From e0682e3397a2b2009d44e809dc16e98a13c9161a Mon Sep 17 00:00:00 2001
From: Fabian Peller-Konrad <fabian.peller-konrad@kit.edu>
Date: Wed, 19 Jan 2022 14:40:48 +0100
Subject: [PATCH] finalized first version of skill framework and skill manager
gui
---
source/RobotAPI/components/CMakeLists.txt | 1 +
.../components/armem/client/CMakeLists.txt | 2 -
.../server/SkillsMemory/SkillsMemory.cpp | 100 +----
.../armem/server/SkillsMemory/SkillsMemory.h | 11 +-
.../RobotAPI/components/skills/CMakeLists.txt | 1 +
.../SkillProviderExample/CMakeLists.txt | 4 +-
.../SkillProviderExample.cpp | 53 ++-
.../SkillProviderExample.h | 19 +-
.../AronTreeWidgetEditor.cpp | 349 ++++++++++++++++
.../SkillManagerPlugin/AronTreeWidgetEditor.h | 121 ++++++
.../AronTreeWidgetInputModal.ui | 52 +++
.../AronTreeWidgetInputModalController.cpp | 38 ++
.../AronTreeWidgetInputModalController.h | 34 ++
.../SkillManagerPlugin/CMakeLists.txt | 18 +-
.../SkillManagerMonitorWidget.ui | 18 +-
.../SkillManagerMonitorWidgetController.cpp | 377 ++----------------
.../SkillManagerMonitorWidgetController.h | 83 +---
.../skills/SkillManagerInterface.ice | 48 ++-
.../interface/skills/SkillMemoryInterface.ice | 7 +-
.../skills/SkillProviderInterface.ice | 118 +++---
.../skills/StatechartListenerInterface.ice | 7 +-
source/RobotAPI/libraries/CMakeLists.txt | 2 +
.../segment/detail/SpecializedSegment.cpp | 2 +-
.../segment/detail/SpecializedSegment.h | 12 +
.../libraries/armem_skills/CMakeLists.txt | 9 +-
.../libraries/armem_skills/aron/Skill.xml | 12 +-
.../client/SkillProviderComponentPlugin.cpp | 240 -----------
.../client/SkillProviderComponentPlugin.h | 165 --------
.../server/SkillManagerComponentPlugin.cpp | 65 ---
.../StatechartListenerComponentPlugin.h | 2 +-
.../segment/ExecutableSkillLibrarySegment.cpp | 95 +----
.../segment/ExecutableSkillLibrarySegment.h | 24 +-
.../server/segment/SkillEventSegment.cpp | 42 ++
.../server/segment/SkillEventSegment.h | 4 +-
.../segment/SkillExecutionRequestSegment.cpp | 58 ++-
.../segment/SkillExecutionRequestSegment.h | 18 +-
.../aron/core/data/variant/Variant.h | 3 +
.../core/data/variant/complex/NDArray.cpp | 5 +
.../aron/core/data/variant/complex/NDArray.h | 2 +
.../aron/core/data/variant/container/Dict.cpp | 5 +
.../aron/core/data/variant/container/Dict.h | 4 +-
.../aron/core/data/variant/container/List.cpp | 5 +
.../aron/core/data/variant/container/List.h | 5 +-
.../aron/core/data/variant/primitive/Bool.cpp | 16 +
.../aron/core/data/variant/primitive/Bool.h | 2 +
.../core/data/variant/primitive/Double.cpp | 5 +
.../aron/core/data/variant/primitive/Double.h | 2 +
.../core/data/variant/primitive/Float.cpp | 5 +
.../aron/core/data/variant/primitive/Float.h | 2 +
.../aron/core/data/variant/primitive/Int.cpp | 5 +
.../aron/core/data/variant/primitive/Int.h | 2 +
.../aron/core/data/variant/primitive/Long.cpp | 5 +
.../aron/core/data/variant/primitive/Long.h | 2 +
.../core/data/variant/primitive/String.cpp | 5 +
.../aron/core/data/variant/primitive/String.h | 2 +
.../aron/core/type/variant/Variant.h | 3 +
.../aron/core/type/variant/container/Dict.cpp | 9 +
.../aron/core/type/variant/container/Dict.h | 1 +
.../aron/core/type/variant/container/List.cpp | 9 +
.../aron/core/type/variant/container/List.h | 1 +
.../core/type/variant/container/Object.cpp | 7 +
.../aron/core/type/variant/container/Object.h | 1 +
.../aron/core/type/variant/container/Pair.cpp | 7 +
.../aron/core/type/variant/container/Pair.h | 1 +
.../core/type/variant/container/Tuple.cpp | 7 +
.../aron/core/type/variant/container/Tuple.h | 1 +
.../aron/core/type/variant/enum/IntEnum.cpp | 5 +
.../aron/core/type/variant/enum/IntEnum.h | 1 +
.../aron/core/type/variant/ndarray/Image.cpp | 4 +
.../aron/core/type/variant/ndarray/Image.h | 1 +
.../aron/core/type/variant/ndarray/Matrix.cpp | 5 +
.../aron/core/type/variant/ndarray/Matrix.h | 1 +
.../core/type/variant/ndarray/NDArray.cpp | 5 +
.../aron/core/type/variant/ndarray/NDArray.h | 1 +
.../core/type/variant/ndarray/Orientation.cpp | 5 +
.../core/type/variant/ndarray/Orientation.h | 1 +
.../core/type/variant/ndarray/PointCloud.cpp | 5 +
.../core/type/variant/ndarray/PointCloud.h | 1 +
.../aron/core/type/variant/ndarray/Pose.cpp | 10 +
.../aron/core/type/variant/ndarray/Pose.h | 1 +
.../core/type/variant/ndarray/Position.cpp | 5 +
.../aron/core/type/variant/ndarray/Position.h | 1 +
.../core/type/variant/ndarray/Quaternion.cpp | 5 +
.../core/type/variant/ndarray/Quaternion.h | 1 +
.../aron/core/type/variant/primitive/Bool.cpp | 5 +
.../aron/core/type/variant/primitive/Bool.h | 1 +
.../core/type/variant/primitive/Double.cpp | 5 +
.../aron/core/type/variant/primitive/Double.h | 1 +
.../core/type/variant/primitive/Float.cpp | 5 +
.../aron/core/type/variant/primitive/Float.h | 1 +
.../aron/core/type/variant/primitive/Int.cpp | 5 +
.../aron/core/type/variant/primitive/Int.h | 1 +
.../aron/core/type/variant/primitive/Long.cpp | 5 +
.../aron/core/type/variant/primitive/Long.h | 1 +
.../core/type/variant/primitive/String.cpp | 5 +
.../aron/core/type/variant/primitive/String.h | 1 +
.../aron/core/type/variant/primitive/Time.cpp | 5 +
.../aron/core/type/variant/primitive/Time.h | 1 +
.../aron/core/typereader/xml/Factory.cpp | 9 +-
.../aron/core/typereader/xml/Reader.cpp | 4 +-
.../RobotAPI/libraries/skills/CMakeLists.txt | 36 ++
.../manager/SkillManagerComponentPlugin.cpp | 73 ++++
.../manager}/SkillManagerComponentPlugin.h | 12 +-
.../libraries/skills/provider/Skill.cpp | 38 ++
.../libraries/skills/provider/Skill.h | 49 +++
.../skills/provider/SkillDescription.cpp | 21 +
.../skills/provider/SkillDescription.h | 24 ++
.../skills/provider/SkillParameterization.cpp | 17 +
.../skills/provider/SkillParameterization.h | 20 +
.../provider/SkillProviderComponentPlugin.cpp | 171 ++++++++
.../provider/SkillProviderComponentPlugin.h | 66 +++
.../skills/provider/SkillStatusUpdate.cpp | 22 +
.../skills/provider/SkillStatusUpdate.h | 26 ++
.../skills/provider/SpecializedSkill.cpp | 9 +
.../skills/provider/SpecializedSkill.h | 35 ++
.../detail/SkillImplementationWrapper.cpp | 130 ++++++
.../detail/SkillImplementationWrapper.h | 63 +++
.../helper/LambdaSkillImplementation.cpp | 15 +
.../helper/LambdaSkillImplementation.h | 23 ++
119 files changed, 2067 insertions(+), 1236 deletions(-)
create mode 100644 source/RobotAPI/components/skills/CMakeLists.txt
rename source/RobotAPI/components/{armem/client => skills}/SkillProviderExample/CMakeLists.txt (90%)
rename source/RobotAPI/components/{armem/client => skills}/SkillProviderExample/SkillProviderExample.cpp (63%)
rename source/RobotAPI/components/{armem/client => skills}/SkillProviderExample/SkillProviderExample.h (84%)
create mode 100644 source/RobotAPI/gui-plugins/SkillManagerPlugin/AronTreeWidgetEditor.cpp
create mode 100644 source/RobotAPI/gui-plugins/SkillManagerPlugin/AronTreeWidgetEditor.h
create mode 100644 source/RobotAPI/gui-plugins/SkillManagerPlugin/AronTreeWidgetInputModal.ui
create mode 100644 source/RobotAPI/gui-plugins/SkillManagerPlugin/AronTreeWidgetInputModalController.cpp
create mode 100644 source/RobotAPI/gui-plugins/SkillManagerPlugin/AronTreeWidgetInputModalController.h
delete mode 100644 source/RobotAPI/libraries/armem_skills/client/SkillProviderComponentPlugin.cpp
delete mode 100644 source/RobotAPI/libraries/armem_skills/client/SkillProviderComponentPlugin.h
delete mode 100644 source/RobotAPI/libraries/armem_skills/server/SkillManagerComponentPlugin.cpp
create mode 100644 source/RobotAPI/libraries/skills/CMakeLists.txt
create mode 100644 source/RobotAPI/libraries/skills/manager/SkillManagerComponentPlugin.cpp
rename source/RobotAPI/libraries/{armem_skills/server => skills/manager}/SkillManagerComponentPlugin.h (60%)
create mode 100644 source/RobotAPI/libraries/skills/provider/Skill.cpp
create mode 100644 source/RobotAPI/libraries/skills/provider/Skill.h
create mode 100644 source/RobotAPI/libraries/skills/provider/SkillDescription.cpp
create mode 100644 source/RobotAPI/libraries/skills/provider/SkillDescription.h
create mode 100644 source/RobotAPI/libraries/skills/provider/SkillParameterization.cpp
create mode 100644 source/RobotAPI/libraries/skills/provider/SkillParameterization.h
create mode 100644 source/RobotAPI/libraries/skills/provider/SkillProviderComponentPlugin.cpp
create mode 100644 source/RobotAPI/libraries/skills/provider/SkillProviderComponentPlugin.h
create mode 100644 source/RobotAPI/libraries/skills/provider/SkillStatusUpdate.cpp
create mode 100644 source/RobotAPI/libraries/skills/provider/SkillStatusUpdate.h
create mode 100644 source/RobotAPI/libraries/skills/provider/SpecializedSkill.cpp
create mode 100644 source/RobotAPI/libraries/skills/provider/SpecializedSkill.h
create mode 100644 source/RobotAPI/libraries/skills/provider/detail/SkillImplementationWrapper.cpp
create mode 100644 source/RobotAPI/libraries/skills/provider/detail/SkillImplementationWrapper.h
create mode 100644 source/RobotAPI/libraries/skills/provider/helper/LambdaSkillImplementation.cpp
create mode 100644 source/RobotAPI/libraries/skills/provider/helper/LambdaSkillImplementation.h
diff --git a/source/RobotAPI/components/CMakeLists.txt b/source/RobotAPI/components/CMakeLists.txt
index 587924113..4a6fbed26 100644
--- a/source/RobotAPI/components/CMakeLists.txt
+++ b/source/RobotAPI/components/CMakeLists.txt
@@ -1,6 +1,7 @@
add_subdirectory(units)
add_subdirectory(armem)
+add_subdirectory(skills)
add_subdirectory(ArViz)
diff --git a/source/RobotAPI/components/armem/client/CMakeLists.txt b/source/RobotAPI/components/armem/client/CMakeLists.txt
index 8a54ead2f..258a28ea0 100644
--- a/source/RobotAPI/components/armem/client/CMakeLists.txt
+++ b/source/RobotAPI/components/armem/client/CMakeLists.txt
@@ -3,5 +3,3 @@ add_subdirectory(ExampleMemoryClient)
add_subdirectory(GraspProviderExample)
add_subdirectory(VirtualRobotReaderExampleClient)
-
-add_subdirectory(SkillProviderExample)
diff --git a/source/RobotAPI/components/armem/server/SkillsMemory/SkillsMemory.cpp b/source/RobotAPI/components/armem/server/SkillsMemory/SkillsMemory.cpp
index a11304d70..3fbb33eac 100644
