From d31b6b8dab33e2dcf2e1d499c78a573ef98350ce Mon Sep 17 00:00:00 2001
From: Firat Yusuf Duran <uzivy@student.kit.edu>
Date: Tue, 25 Jun 2024 03:40:10 +0200
Subject: [PATCH] change type to variant and add add getTypesOfSkill
---
.../skills/SkillManagerInterface.ice | 5 +-
.../libraries/skills/core/FluxioParameter.cpp | 8 +--
.../libraries/skills/core/FluxioParameter.h | 4 +-
.../core/executor/FluxioCompositeExecutor.cpp | 14 ++--
.../manager/SkillManagerComponentPlugin.cpp | 66 +++++++++++--------
.../manager/SkillManagerComponentPlugin.h | 2 +
.../SkillManagerComponentPluginUser.cpp | 8 +++
.../manager/SkillManagerComponentPluginUser.h | 4 ++
8 files changed, 71 insertions(+), 40 deletions(-)
diff --git a/source/RobotAPI/interface/skills/SkillManagerInterface.ice b/source/RobotAPI/interface/skills/SkillManagerInterface.ice
index bfa5113d1..d87c9035e 100644
--- a/source/RobotAPI/interface/skills/SkillManagerInterface.ice
+++ b/source/RobotAPI/interface/skills/SkillManagerInterface.ice
@@ -141,7 +141,7 @@ module armarx
string id;
string name;
string description;
- aron::type::dto::AronObject type;
+ aron::type::dto::GenericType type;
bool required;
bool isInput;
FluxioValueList values;
@@ -239,6 +239,9 @@ module armarx
aron::type::dto::AronObject
getTypes();
+ aron::type::dto::AronObject
+ getTypesOfSkill(string skillId);
+
optional(3) string
executeFluxioSkill(string skillId); // executes a fluxio skill
diff --git a/source/RobotAPI/libraries/skills/core/FluxioParameter.cpp b/source/RobotAPI/libraries/skills/core/FluxioParameter.cpp
index b93835ee1..93085404a 100644
--- a/source/RobotAPI/libraries/skills/core/FluxioParameter.cpp
+++ b/source/RobotAPI/libraries/skills/core/FluxioParameter.cpp
@@ -2,7 +2,7 @@
#include <ArmarXCore/core/logging/Logging.h>
-#include "RobotAPI/libraries/aron/core/type/variant/container/Object.h"
+#include "RobotAPI/libraries/aron/core/type/variant/Variant.h"
#include "RobotAPI/libraries/skills/core/FluxioProfile.h"
#include <RobotAPI/interface/skills/SkillManagerInterface.h>
@@ -20,7 +20,7 @@ namespace armarx
ret.id = id;
ret.name = name;
ret.description = description;
- ret.type = type->toAronObjectDTO();
+ ret.type = type->toAronDTO();
ret.required = required;
ret.isInput = isInput;
@@ -57,7 +57,7 @@ namespace armarx
{
name = i.name;
description = i.description;
- type = aron::type::Object::FromAronObjectDTO(i.type);
+ type = aron::type::Variant::FromAronDTO(*i.type);
required = i.required;
isInput = i.isInput;
@@ -101,7 +101,7 @@ namespace armarx
ret.id = i.id;
ret.name = i.name;
ret.description = i.description;
- ret.type = aron::type::Object::FromAronObjectDTO(i.type);
+ ret.type = aron::type::Variant::FromAronDTO(*i.type);
ret.required = i.required;
ret.isInput = i.isInput;
diff --git a/source/RobotAPI/libraries/skills/core/FluxioParameter.h b/source/RobotAPI/libraries/skills/core/FluxioParameter.h
index 2358a6d60..0f60bdafa 100644
--- a/source/RobotAPI/libraries/skills/core/FluxioParameter.h
+++ b/source/RobotAPI/libraries/skills/core/FluxioParameter.h
@@ -3,8 +3,8 @@
#include <list>
#include <string>
+#include "RobotAPI/libraries/aron/core/type/variant/Variant.h"
#include <RobotAPI/interface/skills/SkillManagerInterface.h>
-#include "RobotAPI/libraries/aron/core/type/variant/container/Object.h"
#include "FluxioValue.h"
@@ -18,7 +18,7 @@ namespace armarx
std::string id;
std::string name;
