From dac499f5ad06a275605e278f71f2a84ddab097d2 Mon Sep 17 00:00:00 2001
From: albrecpe <albrecpe@gmail.com>
Date: Fri, 8 Mar 2024 17:00:51 +0100
Subject: [PATCH] Implement snapshot fetching
---
.../skills_gui/memory/SkillManagerWrapper.cpp | 8 ++++-
.../skills_gui/memory/SkillManagerWrapper.h | 36 ++++++++++++-------
2 files changed, 31 insertions(+), 13 deletions(-)
diff --git a/source/RobotAPI/libraries/skills_gui/memory/SkillManagerWrapper.cpp b/source/RobotAPI/libraries/skills_gui/memory/SkillManagerWrapper.cpp
index d8ff3fd78..bf3db4738 100644
--- a/source/RobotAPI/libraries/skills_gui/memory/SkillManagerWrapper.cpp
+++ b/source/RobotAPI/libraries/skills_gui/memory/SkillManagerWrapper.cpp
@@ -10,7 +10,7 @@ namespace armarx::skills::gui
using SkillMap =
std::map<skills::ProviderID, std::map<skills::SkillID, skills::SkillDescription>>;
- const StatusMap
+ StatusMap
SkillManagerWrapper::fetchExecutions()
{
if (!memory)
@@ -197,6 +197,12 @@ namespace armarx::skills::gui
}
}
+ void SkillManagerWrapper::updateFromMemory()
+ {
+ snapshot.statuses = fetchExecutions();
+ snapshot.skills = fetchSkills();
+ }
+
const std::optional<ProviderID>
SkillManagerWrapper::findFirstProvider(SkillMap const& map, SkillID const& skillId)
{
diff --git a/source/RobotAPI/libraries/skills_gui/memory/SkillManagerWrapper.h b/source/RobotAPI/libraries/skills_gui/memory/SkillManagerWrapper.h
index 5b81961b5..ea902a723 100644
--- a/source/RobotAPI/libraries/skills_gui/memory/SkillManagerWrapper.h
+++ b/source/RobotAPI/libraries/skills_gui/memory/SkillManagerWrapper.h
@@ -52,18 +52,6 @@ namespace armarx::skills::gui
void stopExecution(skills::SkillExecutionID const& executionId,
const unsigned int max_retries = 0);
- /**
- * @brief Fetches and returns the latest skills update from memory.
- * @return The map representing all skills in memory. Empty, if error occurred.
- */
- const SkillMap fetchSkills();
-
- /**
- * @brief Fetches and returns the latest status update from memory.
- * @return The map containing status updates for all execution ids. Empty, if error occurred.
- */
- const StatusMap fetchExecutions();
-
static const std::optional<skills::ProviderID> findFirstProvider(SkillMap const& map,
SkillID const& skillId);
@@ -87,6 +75,11 @@ namespace armarx::skills::gui
*/
void stopAllExecutions();
+ /**
+ * @brief Requests this wrapper to overwrite its own state from memory.
+ */
+ void updateFromMemory();
+
private:
mutable std::mutex mutex_memory;
@@ -96,8 +89,27 @@ namespace armarx::skills::gui
struct Snapshot {
StatusMap statuses;
SkillMap skills;
+
+ // default constructor (construct empty)
+ Snapshot() : statuses({}), skills({})
+ {
+ }
};
+ Snapshot snapshot;
+
+ /**
+ * @brief Fetches and returns the latest skills update from memory.
+ * @return The map representing all skills in memory. Empty, if error occurred.
+ */
+ SkillMap fetchSkills();
+
+ /**
+ * @brief Fetches and returns the latest status update from memory.
+ * @return The map containing status updates for all execution ids. Empty, if error occurred.
+ */
+ StatusMap fetchExecutions();
+
/**
* @brief Modifies the given map to match the search.
* @param update The map to modify.
--
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