--- a/source/RobotAPI/components/armem/server/SkillsMemory/SkillsMemory.cpp
+++ b/source/RobotAPI/components/armem/server/SkillsMemory/SkillsMemory.cpp
@@ -96,13 +96,14 @@ namespace armarx
}
- armem::data::CommitResult SkillsMemory::commit(const armem::data::Commit& commit, const Ice::Current&)
+ armem::data::CommitResult SkillsMemory::commit(const armem::data::Commit& commit, const Ice::Current& current)
{
// This function is overloaded to check for skill executions
// First pass arg to parent func to ensure that data is written into memory and that clients are notified
armem::data::CommitResult result = ReadWritePluginUser::commit(commit);
- auto myPrx = getProxy<skills::SkillManagerInterfacePrx>(getName());
+ skills::callback::dti::SkillProviderCallbackInterfacePrx myPrx;
+ getProxy(myPrx, -1);
for (const auto& up : commit.updates)
{
@@ -112,15 +113,8 @@ namespace armarx
{
ARMARX_CHECK_NOT_NULL(instance);
- auto dict = std::make_shared<aron::data::Dict>(instance);
-
- // we got a skill execution request
- skills::arondto::SkillExecutionRequest request;
- request.fromAron(dict);
-
- auto params = aron::data::Dict::DynamicCastAndCheck(dict->at("params")); // ToDo remov and add to request
-
- executableSkillCoreSegment.directlyExecuteSkill(request, myPrx, params);
+ skills::manager::dto::SkillExecutionInfo exInfo = skillExecutionRequestCoreSegment.convertCommit(instance);
+ SkillManagerComponentPluginUser::executeSkill(exInfo, current);
}
}
}
@@ -128,95 +122,31 @@ namespace armarx
return result;
}
- void SkillsMemory::addProvider(const std::string& skillProviderName, const skills::SkillProviderInterfacePrx& provider, const Ice::Current ¤t)
+ void SkillsMemory::addProvider(const skills::manager::dto::ProviderInfo& info, const Ice::Current ¤t)
{
- SkillManagerComponentPluginUser::addProvider(skillProviderName, provider, current);
+ SkillManagerComponentPluginUser::addProvider(info, current);
- executableSkillCoreSegment.addSkillProvider(skillProviderName, provider);
+ // log skills to memory
+ executableSkillCoreSegment.addSkillProvider(info);
}
void SkillsMemory::removeProvider(const std::string& skillProviderName, const Ice::Current ¤t)
{
executableSkillCoreSegment.removeSkillProvider(skillProviderName);
+ // remove skills from memory
SkillManagerComponentPluginUser::removeProvider(skillProviderName, current);
}
- void SkillsMemory::executeSkill(const std::string& skillProviderName, const skills::SkillParametrization& params, const Ice::Current ¤t)
+ void SkillsMemory::executeSkill(const skills::manager::dto::SkillExecutionInfo& info, const Ice::Current ¤t)
{
- // override directly execution to add a request to the memory
- armem::Commit comm;
- auto& entityUpdate = comm.add();
-
- skills::arondto::SkillExecutionRequest request;
- request.clientId = "";
- request.providerName = skillProviderName;
- request.skillName = params.skillName;
-
- auto aron = request.toAron();
-
- aron::data::DictPtr aron_params = nullptr;
- if (params.params) aron_params = std::make_shared<aron::data::Dict>(params.params);
-
- aron->addElement("params", aron_params); // todo add as any type
-
- armem::MemoryID skillExecutionMemID = skillExecutionRequestCoreSegment.getCoreSegment().id();
- skillExecutionMemID.providerSegmentName = request.providerName;
- skillExecutionMemID.entityName = request.skillName;
-
- entityUpdate.entityID = skillExecutionMemID;
- entityUpdate.instancesData = { aron };
- entityUpdate.confidence = 1.0;
- entityUpdate.timeCreated = armem::Time::now();
-
- armem::data::Commit iceCommit;
- armarx::armem::toIce(iceCommit, comm);
- commit(iceCommit, current); // commit and notify
+ skillExecutionRequestCoreSegment.addSkillExecutionRequest(info);
+ SkillManagerComponentPluginUser::executeSkill(info, current);
}
- void SkillsMemory::updateStatusForSkill(const std::string& providerName, const skills::SkillStatus& statusUpdate, const Ice::Current ¤t)
+ void SkillsMemory::updateStatusForSkill(const skills::provider::dto::SkillStatusUpdate& update, const Ice::Current ¤t)
{
- // add update for skill to memory
- static std::map<armarx::skills::Execution::Status, std::string> ExecutionStatus2String = {
- {armarx::skills::Execution::Status::Idle, "Idle"},
- {armarx::skills::Execution::Status::Scheduled, "Scheduled"},
- {armarx::skills::Execution::Status::Running, "Running"},
- {armarx::skills::Execution::Status::RunningButWaitingForDependencies, "RunningButWaitingForDependencies"},
- {armarx::skills::Execution::Status::Aborted, "Aborted"},
- {armarx::skills::Execution::Status::Failed, "Failed"},
- {armarx::skills::Execution::Status::Succeeded, "Succeeded"}
- };
-
- // create commit about new update
- armarx::skills::arondto::SkillExecutionEvent event;
- event.providerName = providerName;
- event.skillName = statusUpdate.usedParameterization.skillName;
- event.status = ExecutionStatus2String.at(statusUpdate.status);
-
- aron::data::DictPtr aron_params = nullptr;
- if (statusUpdate.usedParameterization.params) aron_params = std::make_shared<aron::data::Dict>(statusUpdate.usedParameterization.params);
-
- aron::data::DictPtr aron_result = nullptr;
- if (statusUpdate.returnValue) aron_result = std::make_shared<aron::data::Dict>(statusUpdate.returnValue);
-
- armem::MemoryID commitId = skillEventCoreSegment.getCoreSegment().id();
- commitId.providerSegmentName = event.providerName;
- commitId.entityName = event.skillName;
-
- auto aron = event.toAron();
- aron->addElement("result", aron_result);
- aron->addElement("params", aron_params);
-
- armem::Commit comm;
- auto& entityUpdate = comm.add();
- entityUpdate.confidence = 1.0;
- entityUpdate.timeCreated = armem::Time::now();
- entityUpdate.instancesData = { aron };
- entityUpdate.entityID = commitId;
-
- armem::data::Commit iceCommit;
- armarx::armem::toIce(iceCommit, comm);
- commit(iceCommit, current); // commit and notify
+ skillEventCoreSegment.addSkillUpdateEvent(update);
}
diff --git a/source/RobotAPI/components/armem/server/SkillsMemory/SkillsMemory.h b/source/RobotAPI/components/armem/server/SkillsMemory/SkillsMemory.h
index 42e19e753..d609be37f 100644
--- a/source/RobotAPI/components/armem/server/SkillsMemory/SkillsMemory.h
+++ b/source/RobotAPI/components/armem/server/SkillsMemory/SkillsMemory.h
@@ -31,7 +31,7 @@
#include <RobotAPI/interface/skills/SkillMemoryInterface.h>
-#include <RobotAPI/libraries/armem_skills/server/SkillManagerComponentPlugin.h>
+#include <RobotAPI/libraries/skills/manager/SkillManagerComponentPlugin.h>
#include <RobotAPI/libraries/armem_skills/server/StatechartListenerComponentPlugin.h>
#include <RobotAPI/libraries/armem/server/plugins/ReadWritePluginUser.h>
@@ -56,7 +56,8 @@ namespace armarx
*/
class SkillsMemory :
virtual public armarx::Component,
- virtual public skills::SkillMemoryInterface,
+ virtual public skills::dti::SkillMemoryInterface,
+
virtual public armem::server::ReadWritePluginUser,
virtual public StatechartListenerComponentPluginUser,
virtual public SkillManagerComponentPluginUser
@@ -73,10 +74,10 @@ namespace armarx
void reportStatechartTransitionWithParametersList(const ProfilerStatechartTransitionWithParametersList&, const Ice::Current&) override;
// Override SkillManager to add memory functions
- void addProvider(const std::string&, const skills::SkillProviderInterfacePrx& provider, const Ice::Current ¤t) override;
+ void addProvider(const skills::manager::dto::ProviderInfo& info, const Ice::Current ¤t) override;
void removeProvider(const std::string&, const Ice::Current ¤t) override;
- void executeSkill(const std::string&, const skills::SkillParametrization& params, const Ice::Current ¤t) override;
- void updateStatusForSkill(const std::string& providerName, const skills::SkillStatus& statusUpdate, const Ice::Current ¤t) override;
+ void executeSkill(const skills::manager::dto::SkillExecutionInfo& info, const Ice::Current ¤t) override;
+ void updateStatusForSkill(const skills::provider::dto::SkillStatusUpdate& statusUpdate, const Ice::Current ¤t) override;
// WritingInterface interface
armem::data::CommitResult commit(const armem::data::Commit& commit, const Ice::Current&) override;
diff --git a/source/RobotAPI/components/skills/CMakeLists.txt b/source/RobotAPI/components/skills/CMakeLists.txt
new file mode 100644
index 000000000..5150c5aa2
--- /dev/null
+++ b/source/RobotAPI/components/skills/CMakeLists.txt
@@ -0,0 +1 @@
+add_subdirectory(SkillProviderExample)
diff --git a/source/RobotAPI/components/armem/client/SkillProviderExample/CMakeLists.txt b/source/RobotAPI/components/skills/SkillProviderExample/CMakeLists.txt
similarity index 90%
rename from source/RobotAPI/components/armem/client/SkillProviderExample/CMakeLists.txt
rename to source/RobotAPI/components/skills/SkillProviderExample/CMakeLists.txt
index 012e47bbd..f3215ba1d 100644
--- a/source/RobotAPI/components/armem/client/SkillProviderExample/CMakeLists.txt
+++ b/source/RobotAPI/components/skills/SkillProviderExample/CMakeLists.txt
@@ -6,8 +6,8 @@ set(COMPONENT_LIBS
ArmarXGuiComponentPlugins
RobotAPICore
RobotAPIInterfaces
+ RobotAPI::skills
aron
- armem_skills
aronjsonconverter
)
@@ -22,4 +22,4 @@ set(HEADERS
armarx_add_component("${SOURCES}" "${HEADERS}")
#generate the application
-armarx_generate_and_add_component_executable(COMPONENT_NAMESPACE "armarx::skills::example")
+armarx_generate_and_add_component_executable(COMPONENT_NAMESPACE "armarx::skills::provider")
diff --git a/source/RobotAPI/components/armem/client/SkillProviderExample/SkillProviderExample.cpp b/source/RobotAPI/components/skills/SkillProviderExample/SkillProviderExample.cpp
similarity index 63%
rename from source/RobotAPI/components/armem/client/SkillProviderExample/SkillProviderExample.cpp
rename to source/RobotAPI/components/skills/SkillProviderExample/SkillProviderExample.cpp
index c22bf43ed..804b8d680 100644
--- a/source/RobotAPI/components/armem/client/SkillProviderExample/SkillProviderExample.cpp
+++ b/source/RobotAPI/components/skills/SkillProviderExample/SkillProviderExample.cpp
@@ -6,18 +6,32 @@
#include <RobotAPI/libraries/aron/core/type/variant/primitive/String.h>
#include <RobotAPI/libraries/aron/converter/json/NLohmannJSONConverter.h>