std::string description = "";
- aron::type::ObjectPtr type = std::make_shared<aron::type::Object>();
+ aron::type::VariantPtr type;
bool required = true;
bool isInput;
std::list<FluxioValue> values;
diff --git a/source/RobotAPI/libraries/skills/core/executor/FluxioCompositeExecutor.cpp b/source/RobotAPI/libraries/skills/core/executor/FluxioCompositeExecutor.cpp
index ccbe84769..d1c96ee4a 100644
--- a/source/RobotAPI/libraries/skills/core/executor/FluxioCompositeExecutor.cpp
+++ b/source/RobotAPI/libraries/skills/core/executor/FluxioCompositeExecutor.cpp
@@ -187,9 +187,9 @@ namespace armarx::skills
}
// make sure it is an event parameter
- if (parameterNode->parameterPtr->type->getObjectName() != "Event")
+ if (parameterNode->parameterPtr->type->getShortName() != "Event")
{
- ARMARX_WARNING << "Unexpected parameter type " << parameterNode->parameterPtr->type->getObjectName();
+ ARMARX_WARNING << "Unexpected parameter type " << parameterNode->parameterPtr->type->getShortName();
setStatus(skills::SkillStatus::Failed);
return;
}
@@ -296,7 +296,7 @@ namespace armarx::skills
subSkillNode->skillPtr->parameters.end(),
[&outputEventName](const std::pair<std::string, skills::FluxioParameter>& param)
{
- return (param.second.type->getObjectName() == "Event" && !param.second.isInput &&
+ return (param.second.type->getShortName() == "Event" && !param.second.isInput &&
param.second.name == outputEventName);
});
@@ -551,7 +551,7 @@ namespace armarx::skills
std::find_if(skill->parameters.begin(),
skill->parameters.end(),
[](const std::pair<std::string, skills::FluxioParameter>& param) {
- return (param.second.type->getObjectName() == "Event" && param.second.isInput &&
+ return (param.second.type->getShortName() == "Event" && param.second.isInput &&
param.second.name == "Start");
});
@@ -604,7 +604,7 @@ namespace armarx::skills
skill->parameters.end(),
[](const std::pair<std::string, skills::FluxioParameter>& param)
{
- return (param.second.type->getObjectName() == "Event" && !param.second.isInput &&
+ return (param.second.type->getShortName() == "Event" && !param.second.isInput &&
param.second.name == "Succeeded");
});
const auto& outputParamsFailed =
@@ -612,7 +612,7 @@ namespace armarx::skills
skill->parameters.end(),
[](const std::pair<std::string, skills::FluxioParameter>& param)
{
- return (param.second.type->getObjectName() == "Event" && !param.second.isInput &&
+ return (param.second.type->getShortName() == "Event" && !param.second.isInput &&
param.second.name == "Failed");
});
const auto& outputParamsAborted =
@@ -620,7 +620,7 @@ namespace armarx::skills
skill->parameters.end(),
[](const std::pair<std::string, skills::FluxioParameter>& param)
{
- return (param.second.type->getObjectName() == "Event" && !param.second.isInput &&
+ return (param.second.type->getShortName() == "Event" && !param.second.isInput &&
param.second.name == "Aborted");
});
diff --git a/source/RobotAPI/libraries/skills/manager/SkillManagerComponentPlugin.cpp b/source/RobotAPI/libraries/skills/manager/SkillManagerComponentPlugin.cpp
index be0755ed5..f0966583a 100644
--- a/source/RobotAPI/libraries/skills/manager/SkillManagerComponentPlugin.cpp
+++ b/source/RobotAPI/libraries/skills/manager/SkillManagerComponentPlugin.cpp
@@ -833,10 +833,7 @@ namespace armarx::plugins
p.name = name;
// Full type name may contain some extra info like dimensions etc.
