12 +2,15 @@
 
 #include <cstddef>
 #include <list>
+#include <memory>
 #include <optional>
 #include <string>
 #include <thread>
 #include <tuple>
+#include <vector>
 
 #include <IceUtil/UUID.h>
+#include <SimoxUtility/json/json.hpp>
 
 #include <ArmarXCore/core/Component.h>
 #include <ArmarXCore/core/logging/Logging.h>
@@ -15,6 +18,8 @@
 #include <ArmarXCore/core/time/Duration.h>
 #include <ArmarXCore/core/time/ice_conversions.h>
 
+#include "RobotAPI/libraries/aron/core/data/variant/container/Dict.h"
+#include "RobotAPI/libraries/aron/core/type/variant/Variant.h"
 #include "RobotAPI/libraries/skills/core/FluxioParameter.h"
 #include "RobotAPI/libraries/skills/core/FluxioProfile.h"
 #include "RobotAPI/libraries/skills/core/FluxioProvider.h"
@@ -22,6 +27,8 @@
 #include "RobotAPI/libraries/skills/core/FluxioValue.h"
 #include "RobotAPI/libraries/skills/manager/FluxioCompositeExecutor.h"
 #include "RobotAPI/libraries/skills/manager/FluxioExecutor.h"
+#include <RobotAPI/interface/aron/Aron.h>
+#include <RobotAPI/interface/skills/SkillManagerInterface.h>
 #include <RobotAPI/libraries/aron/converter/json/NLohmannJSONConverter.h>
 #include <RobotAPI/libraries/skills/core/SkillID.h>
 #include <RobotAPI/libraries/skills/core/SkillStatusUpdate.h>
@@ -47,6 +54,8 @@ namespace armarx::plugins
         provider.id = "test provider";
         provider.name = "test provider";
         fluxioDC.providers[provider.id] = provider;
+
+        //aron::data::converter::AronNlohmannJSONConverter::ConvertToNlohmannJSON(getTypes());
     }
 
     template <typename S, typename T>
@@ -1180,4 +1189,25 @@ namespace armarx::plugins
         // mutex could not be removed
         return false;
     }
+
+    skills::manager::dto::FluxioTypeMap SkillManagerComponentPlugin::getTypes() {
+        const auto& skillDescriptions = getSkillDescriptions();
+
+        skills::manager::dto::FluxioTypeMap dict;
+        for (const auto& [skillId, skillDescription] : skillDescriptions)
+        {
+            if (skillDescription.parametersType == nullptr) {
+                continue;
+            }
+
+            const auto& skillTypes= skillDescription.parametersType->getMemberTypes();
+            for(const auto& [name, typeInfo] : skillTypes) {
+                dict[name] = typeInfo->toAronDTO();
+            }
+            //const auto& p2 = std::make_shared<aron::data::Dict>(skillTypes);
+            //dict->addElement(skillId.skillName, p2);
+        }
+
+        return dict;
+    }
 } // namespace armarx::plugins

source/RobotAPI/libraries/skills/manager/SkillManagerComponentPlugin.h

@@ -2,12 +2,14 @@
 
 #include <mutex>
 #include <string>
+#include <vector>
 
 #include <ArmarXCore/core/ComponentPlugin.h>
 #include <ArmarXCore/core/ManagedIceObject.h>
 #include <ArmarXCore/core/time/DateTime.h>
 
 #include "RobotAPI/libraries/skills/core/FluxioSkillStatusUpdate.h"
+#include <RobotAPI/interface/aron/Aron.h>
 #include <RobotAPI/interface/skills/SkillManagerInterface.h>
 #include <RobotAPI/libraries/skills/core/FluxioEdge.h>
 #include <RobotAPI/libraries/skills/core/FluxioNode.h>
@@ -74,6 +76,8 @@ namespace armarx::plugins
         //** Fluxio related methods **//
         //****************************//
 
+        skills::manager::dto::FluxioTypeMap getTypes();
+
         FluxioExecutor* executeFluxioSkill(std::string skillId,
                                                       std::string executorName = "Fluxio");
 

source/RobotAPI/libraries/skills/manager/SkillManagerComponentPluginUser.cpp

@@ -6,6 +6,7 @@
 
 #include "RobotAPI/libraries/skills/core/FluxioProfile.h"
 #include "RobotAPI/libraries/skills/core/FluxioProvider.h"
+#include <RobotAPI/interface/aron/Aron.h>
 #include <RobotAPI/interface/skills/SkillManagerInterface.h>
 
 namespace armarx
@@ -156,6 +157,11 @@ namespace armarx
     //** Fluxio related methods **//
     //****************************//
 
+    skills::manager::dto::FluxioTypeMap SkillManagerComponentPluginUser::getTypes(const Ice::Current& current) {
+        const auto& res = this->plugin->getTypes();
+        return res;
+    }
+
     IceUtil::Optional<std::string>
     SkillManagerComponentPluginUser::executeFluxioSkill(const std::string& skillId,
                                                         const Ice::Current& current)

source/RobotAPI/libraries/skills/manager/SkillManagerComponentPluginUser.h

 #pragma once
 
+#include <Ice/Current.h>
+#include <RobotAPI/interface/aron/Aron.h>
 #include <RobotAPI/interface/skills/SkillManagerInterface.h>
 
 #include "SkillManagerComponentPlugin.h"
@@ -68,6 +70,8 @@ namespace armarx
         //** Fluxio related methods **//
         //****************************//
 
+        skills::manager::dto::FluxioTypeMap getTypes(const Ice::Current& current) override;
+
         IceUtil::Optional<std::string> executeFluxioSkill(const std::string& skillId,
                                        const Ice::Current& current) override;