-namespace armarx::skills::example
+namespace armarx::skills::provider
{
- SkillImplementation::Status HelloWorldSkill::execute(const aron::data::DictPtr& d, const CallbackT&)
+ Skill::Status HelloWorldSkill::execute(const aron::data::DictPtr& d, const CallbackT&)
{
ARMARX_IMPORTANT << "Hi, from the Hello World Skill.\n" <<
"I received the following data: \n" <<
aron::converter::AronNlohmannJSONConverter::ConvertToNlohmannJSON(d).dump(2) << "\n" <<
"(executed at: " << IceUtil::Time::now() << ")";
- return SkillImplementation::Status::Succeeded;
+ return Skill::Status::Succeeded;
}
- SkillImplementation::Status CallbackSkill::execute(const aron::data::DictPtr& d, const CallbackT& callback)
+ Skill::Status TimeoutSkill::execute(const aron::data::DictPtr& d, const CallbackT&)
+ {
+ int i = 0;
+ while (!timeoutReached)
+ {
+ // do heavy work
+ std::this_thread::sleep_for(std::chrono::milliseconds(200));
+
+ // check if work is done
+ if(i++ > 15) return Skill::Status::Succeeded;
+ }
+ return Skill::Status::TimeoutReached;
+ }
+
+ Skill::Status CallbackSkill::execute(const aron::data::DictPtr& d, const CallbackT& callback)
{
ARMARX_IMPORTANT << "Logging three updates via the callback";
auto up1 = std::make_shared<aron::data::Dict>();
@@ -32,7 +46,7 @@ namespace armarx::skills::example
up3->addElement("updateInfo", std::make_shared<aron::data::String>("Update 3"));
callback(up3);
- return SkillImplementation::Status::Succeeded;
+ return Skill::Status::Succeeded;
}
@@ -59,10 +73,13 @@ namespace armarx::skills::example
auto helloWorldAcceptedTypeText = std::make_shared<aron::type::String>(aron::Path({"text"}));
helloWorldAcceptedType->addMemberType("text", helloWorldAcceptedTypeText);
+ auto helloWorldAcceptedTypeInt = std::make_shared<aron::type::Int>(aron::Path({"int"}));
+ helloWorldAcceptedType->addMemberType("int", helloWorldAcceptedTypeInt);
+
skills::SkillDescription helloWorldDesc;
- helloWorldDesc.documentation = "This skill logs a message on ARMARX_IMPORTANT";
- helloWorldDesc.name = "HelloWorld";
- helloWorldDesc.acceptedType = helloWorldAcceptedType->toObjectDTO();
+ helloWorldDesc.description = "This skill logs a message on ARMARX_IMPORTANT";
+ helloWorldDesc.skillName = "HelloWorld";
+ helloWorldDesc.acceptedType = helloWorldAcceptedType;
helloWorldDesc.timeoutMs = 1000;
addSkill(std::make_shared<HelloWorldSkill>(), helloWorldDesc);
}
@@ -71,8 +88,9 @@ namespace armarx::skills::example
{
skills::SkillDescription fooDesc;
fooDesc.acceptedType = nullptr; // accept everything
- fooDesc.documentation = "This skill does exactly nothing.";
- fooDesc.name = "Foo";
+ fooDesc.description = "This skill does exactly nothing.";
+ fooDesc.skillName = "Foo";
+ fooDesc.timeoutMs = 1000;
addSkill([](const aron::data::DictPtr&){ std::cout << "Hello from Foo" << std::endl; return true; }, fooDesc);
}
@@ -80,10 +98,21 @@ namespace armarx::skills::example
{
skills::SkillDescription cbDesc;
cbDesc.acceptedType = nullptr; // accept everything
- cbDesc.documentation = "This skill does shows callbacks.";
- cbDesc.name = "ShowMeCallbacks";
+ cbDesc.description = "This skill does shows callbacks.";
+ cbDesc.skillName = "ShowMeCallbacks";
+ cbDesc.timeoutMs = 1000;
addSkill(std::make_shared<CallbackSkill>(), cbDesc);
}
+
+ // Add timeout skill
+ {
+ skills::SkillDescription tDesc;
+ tDesc.acceptedType = nullptr; // accept everything
+ tDesc.description = "This fails with timeout reached.";
+ tDesc.skillName = "Timeout";
+ tDesc.timeoutMs = 1000;
+ addSkill(std::make_shared<TimeoutSkill>(), tDesc);
+ }
}
void SkillProviderExample::onConnectComponent()
diff --git a/source/RobotAPI/components/armem/client/SkillProviderExample/SkillProviderExample.h b/source/RobotAPI/components/skills/SkillProviderExample/SkillProviderExample.h
similarity index 84%
rename from source/RobotAPI/components/armem/client/SkillProviderExample/SkillProviderExample.h
rename to source/RobotAPI/components/skills/SkillProviderExample/SkillProviderExample.h
index a6a9374a9..42ad812f1 100644
--- a/source/RobotAPI/components/armem/client/SkillProviderExample/SkillProviderExample.h
+++ b/source/RobotAPI/components/skills/SkillProviderExample/SkillProviderExample.h
@@ -27,22 +27,29 @@
#include <ArmarXCore/core/Component.h>
// RobotAPI
-#include <RobotAPI/libraries/armem_skills/client/SkillProviderComponentPlugin.h>
+#include <RobotAPI/libraries/skills/provider/SkillProviderComponentPlugin.h>
-namespace armarx::skills::example
+namespace armarx::skills::provider
{
// Skills:
- class HelloWorldSkill : public SkillImplementation
+ class HelloWorldSkill : public Skill
{
public:
- Status execute(const aron::data::DictPtr&, const CallbackT&) override;
+ Status execute(const aron::data::DictPtr&, const CallbackT&) final;
};
- class CallbackSkill : public SkillImplementation
+ class TimeoutSkill : public Skill
{
public:
- Status execute(const aron::data::DictPtr&, const CallbackT&) override;
+ Status execute(const aron::data::DictPtr&, const CallbackT&) final;
+ };
+
+
+ class CallbackSkill : public Skill
+ {
+ public:
+ Status execute(const aron::data::DictPtr&, const CallbackT&) final;
};
/**
diff --git a/source/RobotAPI/gui-plugins/SkillManagerPlugin/AronTreeWidgetEditor.cpp b/source/RobotAPI/gui-plugins/SkillManagerPlugin/AronTreeWidgetEditor.cpp
new file mode 100644
index 000000000..0df59db31
--- /dev/null
+++ b/source/RobotAPI/gui-plugins/SkillManagerPlugin/AronTreeWidgetEditor.cpp
@@ -0,0 +1,349 @@
+/*
+ * 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/>.
+ *
+ * \package RobotAPI::gui-plugins::SkillManagerMonitorWidgetController
+ * \author Raphael Grimm ( raphael dot grimm at kit dot edu )
+ * \date 2020
+ * \copyright http://www.gnu.org/licenses/gpl-2.0.txt
+ * GNU General Public License
+ */
+
+#include <string>
+
+#include <ArmarXCore/util/CPPUtility/Iterator.h>
+
+#include "AronTreeWidgetEditor.h"
+
+// debug
+#include <RobotAPI/libraries/aron/converter/json/NLohmannJSONConverter.h>
+
+//visitors
+namespace armarx
+{
+
+ void
+ AronTreeViewWidgetCreatorVisitor::createSimpleTreeViewWidget(Input& i)
+ {
+ ARMARX_CHECK_NOT_NULL(i);
+ ARMARX_CHECK_NOT_NULL(parentItem);
+
+ auto key = i->getPath().getLastElement();
+ createdQWidgetItem = new QTreeWidgetItem(parentItem);
+ createdQWidgetItem->setText(0, QString::fromStdString(key));
+ createdQWidgetItem->setText(2, QString::fromStdString(i->getShortName()));
+ createdQWidgetItem->setText(3, QString::fromStdString(i->getDefaultFromString()));
+ createdQWidgetItem->setFlags(createdQWidgetItem->flags() | Qt::ItemIsEditable);
+ }
+
+ void
+ AronTreeViewWidgetCreatorVisitor::visitAronVariant(const aron::type::ObjectPtr& i)
+ {
+ ARMARX_CHECK_NOT_NULL(i);
+ ARMARX_CHECK_NOT_NULL(parentItem);
+
+ auto key = i->getObjectName();
+ if (i->getPath().hasElement())
+ {
+ key = i->getPath().getLastElement();
+ }
+
+ createdQWidgetItem = new QTreeWidgetItem(parentItem);
+ createdQWidgetItem->setText(0, QString::fromStdString(key));
+
+ for (const auto& [key, value] : i->getMemberTypes())
+ {
+ AronTreeViewWidgetCreatorVisitor v(createdQWidgetItem);
+ aron::type::visit(v, value);
+
+ if (v.createdQWidgetItem)
+ {
+ createdQWidgetItem->addChild(v.createdQWidgetItem);
+ }
+ }
+ }
+
+ void
+ AronTreeViewWidgetCreatorVisitor::visitAronVariant(const aron::type::DictPtr& i)
+ { createSimpleTreeViewWidget(i); }
+ void
+ AronTreeViewWidgetCreatorVisitor::visitAronVariant(const aron::type::PairPtr& i)
+ { createSimpleTreeViewWidget(i); }
+ void
+ AronTreeViewWidgetCreatorVisitor::visitAronVariant(const aron::type::TuplePtr& i)
+ { createSimpleTreeViewWidget(i); }
+ void
+ AronTreeViewWidgetCreatorVisitor::visitAronVariant(const aron::type::ListPtr& i)
+ { createSimpleTreeViewWidget(i); }
+ void
+ AronTreeViewWidgetCreatorVisitor::visitAronVariant(const aron::type::NDArrayPtr& i)
+ { createSimpleTreeViewWidget(i); }
+ void
+ AronTreeViewWidgetCreatorVisitor::visitAronVariant(const aron::type::MatrixPtr& i)
+ { createSimpleTreeViewWidget(i); }
+ void
+ AronTreeViewWidgetCreatorVisitor::visitAronVariant(const aron::type::QuaternionPtr& i)
+ { createSimpleTreeViewWidget(i); }
+ void
+ AronTreeViewWidgetCreatorVisitor::visitAronVariant(const aron::type::PositionPtr& i)
+ { createSimpleTreeViewWidget(i); }
+ void
+ AronTreeViewWidgetCreatorVisitor::visitAronVariant(const aron::type::OrientationPtr& i)
+ { createSimpleTreeViewWidget(i); }
+ void
+ AronTreeViewWidgetCreatorVisitor::visitAronVariant(const aron::type::PosePtr& i)
+ { createSimpleTreeViewWidget(i); }
+ void
+ AronTreeViewWidgetCreatorVisitor::visitAronVariant(const aron::type::ImagePtr& i)
+ { createSimpleTreeViewWidget(i); }
+ void
+ AronTreeViewWidgetCreatorVisitor::visitAronVariant(const aron::type::PointCloudPtr& i)
+ { createSimpleTreeViewWidget(i); }
+ void
+ AronTreeViewWidgetCreatorVisitor::visitAronVariant(const aron::type::IntEnumPtr& i)
+ { createSimpleTreeViewWidget(i); }
+ void
+ AronTreeViewWidgetCreatorVisitor::visitAronVariant(const aron::type::IntPtr& i)
+ { createSimpleTreeViewWidget(i); }
+ void
+ AronTreeViewWidgetCreatorVisitor::visitAronVariant(const aron::type::LongPtr& i)
+ { createSimpleTreeViewWidget(i); }
+ void
+ AronTreeViewWidgetCreatorVisitor::visitAronVariant(const aron::type::FloatPtr& i)
+ { createSimpleTreeViewWidget(i); }
+ void
+ AronTreeViewWidgetCreatorVisitor::visitAronVariant(const aron::type::DoublePtr& i)
+ { createSimpleTreeViewWidget(i); }
+ void
+ AronTreeViewWidgetCreatorVisitor::visitAronVariant(const aron::type::BoolPtr& i)
+ { createSimpleTreeViewWidget(i); }
+ void
+ AronTreeViewWidgetCreatorVisitor::visitAronVariant(const aron::type::StringPtr& i)
+ { createSimpleTreeViewWidget(i); }
+ void
+ AronTreeViewWidgetCreatorVisitor::visitAronVariant(const aron::type::TimePtr& i)
+ { createSimpleTreeViewWidget(i); }
+
+ void AronTreeViewWidgetCreatorVisitor::visitUnknown(Input&)
+ {
+ ARMARX_WARNING_S << "Received an unknown type when trying to create a tree view widget for a skill argument type.";
+ }
+
+
+
+
+ void
+ AronTreeViewWidgetConverterVisitor::visitAronVariant(const aron::type::ObjectPtr& i)