p.description = typeInfo->getFullName();
- const auto& type = std::make_shared<aron::type::Object>();
- type->setObjectName(typeInfo->getShortName());
- type->addMemberType("typeInfo", typeInfo);
- p.type = type;
+ p.type = typeInfo;
p.required = (typeInfo->getMaybe() == 0);
p.isInput = isInput;
p.values = {}; // these are inserted later
@@ -914,14 +911,14 @@ namespace armarx::plugins
}
s.parameters = {};
+ const auto& eventType = std::make_shared<aron::type::Object>();
+ eventType->setObjectName("Event");
// add default control flow parameters
skills::FluxioParameter start;
start.name = "Start";
- const auto& startType = std::make_shared<aron::type::Object>();
- startType->setObjectName("Event");
- start.type = startType;
- const auto& startIdStr = start.name + start.type->getObjectName() + "isInput";
+ start.type = eventType;
+ const auto& startIdStr = start.name + start.type->getFullName() + "isInput";
start.id = boost::uuids::to_string(createUuidWithString(startIdStr, id));
start.description = "Start the skill";
start.required = true;
@@ -929,10 +926,9 @@ namespace armarx::plugins
skills::FluxioParameter succeeded;
succeeded.name = "Succeeded";
- const auto& succeededType = std::make_shared<aron::type::Object>();
- succeededType->setObjectName("Event");
- succeeded.type = succeededType;
- const auto& successIdStr = succeeded.name + succeeded.type->getObjectName() + "isOutput";
+ succeeded.type = eventType;
+ const auto& successIdStr =
+ succeeded.name + succeeded.type->getFullName() + "isOutput";
succeeded.id = boost::uuids::to_string(createUuidWithString(successIdStr, id));
succeeded.description = "Skill has been executed successfully";
succeeded.required = false;
@@ -940,10 +936,8 @@ namespace armarx::plugins
skills::FluxioParameter failed;
failed.name = "Failed";
- const auto& failedType = std::make_shared<aron::type::Object>();
- failedType->setObjectName("Event");
- failed.type = failedType;
- const auto& failedIdStr = failed.name + failed.type->getObjectName() + "isOutput";
+ failed.type = eventType;
+ const auto& failedIdStr = failed.name + failed.type->getShortName() + "isOutput";
failed.id = boost::uuids::to_string(createUuidWithString(failedIdStr, id));
failed.description = "Skill has failed";
failed.required = false;
@@ -951,10 +945,8 @@ namespace armarx::plugins
skills::FluxioParameter aborted;
aborted.name = "Aborted";
- const auto& abortedType = std::make_shared<aron::type::Object>();
- abortedType->setObjectName("Event");
- aborted.type = abortedType;
- const auto& abortedIdStr = aborted.name + aborted.type->getObjectName() + "isOutput";
+ aborted.type = eventType;
+ const auto& abortedIdStr = aborted.name + aborted.type->getShortName() + "isOutput";
aborted.id = boost::uuids::to_string(createUuidWithString(abortedIdStr, id));
aborted.description = "Skill has been aborted";
aborted.required = false;
@@ -1180,7 +1172,7 @@ namespace armarx::plugins
return std::nullopt;
}
- if (skill.id == "")
+ if (skill.id.empty())
{
// its a new skill, its a new world, ...