+ {
+ auto createdAronDict = std::make_shared<aron::data::Dict>();
+ createdAron = createdAronDict;
+ QTreeWidgetItem* el = parentItem->child(index);
+
+ unsigned int x = 0;
+ for (const auto& [key, value] : i->getMemberTypes())
+ {
+ AronTreeViewWidgetConverterVisitor v(el, x++);
+ aron::type::visit(v, value);
+
+ if (v.createdAron)
+ {
+ createdAronDict->addElement(key, v.createdAron);
+ }
+ }
+ }
+
+ void
+ AronTreeViewWidgetConverterVisitor::visitAronVariant(const aron::type::DictPtr& i)
+ {
+ // TODO
+ }
+
+ void
+ AronTreeViewWidgetConverterVisitor::visitAronVariant(const aron::type::PairPtr& i)
+ {
+ // TODO
+ }
+
+ void
+ AronTreeViewWidgetConverterVisitor::visitAronVariant(const aron::type::TuplePtr& i)
+ {
+ // TODO
+ }
+
+ void
+ AronTreeViewWidgetConverterVisitor::visitAronVariant(const aron::type::ListPtr& i)
+ {
+ // TODO
+ }
+
+ void
+ AronTreeViewWidgetConverterVisitor::visitAronVariant(const aron::type::NDArrayPtr& i)
+ {
+ // TODO
+ }
+
+ void
+ AronTreeViewWidgetConverterVisitor::visitAronVariant(const aron::type::MatrixPtr& i)
+ {
+ // TODO
+ }
+
+ void
+ AronTreeViewWidgetConverterVisitor::visitAronVariant(const aron::type::QuaternionPtr& i)
+ {
+ // TODO
+ }
+
+ void
+ AronTreeViewWidgetConverterVisitor::visitAronVariant(const aron::type::PositionPtr& i)
+ {
+ // TODO
+ }
+
+ void
+ AronTreeViewWidgetConverterVisitor::visitAronVariant(const aron::type::OrientationPtr& i)
+ {
+ // TODO
+ }
+
+ void
+ AronTreeViewWidgetConverterVisitor::visitAronVariant(const aron::type::PosePtr& i)
+ {
+ // TODO
+ }
+
+ void
+ AronTreeViewWidgetConverterVisitor::visitAronVariant(const aron::type::ImagePtr& i)
+ {
+ // TODO
+ }
+
+ void
+ AronTreeViewWidgetConverterVisitor::visitAronVariant(const aron::type::PointCloudPtr& i)
+ {
+ // TODO
+ }
+
+ void
+ AronTreeViewWidgetConverterVisitor::visitAronVariant(const aron::type::IntEnumPtr& i)
+ {
+ // TODO
+ }
+
+ void
+ AronTreeViewWidgetConverterVisitor::visitAronVariant(const aron::type::IntPtr& i)
+ {
+ auto createdAronInt = std::make_shared<aron::data::Int>();
+ createdAron = createdAronInt;
+ QTreeWidgetItem* el = parentItem->child(index);
+
+ std::string str = el->text(1).toStdString();
+ if (str.empty())
+ {
+ createdAronInt->setValue(0);
+ return;
+ }
+
+ int val = std::stoi(str);
+ createdAronInt->setValue(val);
+ }
+
+ void
+ AronTreeViewWidgetConverterVisitor::visitAronVariant(const aron::type::LongPtr& i)
+ {
+ auto createdAronLong = std::make_shared<aron::data::Long>();
+ createdAron = createdAronLong;
+ QTreeWidgetItem* el = parentItem->child(index);
+
+ std::string str = el->text(1).toStdString();
+ if (str.empty())
+ {
+ str = el->text(3).toStdString();
+ }
+
+ createdAronLong->fromString(str);
+ }
+
+ void
+ AronTreeViewWidgetConverterVisitor::visitAronVariant(const aron::type::FloatPtr& i)
+ {
+ auto createdAronFloat = std::make_shared<aron::data::Float>();
+ createdAron = createdAronFloat;
+ QTreeWidgetItem* el = parentItem->child(index);
+
+ std::string str = el->text(1).toStdString();
+ if (str.empty())
+ {
+ str = el->text(3).toStdString();
+ }
+
+ createdAronFloat->fromString(str);
+ }
+
+ void
+ AronTreeViewWidgetConverterVisitor::visitAronVariant(const aron::type::DoublePtr& i)
+ {
+ auto createdAronDouble = std::make_shared<aron::data::Double>();
+ createdAron = createdAronDouble;
+ QTreeWidgetItem* el = parentItem->child(index);
+
+ std::string str = el->text(1).toStdString();
+ if (str.empty())
+ {
+ str = el->text(3).toStdString();
+ }
+
+ createdAronDouble->fromString(str);
+ }
+
+ void
+ AronTreeViewWidgetConverterVisitor::visitAronVariant(const aron::type::BoolPtr& i)
+ {
+ auto createdAronBool = std::make_shared<aron::data::Bool>();
+ createdAron = createdAronBool;
+ QTreeWidgetItem* el = parentItem->child(index);
+
+ std::string str = el->text(1).toStdString();
+ if (str.empty())
+ {
+ str = el->text(3).toStdString();
+ }
+
+ createdAronBool->fromString(str);
+ }
+
+ void
+ AronTreeViewWidgetConverterVisitor::visitAronVariant(const aron::type::StringPtr& i)
+ {
+ auto createdAronString = std::make_shared<aron::data::String>();
+ createdAron = createdAronString;
+ QTreeWidgetItem* el = parentItem->child(index);
+
+ std::string str = el->text(1).toStdString();
+ createdAronString->fromString(str);
+ }
+
+ void
+ AronTreeViewWidgetConverterVisitor::visitAronVariant(const aron::type::TimePtr& i)
+ {
+ auto l = std::make_shared<aron::type::Long>();
+ visitLong(l);
+ }
+
+ void AronTreeViewWidgetConverterVisitor::visitUnknown(Input&)
+ {
+ ARMARX_WARNING_S << "Received an unknown type when trying to convert a skill argument type to an aron data object.";
+ }
+}
+
diff --git a/source/RobotAPI/gui-plugins/SkillManagerPlugin/AronTreeWidgetEditor.h b/source/RobotAPI/gui-plugins/SkillManagerPlugin/AronTreeWidgetEditor.h
new file mode 100644
index 000000000..3d3917830
--- /dev/null
+++ b/source/RobotAPI/gui-plugins/SkillManagerPlugin/AronTreeWidgetEditor.h
@@ -0,0 +1,121 @@
+/*
+ * 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/>.
+ *
+ * @package RobotAPI::gui-plugins::SkillManagerMonitorWidgetController
+ * @author Raphael Grimm ( raphael dot grimm at kit dot edu )
+ * @date 2020
+ * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
+ * GNU General Public License
+ */
+#pragma once
+
+#include <stack>
+#include <ArmarXCore/core/system/ImportExportComponent.h>
+
+#include <ArmarXGui/libraries/ArmarXGuiBase/ArmarXGuiPlugin.h>
+#include <ArmarXGui/libraries/ArmarXGuiBase/ArmarXComponentWidgetController.h>
+#include <ArmarXGui/libraries/SimpleConfigDialog/SimpleConfigDialog.h>
+
+#include <RobotAPI/interface/skills/SkillMemoryInterface.h>
+
+#include <RobotAPI/gui-plugins/SkillManagerPlugin/ui_SkillManagerMonitorWidget.h>
+
+
+#include <RobotAPI/libraries/aron/core/type/variant/All.h>
+#include <RobotAPI/libraries/aron/core/data/variant/All.h>
+#include <RobotAPI/libraries/aron/core/type/visitor/variant/VariantVisitor.h>
+
+namespace armarx
+{
+ // Convert aron type to tree widget
+ class AronTreeViewWidgetCreatorVisitor :
+ public armarx::aron::type::ConstVariantVisitor
+ {
+ public:
+ QTreeWidgetItem* parentItem;
+ QTreeWidgetItem* createdQWidgetItem;
+
+ AronTreeViewWidgetCreatorVisitor() = delete;
+ AronTreeViewWidgetCreatorVisitor(QTreeWidgetItem* i) :
+ parentItem(i)
+ {}
+
+ void createSimpleTreeViewWidget(Input& i);
+
+ void visitAronVariant(const aron::type::ObjectPtr&) override;
+ void visitAronVariant(const aron::type::DictPtr& i) override;
+ void visitAronVariant(const aron::type::PairPtr& i) override;
+ void visitAronVariant(const aron::type::TuplePtr& i) override;
+ void visitAronVariant(const aron::type::ListPtr& i) override;
+ void visitAronVariant(const aron::type::NDArrayPtr& i) override;
+ void visitAronVariant(const aron::type::MatrixPtr& i) override;
+ void visitAronVariant(const aron::type::QuaternionPtr& i) override;
+ void visitAronVariant(const aron::type::PositionPtr& i) override;
+ void visitAronVariant(const aron::type::OrientationPtr& i) override;
+ void visitAronVariant(const aron::type::PosePtr& i) override;
+ void visitAronVariant(const aron::type::ImagePtr& i) override;
+ void visitAronVariant(const aron::type::PointCloudPtr& i) override;
+ void visitAronVariant(const aron::type::IntEnumPtr& i) override;
+ void visitAronVariant(const aron::type::IntPtr& i) override;
+ void visitAronVariant(const aron::type::LongPtr& i) override;
+ void visitAronVariant(const aron::type::FloatPtr& i) override;
+ void visitAronVariant(const aron::type::DoublePtr& i) override;
+ void visitAronVariant(const aron::type::BoolPtr& i) override;
+ void visitAronVariant(const aron::type::StringPtr& i) override;
+ void visitAronVariant(const aron::type::TimePtr& i) override;
+ void visitUnknown(Input&) override;
+ };
+
+
+ // Conversion from TreeView to aron data
+ class AronTreeViewWidgetConverterVisitor :
+ public armarx::aron::type::ConstVariantVisitor
+ {
+ public:
+ QTreeWidgetItem* parentItem;
+ int index;
+ aron::data::VariantPtr createdAron;
+
+ AronTreeViewWidgetConverterVisitor() = delete;
+ AronTreeViewWidgetConverterVisitor(QTreeWidgetItem* i, int x) :
+ parentItem(i), index(x)
+ {}
+
+ void visitAronVariant(const aron::type::ObjectPtr&) override;
+ void visitAronVariant(const aron::type::DictPtr&) override;
+ void visitAronVariant(const aron::type::PairPtr&) override;
+ void visitAronVariant(const aron::type::TuplePtr&) override;
+ void visitAronVariant(const aron::type::ListPtr&) override;
+ void visitAronVariant(const aron::type::NDArrayPtr&) override;
+ void visitAronVariant(const aron::type::MatrixPtr&) override;
+ void visitAronVariant(const aron::type::QuaternionPtr&) override;
+ void visitAronVariant(const aron::type::PositionPtr&) override;
+ void visitAronVariant(const aron::type::OrientationPtr&) override;
+ void visitAronVariant(const aron::type::PosePtr&) override;
+ void visitAronVariant(const aron::type::ImagePtr&) override;
+ void visitAronVariant(const aron::type::PointCloudPtr&) override;
+ void visitAronVariant(const aron::type::IntEnumPtr&) override;
+ void visitAronVariant(const aron::type::IntPtr&) override;
+ void visitAronVariant(const aron::type::LongPtr&) override;
+ void visitAronVariant(const aron::type::FloatPtr&) override;
+ void visitAronVariant(const aron::type::DoublePtr&) override;
+ void visitAronVariant(const aron::type::BoolPtr&) override;
+ void visitAronVariant(const aron::type::StringPtr&) override;
+ void visitAronVariant(const aron::type::TimePtr&) override;
+ void visitUnknown(Input&) override;
+ };
+}
+
+
diff --git a/source/RobotAPI/gui-plugins/SkillManagerPlugin/AronTreeWidgetInputModal.ui b/source/RobotAPI/gui-plugins/SkillManagerPlugin/AronTreeWidgetInputModal.ui
new file mode 100644
index 000000000..baec62815
--- /dev/null
+++ b/source/RobotAPI/gui-plugins/SkillManagerPlugin/AronTreeWidgetInputModal.ui
@@ -0,0 +1,52 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<ui version="4.0">
+ <class>AronTreeWidgetInputModalWidget</class>
+ <widget class="QWidget" name="AronTreeWidgetInputModalWidget">
+ <property name="geometry">
+ <rect>
+ <x>0</x>
+ <y>0</y>
+ <width>1015</width>
+ <height>498</height>
+ </rect>
+ </property>
+ <property name="windowTitle">
+ <string>SkillManagerMonitorWidget</string>
+ </property>
+ <layout class="QVBoxLayout" name="verticalLayout">
+ <item>
+ <widget class="QSplitter" name="splitter">
+ <property name="orientation">
+ <enum>Qt::Horizontal</enum>
+ </property>
+ <widget class="QGroupBox" name="groupBoxInput">
+ <property name="title">
+ <string>InputField</string>
+ </property>
+ <layout class="QGridLayout" name="gridLayout">
+ <item row="1" column="0">
+ <widget class="QPushButton" name="pushButtonReset">
+ <property name="text">
+ <string>Reset</string>
+ </property>
+ </widget>
+ </item>
+ <item row="1" column="1">
+ <widget class="QPushButton" name="pushButtonSubmit">
+ <property name="text">
+ <string>Submit</string>
+ </property>
+ </widget>
+ </item>
+ <item row="0" column="0" colspan="2">
+ <widget class="QTextEdit" name="textEditInput"/>
+ </item>
+ </layout>
+ </widget>
+ </widget>
+ </item>
+ </layout>
+ </widget>
+ <resources/>
+ <connections/>
+</ui>
diff --git a/source/RobotAPI/gui-plugins/SkillManagerPlugin/AronTreeWidgetInputModalController.cpp b/source/RobotAPI/gui-plugins/SkillManagerPlugin/AronTreeWidgetInputModalController.cpp
new file mode 100644
index 000000000..25ec39a70
--- /dev/null
+++ b/source/RobotAPI/gui-plugins/SkillManagerPlugin/AronTreeWidgetInputModalController.cpp
@@ -0,0 +1,38 @@
+#include "AronTreeWidgetInputModalController.h"
+
+namespace armarx
+{
+ AronTreeWidgetInputModalController::AronTreeWidgetInputModalController(const std::string& name, const std::string& placeholder, QWidget * parent) :
+ QDialog(parent),
+ placeholder(placeholder)
+ {
+ widget.setupUi(this);
+
+ // set header
+ widget.groupBoxInput->setTitle(QString::fromStdString(name));
+ widget.textEditInput->setPlainText(QString::fromStdString(placeholder));
+
+ // connect signals
+ connect(widget.pushButtonReset, &QPushButton::clicked,
+ this, &AronTreeWidgetInputModalController::reset);
+ connect(widget.pushButtonSubmit, &QPushButton::clicked,
+ this, &AronTreeWidgetInputModalController::submit);
+ }
+
+ QString AronTreeWidgetInputModalController::getInput() const
+ {
+ return widget.textEditInput->toPlainText();
+ }
+
+
+ void AronTreeWidgetInputModalController::reset()
+ {
+ // reset to initial value
+ widget.textEditInput->setPlainText(QString::fromStdString(placeholder));
+ }
+
+ void AronTreeWidgetInputModalController::submit()
+ {
+ accept();
+ }
+}
diff --git a/source/RobotAPI/gui-plugins/SkillManagerPlugin/AronTreeWidgetInputModalController.h b/source/RobotAPI/gui-plugins/SkillManagerPlugin/AronTreeWidgetInputModalController.h
new file mode 100644
index 000000000..1f4a0d0f9
--- /dev/null
+++ b/source/RobotAPI/gui-plugins/SkillManagerPlugin/AronTreeWidgetInputModalController.h
@@ -0,0 +1,34 @@
+#pragma once
+
+#include <stack>
+#include <ArmarXCore/core/system/ImportExportComponent.h>
+
+#include <ArmarXGui/libraries/ArmarXGuiBase/ArmarXGuiPlugin.h>
+#include <ArmarXGui/libraries/ArmarXGuiBase/ArmarXComponentWidgetController.h>
+#include <ArmarXGui/libraries/SimpleConfigDialog/SimpleConfigDialog.h>
+
+#include <RobotAPI/gui-plugins/SkillManagerPlugin/ui_AronTreeWidgetInputModal.h>
+
+#include <QDialog>
+
+namespace armarx
+{
+ class ARMARXCOMPONENT_IMPORT_EXPORT
+ AronTreeWidgetInputModalController :
+ public QDialog
+ {
+ Q_OBJECT
+ public:
+ AronTreeWidgetInputModalController(const std::string& label, const std::string& placeholder = "", QWidget * parent = 0);
+
+ QString getInput() const;
+
+ private slots:
+ void reset();
+ void submit();
+
+ private:
+ std::string placeholder;
+ Ui::AronTreeWidgetInputModalWidget widget;
+ };
+}
diff --git a/source/RobotAPI/gui-plugins/SkillManagerPlugin/CMakeLists.txt b/source/RobotAPI/gui-plugins/SkillManagerPlugin/CMakeLists.txt
index 445d668cf..b23252198 100644
--- a/source/RobotAPI/gui-plugins/SkillManagerPlugin/CMakeLists.txt
+++ b/source/RobotAPI/gui-plugins/SkillManagerPlugin/CMakeLists.txt
@@ -4,12 +4,22 @@ armarx_set_target("${LIB_NAME}")
armarx_build_if(ArmarXGui_FOUND "ArmarXGui not available")
# do not rename this variable, it is used in armarx_gui_library()...
-set(SOURCES SkillManagerMonitorWidgetController.cpp)
-set(HEADERS SkillManagerMonitorWidgetController.h)
-set(GUI_UIS SkillManagerMonitorWidget.ui)
+set(SOURCES
+ AronTreeWidgetEditor.cpp
+ AronTreeWidgetInputModalController.cpp
+ SkillManagerMonitorWidgetController.cpp
+)
+
+set(HEADERS
+ AronTreeWidgetEditor.h
+ AronTreeWidgetInputModalController.h
+ SkillManagerMonitorWidgetController.h
+)
+
+set(GUI_UIS SkillManagerMonitorWidget.ui AronTreeWidgetInputModal.ui)
# Add more libraries you depend on here, e.g. ${QT_LIBRARIES}.
-set(COMPONENT_LIBS RobotAPIInterfaces aron aronjsonconverter SimpleConfigDialog)
+set(COMPONENT_LIBS RobotAPIInterfaces aron skills aronjsonconverter SimpleConfigDialog)
if(ArmarXGui_FOUND)
armarx_gui_plugin("${LIB_NAME}" "${SOURCES}" "" "${GUI_UIS}" "" "${COMPONENT_LIBS}")
diff --git a/source/RobotAPI/gui-plugins/SkillManagerPlugin/SkillManagerMonitorWidget.ui b/source/RobotAPI/gui-plugins/SkillManagerPlugin/SkillManagerMonitorWidget.ui
index 258061d25..927d6daf0 100644
--- a/source/RobotAPI/gui-plugins/SkillManagerPlugin/SkillManagerMonitorWidget.ui
+++ b/source/RobotAPI/gui-plugins/SkillManagerPlugin/SkillManagerMonitorWidget.ui
@@ -88,21 +88,13 @@
<string>Type</string>
</property>
</column>
+ <column>
+ <property name="text">
+ <string>defaultValue</string>
+ </property>
+ </column>
</widget>
</item>
- <item row="6" column="0">
- <spacer name="verticalSpacer">
- <property name="orientation">
- <enum>Qt::Vertical</enum>
- </property>
- <property name="sizeHint" stdset="0">
- <size>
- <width>20</width>
- <height>40</height>
- </size>
- </property>
- </spacer>
- </item>
</layout>
</widget>
</widget>
diff --git a/source/RobotAPI/gui-plugins/SkillManagerPlugin/SkillManagerMonitorWidgetController.cpp b/source/RobotAPI/gui-plugins/SkillManagerPlugin/SkillManagerMonitorWidgetController.cpp
index 2405e4561..212869ba6 100644
--- a/source/RobotAPI/gui-plugins/SkillManagerPlugin/SkillManagerMonitorWidgetController.cpp
+++ b/source/RobotAPI/gui-plugins/SkillManagerPlugin/SkillManagerMonitorWidgetController.cpp
@@ -26,6 +26,9 @@
#include "SkillManagerMonitorWidgetController.h"
+#include "AronTreeWidgetEditor.h"
+#include "AronTreeWidgetInputModalController.h"
+
// debug
#include <RobotAPI/libraries/aron/converter/json/NLohmannJSONConverter.h>
@@ -37,7 +40,7 @@ namespace armarx
if (!dialog)
{
dialog = new SimpleConfigDialog(parent);
- dialog->addProxyFinder<skills::SkillManagerInterfacePrx>("SkillManager", "", "Skill*");
+ dialog->addProxyFinder<skills::manager::dti::SkillManagerInterfacePrx>("SkillManager", "", "Skill*");
}
return qobject_cast<SimpleConfigDialog*>(dialog);
}
@@ -55,337 +58,7 @@ namespace armarx
}
}
-//visitors
-namespace armarx
-{
-
- void
- SkillManagerMonitorWidgetController::SkillManagerMonitorArgumentTreeViewWidgetCreatorVisitor::createSimpleTreeViewWidget(Input& i)
- {
- ARMARX_CHECK_NOT_NULL(i);
- ARMARX_CHECK_NOT_NULL(parentItem);
-
- auto key = i->getPath().getLastElement();
- createdQWidgetItem = new QTreeWidgetItem(parentItem);
- createdQWidgetItem->setText(0, QString::fromStdString(key));
- createdQWidgetItem->setText(2, QString::fromStdString(i->getShortName()));
- createdQWidgetItem->setFlags(createdQWidgetItem->flags() | Qt::ItemIsEditable);
- }
-
- void
- SkillManagerMonitorWidgetController::SkillManagerMonitorArgumentTreeViewWidgetCreatorVisitor::visitAronVariant(const aron::type::ObjectPtr& i)
- {
- ARMARX_CHECK_NOT_NULL(i);
- ARMARX_CHECK_NOT_NULL(parentItem);
-
- auto key = i->getObjectName();
- if (i->getPath().hasElement())
- {
- key = i->getPath().getLastElement();
- }
-
- createdQWidgetItem = new QTreeWidgetItem(parentItem);
- createdQWidgetItem->setText(0, QString::fromStdString(key));
-
- for (const auto& [key, value] : i->getMemberTypes())
- {
- SkillManagerMonitorArgumentTreeViewWidgetCreatorVisitor v(createdQWidgetItem);
- aron::type::visit(v, value);
-
- if (v.createdQWidgetItem)
- {
- createdQWidgetItem->addChild(v.createdQWidgetItem);
- }
- }
- }
-
- void
- SkillManagerMonitorWidgetController::SkillManagerMonitorArgumentTreeViewWidgetCreatorVisitor::visitAronVariant(const aron::type::DictPtr& i)
- { createSimpleTreeViewWidget(i); }
- void
- SkillManagerMonitorWidgetController::SkillManagerMonitorArgumentTreeViewWidgetCreatorVisitor::visitAronVariant(const aron::type::PairPtr& i)
- { createSimpleTreeViewWidget(i); }
- void
- SkillManagerMonitorWidgetController::SkillManagerMonitorArgumentTreeViewWidgetCreatorVisitor::visitAronVariant(const aron::type::TuplePtr& i)
- { createSimpleTreeViewWidget(i); }
- void
- SkillManagerMonitorWidgetController::SkillManagerMonitorArgumentTreeViewWidgetCreatorVisitor::visitAronVariant(const aron::type::ListPtr& i)
- { createSimpleTreeViewWidget(i); }
- void
- SkillManagerMonitorWidgetController::SkillManagerMonitorArgumentTreeViewWidgetCreatorVisitor::visitAronVariant(const aron::type::NDArrayPtr& i)
- { createSimpleTreeViewWidget(i); }
- void
- SkillManagerMonitorWidgetController::SkillManagerMonitorArgumentTreeViewWidgetCreatorVisitor::visitAronVariant(const aron::type::MatrixPtr& i)
- { createSimpleTreeViewWidget(i); }
- void
- SkillManagerMonitorWidgetController::SkillManagerMonitorArgumentTreeViewWidgetCreatorVisitor::visitAronVariant(const aron::type::QuaternionPtr& i)
- { createSimpleTreeViewWidget(i); }
- void
- SkillManagerMonitorWidgetController::SkillManagerMonitorArgumentTreeViewWidgetCreatorVisitor::visitAronVariant(const aron::type::PositionPtr& i)
- { createSimpleTreeViewWidget(i); }
- void
- SkillManagerMonitorWidgetController::SkillManagerMonitorArgumentTreeViewWidgetCreatorVisitor::visitAronVariant(const aron::type::OrientationPtr& i)
- { createSimpleTreeViewWidget(i); }
- void
- SkillManagerMonitorWidgetController::SkillManagerMonitorArgumentTreeViewWidgetCreatorVisitor::visitAronVariant(const aron::type::PosePtr& i)
- { createSimpleTreeViewWidget(i); }
- void