skill.id = IceUtil::generateUUID();
@@ -1317,18 +1309,40 @@ namespace armarx::plugins
SkillManagerComponentPlugin::getTypes()
{
auto ret = std::make_shared<aron::type::Object>();
- const auto& skillDescriptions = getSkillDescriptions();
+ const std::vector<skills::FluxioSkill>& skills = getSkillList();
- for (const auto& [skillId, skillDescription] : skillDescriptions)
+ for (const auto& skill : skills)
{
- if (skillDescription.parametersType == nullptr)
+ const auto& skillTypes = std::make_shared<aron::type::Object>();
+ for (const auto& [parameterId, parameter] : skill.parameters)
{
- continue;
+ skillTypes->addMemberType(parameterId, parameter.type);
}
+ skillTypes->setObjectName(skill.id);
+ ret->addMemberType(skill.id, skillTypes);
+ }
+ ret->setObjectName("SkillTypes");
+ return ret;
+ }
+
+ aron::type::ObjectPtr
+ SkillManagerComponentPlugin::getTypesOfSkill(const std::string& skillId)
+ {
+ const std::optional<skills::FluxioSkill>& opt = getSkill(skillId);
+ if (!opt.has_value())
+ {
+ ARMARX_WARNING << "Skill with id '" << skillId << "' not found.";
+ return nullptr;
+ }
+ const skills::FluxioSkill& skill = opt.value();
- ret->addMemberType(skillId.skillName, skillDescription.parametersType);
+ auto ret = std::make_shared<aron::type::Object>();
+ for (const auto& [parameterId, parameter] : skill.parameters)
+ {
+ ret->addMemberType(parameterId, parameter.type);
}
ret->setObjectName("SkillTypes");
return ret;
}
+
} // namespace armarx::plugins
diff --git a/source/RobotAPI/libraries/skills/manager/SkillManagerComponentPlugin.h b/source/RobotAPI/libraries/skills/manager/SkillManagerComponentPlugin.h
index fb8c62e50..f9f543d6a 100644
--- a/source/RobotAPI/libraries/skills/manager/SkillManagerComponentPlugin.h
+++ b/source/RobotAPI/libraries/skills/manager/SkillManagerComponentPlugin.h
@@ -80,6 +80,8 @@ namespace armarx::plugins
//** Fluxio related methods **//
//****************************//
+ aron::type::ObjectPtr getTypesOfSkill(const std::string& skillId);
+
aron::type::ObjectPtr getTypes();
skills::FluxioExecutor* executeFluxioSkill(const std::string& skillId,
diff --git a/source/RobotAPI/libraries/skills/manager/SkillManagerComponentPluginUser.cpp b/source/RobotAPI/libraries/skills/manager/SkillManagerComponentPluginUser.cpp
index 06c0ea594..5b6e9ef4f 100644
--- a/source/RobotAPI/libraries/skills/manager/SkillManagerComponentPluginUser.cpp
+++ b/source/RobotAPI/libraries/skills/manager/SkillManagerComponentPluginUser.cpp
@@ -157,6 +157,14 @@ namespace armarx
//** Fluxio related methods **//
//****************************//
+ aron::type::dto::AronObjectPtr
+ SkillManagerComponentPluginUser::getTypesOfSkill(const std::string& skillId,
+ const Ice::Current& current)
+ {
+ const auto res = this->plugin->getTypesOfSkill(skillId);
+ return res->toAronObjectDTO();
+ }
+
aron::type::dto::AronObjectPtr
SkillManagerComponentPluginUser::getTypes(const Ice::Current& current)
{
diff --git a/source/RobotAPI/libraries/skills/manager/SkillManagerComponentPluginUser.h b/source/RobotAPI/libraries/skills/manager/SkillManagerComponentPluginUser.h
index a96866f59..fd960b903 100644
--- a/source/RobotAPI/libraries/skills/manager/SkillManagerComponentPluginUser.h
+++ b/source/RobotAPI/libraries/skills/manager/SkillManagerComponentPluginUser.h
@@ -1,5 +1,6 @@
#pragma once
+#include <memory>
#include <Ice/Current.h>
#include <RobotAPI/interface/aron/Aron.h>
@@ -73,6 +74,9 @@ namespace armarx
aron::type::dto::AronObjectPtr getTypes(const Ice::Current& current) override;
+ aron::type::dto::AronObjectPtr getTypesOfSkill(const std::string& skillId,
+ const Ice::Current& current) override;
+
IceUtil::Optional<std::string> executeFluxioSkill(const std::string& skillId,
const Ice::Current& current) override;
--
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