- SkillManagerMonitorWidgetController::SkillManagerMonitorArgumentTreeViewWidgetCreatorVisitor::visitAronVariant(const aron::type::ImagePtr& i)
- { createSimpleTreeViewWidget(i); }
- void
- SkillManagerMonitorWidgetController::SkillManagerMonitorArgumentTreeViewWidgetCreatorVisitor::visitAronVariant(const aron::type::PointCloudPtr& i)
- { createSimpleTreeViewWidget(i); }
- void
- SkillManagerMonitorWidgetController::SkillManagerMonitorArgumentTreeViewWidgetCreatorVisitor::visitAronVariant(const aron::type::IntEnumPtr& i)
- { createSimpleTreeViewWidget(i); }
- void
- SkillManagerMonitorWidgetController::SkillManagerMonitorArgumentTreeViewWidgetCreatorVisitor::visitAronVariant(const aron::type::IntPtr& i)
- { createSimpleTreeViewWidget(i); }
- void
- SkillManagerMonitorWidgetController::SkillManagerMonitorArgumentTreeViewWidgetCreatorVisitor::visitAronVariant(const aron::type::LongPtr& i)
- { createSimpleTreeViewWidget(i); }
- void
- SkillManagerMonitorWidgetController::SkillManagerMonitorArgumentTreeViewWidgetCreatorVisitor::visitAronVariant(const aron::type::FloatPtr& i)
- { createSimpleTreeViewWidget(i); }
- void
- SkillManagerMonitorWidgetController::SkillManagerMonitorArgumentTreeViewWidgetCreatorVisitor::visitAronVariant(const aron::type::DoublePtr& i)
- { createSimpleTreeViewWidget(i); }
- void
- SkillManagerMonitorWidgetController::SkillManagerMonitorArgumentTreeViewWidgetCreatorVisitor::visitAronVariant(const aron::type::BoolPtr& i)
- { createSimpleTreeViewWidget(i); }
- void
- SkillManagerMonitorWidgetController::SkillManagerMonitorArgumentTreeViewWidgetCreatorVisitor::visitAronVariant(const aron::type::StringPtr& i)
- { createSimpleTreeViewWidget(i); }
- void
- SkillManagerMonitorWidgetController::SkillManagerMonitorArgumentTreeViewWidgetCreatorVisitor::visitAronVariant(const aron::type::TimePtr& i)
- { createSimpleTreeViewWidget(i); }
-
- void SkillManagerMonitorWidgetController::SkillManagerMonitorArgumentTreeViewWidgetCreatorVisitor::visitUnknown(Input&)
- {
- ARMARX_WARNING_S << "Received an unknown type when trying to create a tree view widget for a skill argument type.";
- }
-
-
-
-
- void
- SkillManagerMonitorWidgetController::SkillManagerMonitorArgumentTreeViewWidgetConverterVisitor::visitAronVariant(const aron::type::ObjectPtr& i)
- {
- auto createdAronDict = std::make_shared<aron::data::Dict>();
- createdAron = createdAronDict;
- QTreeWidgetItem* el = parentItem->child(index);
-
- unsigned int x = 0;
- for (const auto& [key, value] : i->getMemberTypes())
- {
- SkillManagerMonitorArgumentTreeViewWidgetConverterVisitor v(el, x++);
- aron::type::visit(v, value);
-
- if (v.createdAron)
- {
- createdAronDict->addElement(key, v.createdAron);
- }
- }
- }
-
- void
- SkillManagerMonitorWidgetController::SkillManagerMonitorArgumentTreeViewWidgetConverterVisitor::visitAronVariant(const aron::type::DictPtr& i)
- {
- // TODO
- }
-
- void
- SkillManagerMonitorWidgetController::SkillManagerMonitorArgumentTreeViewWidgetConverterVisitor::visitAronVariant(const aron::type::PairPtr& i)
- {
- // TODO
- }
-
- void
- SkillManagerMonitorWidgetController::SkillManagerMonitorArgumentTreeViewWidgetConverterVisitor::visitAronVariant(const aron::type::TuplePtr& i)
- {
- // TODO
- }
-
- void
- SkillManagerMonitorWidgetController::SkillManagerMonitorArgumentTreeViewWidgetConverterVisitor::visitAronVariant(const aron::type::ListPtr& i)
- {
- // TODO
- }
-
- void
- SkillManagerMonitorWidgetController::SkillManagerMonitorArgumentTreeViewWidgetConverterVisitor::visitAronVariant(const aron::type::NDArrayPtr& i)
- {
- // TODO
- }
-
- void
- SkillManagerMonitorWidgetController::SkillManagerMonitorArgumentTreeViewWidgetConverterVisitor::visitAronVariant(const aron::type::MatrixPtr& i)
- {
- // TODO
- }
-
- void
- SkillManagerMonitorWidgetController::SkillManagerMonitorArgumentTreeViewWidgetConverterVisitor::visitAronVariant(const aron::type::QuaternionPtr& i)
- {
- // TODO
- }
-
- void
- SkillManagerMonitorWidgetController::SkillManagerMonitorArgumentTreeViewWidgetConverterVisitor::visitAronVariant(const aron::type::PositionPtr& i)
- {
- // TODO
- }
-
- void
- SkillManagerMonitorWidgetController::SkillManagerMonitorArgumentTreeViewWidgetConverterVisitor::visitAronVariant(const aron::type::OrientationPtr& i)
- {
- // TODO
- }
-
- void
- SkillManagerMonitorWidgetController::SkillManagerMonitorArgumentTreeViewWidgetConverterVisitor::visitAronVariant(const aron::type::PosePtr& i)
- {
- // TODO
- }
-
- void
- SkillManagerMonitorWidgetController::SkillManagerMonitorArgumentTreeViewWidgetConverterVisitor::visitAronVariant(const aron::type::ImagePtr& i)
- {
- // TODO
- }
-
- void
- SkillManagerMonitorWidgetController::SkillManagerMonitorArgumentTreeViewWidgetConverterVisitor::visitAronVariant(const aron::type::PointCloudPtr& i)
- {
- // TODO
- }
-
- void
- SkillManagerMonitorWidgetController::SkillManagerMonitorArgumentTreeViewWidgetConverterVisitor::visitAronVariant(const aron::type::IntEnumPtr& i)
- {
- // TODO
- }
-
- void
- SkillManagerMonitorWidgetController::SkillManagerMonitorArgumentTreeViewWidgetConverterVisitor::visitAronVariant(const aron::type::IntPtr& i)
- {
- auto createdAronInt = std::make_shared<aron::data::Int>();
- createdAron = createdAronInt;
- QTreeWidgetItem* el = parentItem->child(index);
-
- std::string str = el->text(1).toStdString();
- if (str.empty())
- {
- createdAronInt->setValue(0);
- return;
- }
-
- int val = std::stoi(str);
- createdAronInt->setValue(val);
- }
-
- void
- SkillManagerMonitorWidgetController::SkillManagerMonitorArgumentTreeViewWidgetConverterVisitor::visitAronVariant(const aron::type::LongPtr& i)
- {
- auto createdAronLong = std::make_shared<aron::data::Long>();
- createdAron = createdAronLong;
- QTreeWidgetItem* el = parentItem->child(index);
-
- std::string str = el->text(1).toStdString();
- if (str.empty())
- {
- createdAronLong->setValue(0);
- return;
- }
-
- long val = std::stol(str);
- createdAronLong->setValue(val);
- }
-
- void
- SkillManagerMonitorWidgetController::SkillManagerMonitorArgumentTreeViewWidgetConverterVisitor::visitAronVariant(const aron::type::FloatPtr& i)
- {
- auto createdAronFloat = std::make_shared<aron::data::Float>();
- createdAron = createdAronFloat;
- QTreeWidgetItem* el = parentItem->child(index);
-
- std::string str = el->text(1).toStdString();
- if (str.empty())
- {
- createdAronFloat->setValue(0.0);
- return;
- }
-
- float val = std::stof(str);
- createdAronFloat->setValue(val);
- }
-
- void
- SkillManagerMonitorWidgetController::SkillManagerMonitorArgumentTreeViewWidgetConverterVisitor::visitAronVariant(const aron::type::DoublePtr& i)
- {
- auto createdAronDouble = std::make_shared<aron::data::Double>();
- createdAron = createdAronDouble;
- QTreeWidgetItem* el = parentItem->child(index);
-
- std::string str = el->text(1).toStdString();
- if (str.empty())
- {
- createdAronDouble->setValue(0.0);
- return;
- }
-
- float val = std::stod(str);
- createdAronDouble->setValue(val);
- }
-
- void
- SkillManagerMonitorWidgetController::SkillManagerMonitorArgumentTreeViewWidgetConverterVisitor::visitAronVariant(const aron::type::BoolPtr& i)
- {
- auto createdAronBool = std::make_shared<aron::data::Bool>();
- createdAron = createdAronBool;
- QTreeWidgetItem* el = parentItem->child(index);
-
- std::string str = el->text(1).toStdString();
- if (str.empty() || str == "false" || str == "no")
- {
- createdAronBool->setValue(false);
- return;
- }
-
- if (str == "true" || str == "yes")
- {
- createdAronBool->setValue(true);
- return;
- }
-
- bool val = std::stoi(str);
- createdAronBool->setValue(val);
- }
-
- void
- SkillManagerMonitorWidgetController::SkillManagerMonitorArgumentTreeViewWidgetConverterVisitor::visitAronVariant(const aron::type::StringPtr& i)
- {
- auto createdAronString = std::make_shared<aron::data::String>();
- createdAron = createdAronString;
- QTreeWidgetItem* el = parentItem->child(index);
-
- std::string str = el->text(1).toStdString();
- createdAronString->setValue(str);
- }
-
- void
- SkillManagerMonitorWidgetController::SkillManagerMonitorArgumentTreeViewWidgetConverterVisitor::visitAronVariant(const aron::type::TimePtr& i)
- {
- auto l = std::make_shared<aron::type::Long>();
- visitLong(l);
- }
-
- void SkillManagerMonitorWidgetController::SkillManagerMonitorArgumentTreeViewWidgetConverterVisitor::visitUnknown(Input&)
- {
- ARMARX_WARNING_S << "Received an unknown type when trying to convert a skill argument type to an aron data object.";
- }
-}
-
+// Others
namespace armarx
{
SkillManagerMonitorWidgetController::SkillManagerMonitorWidgetController()
@@ -418,9 +91,10 @@ namespace armarx
void SkillManagerMonitorWidgetController::onConnectComponent()
- { getProxy(observer, observerName);
+ { getProxy(manager, observerName);
widget.groupBoxSkills->setTitle(QString::fromStdString(observerName));
widget.treeWidgetSkillDetails->setEditTriggers(QAbstractItemView::EditTrigger::NoEditTriggers);
+ widget.treeWidgetSkillDetails->setColumnHidden(3, true);
}
void SkillManagerMonitorWidgetController::onDisconnectComponent()
@@ -438,7 +112,7 @@ namespace armarx
{
// get all skills
skills.clear();
- for (const auto& [providerName, provider] : observer->getSkillProviders())
+ for (const auto& [providerName, provider] : manager->getSkillProviders())
{
SkillProviderData providerData;
providerData.providerName = providerName;
@@ -475,23 +149,24 @@ namespace armarx
}
const auto& skillDescription = prv.skillDescriptions.at(selectedSkill.skillName);
- skills::SkillParametrization params;
- params.skillName = selectedSkill.skillName;
+ skills::manager::dto::SkillExecutionInfo exInfo;
+ exInfo.providerName = selectedSkill.providerName;
+ exInfo.skillName = selectedSkill.skillName;
// create argument aron (if there is an accepted type set)
if (skillsArgumentsTreeWidgetItem)
{
auto aron_accepted_type = std::make_shared<aron::type::Object>(*skillDescription.acceptedType);
- SkillManagerMonitorArgumentTreeViewWidgetConverterVisitor v(skillsArgumentsTreeWidgetItem, 0);
+ AronTreeViewWidgetConverterVisitor v(skillsArgumentsTreeWidgetItem, 0);
aron::type::visit(v, aron_accepted_type);
auto aron_args = aron::data::Dict::DynamicCastAndCheck(v.createdAron);
- params.params = aron_args->toAronDictPtr();
+ exInfo.parameterization.params = aron_args->toAronDictPtr();
}
ARMARX_INFO << "Executing skill from GUI: " << selectedSkill.providerName << "/" << selectedSkill.skillName;
- observer->executeSkill(selectedSkill.providerName, params);
+ manager->executeSkill(exInfo);
}
void SkillManagerMonitorWidgetController::stopSkill()
@@ -552,19 +227,19 @@ namespace armarx
{
auto it = new QTreeWidgetItem(widget.treeWidgetSkillDetails,
- {QString::fromStdString("Name"), QString::fromStdString(skillDesc.name)});
+ {QString::fromStdString("Name"), QString::fromStdString(skillDesc.skillName)});
widget.treeWidgetSkillDetails->addTopLevelItem(it);
}
{
auto it = new QTreeWidgetItem(widget.treeWidgetSkillDetails,
- {QString::fromStdString("Robot"), QString::fromStdString(simox::alg::join(skillDesc.robots, ", "))});
+ {QString::fromStdString("Robot"), QString::fromStdString(simox::alg::join(skillDesc.targets, ", "))});
widget.treeWidgetSkillDetails->addTopLevelItem(it);
}
{
auto it = new QTreeWidgetItem(widget.treeWidgetSkillDetails,
- {QString::fromStdString("Description"), QString::fromStdString(skillDesc.documentation)});
+ {QString::fromStdString("Description"), QString::fromStdString(skillDesc.description)});
widget.treeWidgetSkillDetails->addTopLevelItem(it);
}
@@ -581,7 +256,7 @@ namespace armarx
skillsArgumentsTreeWidgetItem = new QTreeWidgetItem(widget.treeWidgetSkillDetails,
{QString::fromStdString("Arguments")});
- SkillManagerMonitorArgumentTreeViewWidgetCreatorVisitor v(skillsArgumentsTreeWidgetItem);
+ AronTreeViewWidgetCreatorVisitor v(skillsArgumentsTreeWidgetItem);
aron::type::visit(v, aron_args);
if (v.createdQWidgetItem)
@@ -600,7 +275,21 @@ namespace armarx
{
if (column == 1)
{
- widget.treeWidgetSkillDetails->editItem(item, column);
+ if (item->flags() & Qt::ItemIsEditable) // we use the flag to indicate whether the item is editable or not
+ {
+ std::string name = item->text(0).toStdString();
+ std::string placeholder = item->text(1).toStdString();
+ if (placeholder.empty())
+ {
+ placeholder = item->text(3).toStdString();
+ ARMARX_IMPORTANT << "Setting placeholder to " << placeholder;
+ }
+
+ auto modal = AronTreeWidgetInputModalController(name, placeholder, getWidget());
+ modal.exec();
+
+ item->setText(1, modal.getInput());
+ }
}
}
}
diff --git a/source/RobotAPI/gui-plugins/SkillManagerPlugin/SkillManagerMonitorWidgetController.h b/source/RobotAPI/gui-plugins/SkillManagerPlugin/SkillManagerMonitorWidgetController.h
index 48ace9548..ae65fcbcb 100644
--- a/source/RobotAPI/gui-plugins/SkillManagerPlugin/SkillManagerMonitorWidgetController.h
+++ b/source/RobotAPI/gui-plugins/SkillManagerPlugin/SkillManagerMonitorWidgetController.h
@@ -47,85 +47,6 @@ namespace armarx
public:
- // Convert aron type to tree widget
- class SkillManagerMonitorArgumentTreeViewWidgetCreatorVisitor :
- public armarx::aron::type::ConstVariantVisitor
- {
- public:
- QTreeWidgetItem* parentItem;
- QTreeWidgetItem* createdQWidgetItem;
-
- SkillManagerMonitorArgumentTreeViewWidgetCreatorVisitor() = delete;
- SkillManagerMonitorArgumentTreeViewWidgetCreatorVisitor(QTreeWidgetItem* i) :
- parentItem(i)
- {}
-
- void createSimpleTreeViewWidget(Input& i);
-
- void visitAronVariant(const aron::type::ObjectPtr&) override;
- void visitAronVariant(const aron::type::DictPtr& i) override;
- void visitAronVariant(const aron::type::PairPtr& i) override;
- void visitAronVariant(const aron::type::TuplePtr& i) override;
- void visitAronVariant(const aron::type::ListPtr& i) override;
- void visitAronVariant(const aron::type::NDArrayPtr& i) override;
- void visitAronVariant(const aron::type::MatrixPtr& i) override;
- void visitAronVariant(const aron::type::QuaternionPtr& i) override;
- void visitAronVariant(const aron::type::PositionPtr& i) override;
- void visitAronVariant(const aron::type::OrientationPtr& i) override;
- void visitAronVariant(const aron::type::PosePtr& i) override;
- void visitAronVariant(const aron::type::ImagePtr& i) override;
- void visitAronVariant(const aron::type::PointCloudPtr& i) override;
- void visitAronVariant(const aron::type::IntEnumPtr& i) override;
- void visitAronVariant(const aron::type::IntPtr& i) override;
- void visitAronVariant(const aron::type::LongPtr& i) override;
- void visitAronVariant(const aron::type::FloatPtr& i) override;
- void visitAronVariant(const aron::type::DoublePtr& i) override;
- void visitAronVariant(const aron::type::BoolPtr& i) override;
- void visitAronVariant(const aron::type::StringPtr& i) override;
- void visitAronVariant(const aron::type::TimePtr& i) override;
- void visitUnknown(Input&) override;
- };
-
-
- // Conversion from TreeView to aron data
- class SkillManagerMonitorArgumentTreeViewWidgetConverterVisitor :
- public armarx::aron::type::ConstVariantVisitor
- {
- public:
- QTreeWidgetItem* parentItem;
- int index;
- aron::data::VariantPtr createdAron;
-
- SkillManagerMonitorArgumentTreeViewWidgetConverterVisitor() = delete;
- SkillManagerMonitorArgumentTreeViewWidgetConverterVisitor(QTreeWidgetItem* i, int x) :
- parentItem(i), index(x)
- {}
-
- void visitAronVariant(const aron::type::ObjectPtr&) override;
- void visitAronVariant(const aron::type::DictPtr&) override;
- void visitAronVariant(const aron::type::PairPtr&) override;
- void visitAronVariant(const aron::type::TuplePtr&) override;
- void visitAronVariant(const aron::type::ListPtr&) override;
- void visitAronVariant(const aron::type::NDArrayPtr&) override;
- void visitAronVariant(const aron::type::MatrixPtr&) override;
- void visitAronVariant(const aron::type::QuaternionPtr&) override;
- void visitAronVariant(const aron::type::PositionPtr&) override;
- void visitAronVariant(const aron::type::OrientationPtr&) override;
- void visitAronVariant(const aron::type::PosePtr&) override;
- void visitAronVariant(const aron::type::ImagePtr&) override;
- void visitAronVariant(const aron::type::PointCloudPtr&) override;
- void visitAronVariant(const aron::type::IntEnumPtr&) override;
- void visitAronVariant(const aron::type::IntPtr&) override;
- void visitAronVariant(const aron::type::LongPtr&) override;
- void visitAronVariant(const aron::type::FloatPtr&) override;
- void visitAronVariant(const aron::type::DoublePtr&) override;
- void visitAronVariant(const aron::type::BoolPtr&) override;
- void visitAronVariant(const aron::type::StringPtr&) override;
- void visitAronVariant(const aron::type::TimePtr&) override;
- void visitUnknown(Input&) override;
- };
-
-
/// Controller Constructor
explicit SkillManagerMonitorWidgetController();
/// Controller destructor
@@ -167,7 +88,7 @@ namespace armarx
QPointer<SimpleConfigDialog> dialog;
std::string observerName = "SkillManager";
- skills::SkillManagerInterfacePrx observer = nullptr;
+ skills::manager::dti::SkillManagerInterfacePrx manager = nullptr;
struct SelectedSkill
{
@@ -178,7 +99,7 @@ namespace armarx
struct SkillProviderData
{
std::string providerName;
- skills::SkillDescriptionMap skillDescriptions;
+ skills::provider::dto::SkillDescriptionMap skillDescriptions;
};
// Data taken from observer
diff --git a/source/RobotAPI/interface/skills/SkillManagerInterface.ice b/source/RobotAPI/interface/skills/SkillManagerInterface.ice
index 48c538cc6..579832821 100644
--- a/source/RobotAPI/interface/skills/SkillManagerInterface.ice
+++ b/source/RobotAPI/interface/skills/SkillManagerInterface.ice
@@ -28,16 +28,48 @@ module armarx
{
module skills
{
- interface SkillManagerInterface // rename to manager
+ module callback
{
- void addProvider(string providerName, SkillProviderInterface* provider);
- void removeProvider(string providerName);
- SkillProviderMap getSkillProviders();
+ module dti
+ {
+ interface SkillProviderCallbackInterface
+ {
+ // used for callbacks from providers to update their skill execution status
+ void updateStatusForSkill(provider::dto::SkillStatusUpdate statusUpdate);
+ }
+ }
+ }
- void executeSkill(string providerName, SkillParametrization skill);
+ module manager
+ {
+ module dto
+ {
+ // Inputs
+ struct SkillExecutionInfo
+ {
+ string providerName;
+ string skillName;
+ provider::dto::SkillParameterization parameterization;
+ };
+
+ struct ProviderInfo
+ {
+ string providerName;
+ provider::dti::SkillProviderInterface* provider;
+ provider::dto::SkillDescriptionMap providedSkills;
+ };
+ }
- // used for callbacks from providers to update their skill execution status
- void updateStatusForSkill(string providerName, SkillStatus statusUpdate);
- };
+ module dti
+ {
+ interface SkillManagerInterface extends callback::dti::SkillProviderCallbackInterface
+ {
+ void addProvider(dto::ProviderInfo providerInfo);
+ void removeProvider(string providerName);
+ provider::dti::SkillProviderMap getSkillProviders();
+ void executeSkill(dto::SkillExecutionInfo skillExecutionInfo);
+ };
+ }
+ }
}
}
diff --git a/source/RobotAPI/interface/skills/SkillMemoryInterface.ice b/source/RobotAPI/interface/skills/SkillMemoryInterface.ice
index 8025d4cdb..c8e3212ef 100644
--- a/source/RobotAPI/interface/skills/SkillMemoryInterface.ice
+++ b/source/RobotAPI/interface/skills/SkillMemoryInterface.ice
@@ -33,8 +33,11 @@ module armarx
{
module skills
{
- interface SkillMemoryInterface extends armem::server::MemoryInterface, StatechartListenerInterface, SkillManagerInterface
+ module dti
{
- };
+ interface SkillMemoryInterface extends armem::server::MemoryInterface, dti::StatechartListenerInterface, manager::dti::SkillManagerInterface
+ {
+ };
+ }
}
}
diff --git a/source/RobotAPI/interface/skills/SkillProviderInterface.ice b/source/RobotAPI/interface/skills/SkillProviderInterface.ice
index 24c4f4e4e..0a1649753 100644
--- a/source/RobotAPI/interface/skills/SkillProviderInterface.ice
+++ b/source/RobotAPI/interface/skills/SkillProviderInterface.ice
@@ -28,62 +28,86 @@ module armarx
{
module skills
{
- sequence<string> StringList;
-
- // Description of a skill. Needs to be sent to a skill observer or memory
- struct SkillDescription
+ module callback
{
- string name;
- StringList robots;
- string documentation; // rename to what?
- long timeoutMs; // Millisecs
-
- aron::type::dto::AronObject acceptedType; // the name of the object is irrelevant and only used in GUI
- };
- dictionary<string, SkillDescription> SkillDescriptionMap;
+ module dti
+ {
+ interface SkillProviderCallbackInterface;
+ }
+ }
- module Execution
+ module provider
{
- enum Status
+ module dto
{
- Idle,
- Scheduled,
- RunningButWaitingForDependencies,
- Running,
+ sequence<string> StringList;
- // terminating values
- Failed,
- Succeeded,
- Aborted
- };
- };
+ // Description of a skill. Needs to be sent to a skill manager or memory
+ // A skill is nothing but a executable thing, which can be executed on one or more 'targets' (empty means all)
+ struct SkillDescription
+ {
+ string skillName; // the name of the skill
+ string description; // a human readable description of what the skill does
+ StringList targets; // see above
+ long timeoutMs; // in milliseconds
+ aron::type::dto::AronObject acceptedType; // the name of the object is irrelevant and only used in GUI
+ };
+ dictionary<string, SkillDescription> SkillDescriptionMap;
- interface SkillManagerInterface;
- struct SkillParametrization
- {
- string skillName;
- aron::data::dto::Dict params;
- };
+ // The status enum of a skill
+ enum ExecutionStatus
+ {
+ Idle,
+ Scheduled,
+ Running,
- struct SkillStatus
- {
- Execution::Status status;
- SkillParametrization usedParameterization;
- aron::data::dto::Dict returnValue; // can be anything
- //string message;
- //string error;
- };
+ // terminating values
+ Failed,
+ Succeeded,
+ Aborted
+ };
- dictionary<string, SkillStatus> SkillStatusMap;
+ // execute a skill with the following parameterization
+ struct SkillParameterization
+ {
+ aron::data::dto::Dict params;
+ };
- interface SkillProviderInterface
- {
- SkillDescriptionMap getSkills();
- SkillStatus getSkillExecutionStatus(string name);
- void executeSkill(SkillParametrization skill, SkillManagerInterface* callbackInterface); // use nullptr if you do not want to have callbacks
- SkillStatus abortSkill(string skill);
- };
+ // Status updates of a skill
+ struct SkillStatusUpdate
+ {
+ string providerName;
+ string skillName;
+ SkillParameterization usedParameterization;
+ callback::dti::SkillProviderCallbackInterface* usedCallbackInterface;
+ ExecutionStatus status;
+ aron::data::dto::Dict data; // can be anything
+ };
+
+ dictionary<string, SkillStatusUpdate> SkillStatusUpdateMap;
+
+ // Inputs
+ struct SkillExecutionInfo
+ {
+ string skillName;
+ SkillParameterization parameterization;
+ callback::dti::SkillProviderCallbackInterface* callbackInterface; // use nullptr if you do not want to have callbacks
+ };
+ };
+
+ module dti
+ {
+
+ interface SkillProviderInterface
+ {
+ dto::SkillDescriptionMap getSkills();
+ dto::SkillStatusUpdate getSkillExecutionStatus(string name);
+ void executeSkill(dto::SkillExecutionInfo executionInfo);
+ dto::SkillStatusUpdate abortSkill(string skill);
+ };
- dictionary<string, SkillProviderInterface*> SkillProviderMap;
+ dictionary<string, SkillProviderInterface*> SkillProviderMap;
+ }
+ }
}
}
diff --git a/source/RobotAPI/interface/skills/StatechartListenerInterface.ice b/source/RobotAPI/interface/skills/StatechartListenerInterface.ice
index abcd88398..084633cdc 100644
--- a/source/RobotAPI/interface/skills/StatechartListenerInterface.ice
+++ b/source/RobotAPI/interface/skills/StatechartListenerInterface.ice
@@ -26,7 +26,10 @@
module armarx
{
- interface StatechartListenerInterface extends armarx::ProfilerListener
+ module dti
{
- };
+ interface StatechartListenerInterface extends armarx::ProfilerListener
+ {
+ };
+ }
}
diff --git a/source/RobotAPI/libraries/CMakeLists.txt b/source/RobotAPI/libraries/CMakeLists.txt
index 1add633dd..86bdc8fa4 100644
--- a/source/RobotAPI/libraries/CMakeLists.txt
+++ b/source/RobotAPI/libraries/CMakeLists.txt
@@ -29,6 +29,8 @@ add_subdirectory(armem_skills)
add_subdirectory(armem_system_state)
add_subdirectory(armem_vision)
+add_subdirectory(skills)
+
add_subdirectory(RobotUnitDataStreamingReceiver)
add_subdirectory(GraspingUtility)
diff --git a/source/RobotAPI/libraries/armem/server/segment/detail/SpecializedSegment.cpp b/source/RobotAPI/libraries/armem/server/segment/detail/SpecializedSegment.cpp
index d55f3427d..8180bce58 100644
--- a/source/RobotAPI/libraries/armem/server/segment/detail/SpecializedSegment.cpp
+++ b/source/RobotAPI/libraries/armem/server/segment/detail/SpecializedSegment.cpp
@@ -1,6 +1,6 @@
#include "SpecializedSegment.h"
-namespace armarx::armem::server::segment
+namespace armarx::armem::server::segment::detail
{
}
diff --git a/source/RobotAPI/libraries/armem/server/segment/detail/SpecializedSegment.h b/source/RobotAPI/libraries/armem/server/segment/detail/SpecializedSegment.h
index f739c0dd3..b82402f55 100644
--- a/source/RobotAPI/libraries/armem/server/segment/detail/SpecializedSegment.h
+++ b/source/RobotAPI/libraries/armem/server/segment/detail/SpecializedSegment.h
@@ -32,6 +32,18 @@ namespace armarx::armem::server::segment
Logging::setTag("armarx::armem::Segment");
}
+ MemoryID& id()
+ {
+ ARMARX_CHECK_NOT_NULL(segmentPtr);
+ return segmentPtr->id();
+ }
+
+ const MemoryID& id() const
+ {
+ ARMARX_CHECK_NOT_NULL(segmentPtr);
+ return segmentPtr->id();
+ }
+
virtual ~SegmentBase() = default;
virtual void defineProperties(armarx::PropertyDefinitionsPtr defs, const std::string& prefix = "") = 0;
diff --git a/source/RobotAPI/libraries/armem_skills/CMakeLists.txt b/source/RobotAPI/libraries/armem_skills/CMakeLists.txt
index 19e4c5a56..40e112f8b 100644
--- a/source/RobotAPI/libraries/armem_skills/CMakeLists.txt
+++ b/source/RobotAPI/libraries/armem_skills/CMakeLists.txt
@@ -11,29 +11,26 @@ armarx_add_library(
RobotAPI::Core
RobotAPI::armem_server
+ RobotAPI::skills
aronjsonconverter
SOURCES
./aron_conversions.cpp
./server/StatechartListenerComponentPlugin.cpp
- ./server/SkillManagerComponentPlugin.cpp
+
./server/segment/StatechartListenerSegment.cpp
./server/segment/ExecutableSkillLibrarySegment.cpp
./server/segment/SkillExecutionRequestSegment.cpp
./server/segment/SkillEventSegment.cpp
-
- ./client/SkillProviderComponentPlugin.cpp
HEADERS
./aron_conversions.h
./server/StatechartListenerComponentPlugin.h
- ./server/SkillManagerComponentPlugin.h
+
./server/segment/StatechartListenerSegment.h
./server/segment/ExecutableSkillLibrarySegment.h
./server/segment/SkillExecutionRequestSegment.h
./server/segment/SkillEventSegment.h
-
- ./client/SkillProviderComponentPlugin.h
)
armarx_enable_aron_file_generation_for_target(
diff --git a/source/RobotAPI/libraries/armem_skills/aron/Skill.xml b/source/RobotAPI/libraries/armem_skills/aron/Skill.xml
index 838960afb..0e539ff08 100644
--- a/source/RobotAPI/libraries/armem_skills/aron/Skill.xml
+++ b/source/RobotAPI/libraries/armem_skills/aron/Skill.xml
@@ -12,17 +12,17 @@ The memory should look like the following:
<AronTypeDefinition>
<GenerateTypes>
<Object name='armarx::skills::arondto::SkillDescription'>
- <ObjectChild key='name'>
+ <ObjectChild key='skillName'>
<String />
</ObjectChild>
- <ObjectChild key='robots'>
+ <ObjectChild key='targets'>
<List>
<String />
</List>
</ObjectChild>
- <ObjectChild key='documentation'>
+ <ObjectChild key='description'>
<String />
</ObjectChild>
@@ -30,9 +30,11 @@ The memory should look like the following:
<String />
</ObjectChild>
- <ObjectChild key='acceptedTypeJson'>
- <String />
+ <ObjectChild key='timeoutMs'>
+ <long />
</ObjectChild>
+
+ <!-- accepted type as any type -->
</Object>
<Object name='armarx::skills::arondto::SkillExecutionRequest'>
diff --git a/source/RobotAPI/libraries/armem_skills/client/SkillProviderComponentPlugin.cpp b/source/RobotAPI/libraries/armem_skills/client/SkillProviderComponentPlugin.cpp
deleted file mode 100644
index 35b128e53..000000000
--- a/source/RobotAPI/libraries/armem_skills/client/SkillProviderComponentPlugin.cpp
+++ /dev/null
@@ -1,240 +0,0 @@
-#include "SkillProviderComponentPlugin.h"
-
-#include <ArmarXCore/core/Component.h>
-
-#include <RobotAPI/libraries/aron/core/data/variant/primitive/All.h>
-
-namespace armarx::plugins
-{
- void SkillProviderComponentPlugin::preOnInitComponent()
- {
-
- }
-
- void SkillProviderComponentPlugin::preOnConnectComponent()
- {
- auto& p = parent<SkillProviderComponentPluginUser>();
- p.getProxy(skillProvider, -1);
- }
-
- void SkillProviderComponentPlugin::postOnConnectComponent()
- {
- auto& p = parent<SkillProviderComponentPluginUser>();
- std::string providerName = p.getName();
- SkillManager->addProvider(providerName, skillProvider);
- }
-
- void SkillProviderComponentPlugin::postCreatePropertyDefinitions(PropertyDefinitionsPtr& properties)
- {
- std::string prefix = "skill.";
- properties->component(SkillManager, "SkillMemory", prefix + "SkillManager", "The name of the SkillManager (or SkillMemory) proxy.");
- }
-}
-
-
-namespace armarx
-{
- SkillProviderComponentPluginUser::SkillProviderComponentPluginUser()
- {
- addPlugin(plugin);
- }
-
- void SkillProviderComponentPluginUser::addSkill(const skills::SkillImplementationPtr& fun, const skills::SkillDescription& desc)
- {
- std::lock_guard l(skillsMutex);
- std::string providerName = getName();
- std::string skillName = desc.name;
-
- if (skillImplementations.find(skillName) != skillImplementations.end())
- {
- ARMARX_WARNING << "Try to add a skill '" + skillName + "' which already exists in list. Ignore this skill.";
- return;
- }
-
- ARMARX_DEBUG << "Adding skill " << skillName << " to list";
- SkillImplementationWrapper skill(fun, providerName, desc);
- skillImplementations.insert({skillName, skill});
- }
-
- void SkillProviderComponentPluginUser::addSkill(const skills::LambdaSkillImplementation::FunT& f, const skills::SkillDescription& desc)
- {
- auto lmbda = std::make_shared<skills::LambdaSkillImplementation>(f);
- addSkill(lmbda, desc);
- }
-
- skills::SkillDescriptionMap SkillProviderComponentPluginUser::getSkills(const Ice::Current ¤t)
- {
- std::lock_guard l(skillsMutex);
- skills::SkillDescriptionMap skillDesciptions;
- for (const auto& [key, skillImplementation] : skillImplementations)
- {
- skillDesciptions.insert({key, skillImplementation.description});
- }
- return skillDesciptions;
- }
-
- skills::SkillStatus SkillProviderComponentPluginUser::getSkillExecutionStatus(const std::string& skill, const Ice::Current ¤t)
- {
- std::lock_guard l(skillsMutex);
- auto& skillImplementation = skillImplementations.at(skill);
-
- std::lock_guard l2(skillImplementation.skillStatusMutex);
- return skillImplementation.status;
- }
-
- void SkillProviderComponentPluginUser::executeSkill(const skills::SkillParametrization& params, const skills::SkillManagerInterfacePrx& callbackInterface, const Ice::Current ¤t)
- {
- std::lock_guard l(skillsMutex);
- std::string skillName = params.skillName;
- ARMARX_CHECK_EXPRESSION(skillImplementations.count(skillName) > 0);
-
- auto& impl = skillImplementations.at(skillName);
-
- if (impl.task.joinable())
- {
- impl.task.join();
- }
-
- // update input params
- impl.reset();
- impl.callbackInterface = callbackInterface;
- impl.status.usedParameterization = params;
-
- // recreate thread and execute skill
- impl.task = std::thread{ [&] { impl.execute(); } };
- }
-
- skills::SkillStatus SkillProviderComponentPluginUser::abortSkill(const std::string& skillName, const Ice::Current ¤t)
- {
- std::lock_guard l(skillsMutex);
- ARMARX_CHECK_EXPRESSION(skillImplementations.count(skillName) > 0);
- auto& impl = skillImplementations.at(skillName);
- impl.stop = true;
- if (impl.task.joinable())
- {
- impl.task.join();
-
- std::lock_guard l(impl.skillStatusMutex);
- impl.status.status = skills::Execution::Aborted;
- }
-
- return skillImplementations.at(skillName).status;
- }
-
- void SkillProviderComponentPluginUser::SkillImplementationWrapper::reset()
- {
- std::lock_guard l(skillStatusMutex);
- stop = false;
- status.status = skills::Execution::Status::Idle;
- status.returnValue = nullptr;
- skillStarted = 0;
- }
-
- void SkillProviderComponentPluginUser::SkillImplementationWrapper::execute()
- {
- ARMARX_INFO_S << "Executing skill: " << description.name;
- try
- {
- // set scheduled and reset skill
- {
- std::lock_guard l(skillStatusMutex);
- status.status = skills::Execution::Scheduled;
-
- // do callback
- if (callbackInterface)
- {
- callbackInterface->updateStatusForSkill(providerName, status);
- }
- }
-
- // wait for dependencies
- {
- std::lock_guard l(skillStatusMutex);
- status.status = skills::Execution::RunningButWaitingForDependencies;
- if (callbackInterface)
- {
- callbackInterface->updateStatusForSkill(providerName, status);
- }
- }
-
- if (stop) return;
- auto initialized = skill->init();
- if (stop) return;
-
- if (initialized != skills::SkillImplementation::Status::Succeeded)
- {
- // create message to return
- auto returnDict = std::make_shared<aron::data::Dict>();
- auto message = std::make_shared<aron::data::String>("Could not initialize the skill.");
- returnDict->addElement("message", message);
- status.returnValue = returnDict->toAronDictPtr();
-
- throw armarx::LocalException("The Skill '"+description.name+"' failed during initialization.");
- }
-
- // execute
- {
- std::lock_guard l(skillStatusMutex);
- status.status = skills::Execution::Running;
- if (callbackInterface)
- {
- callbackInterface->updateStatusForSkill(providerName, status);
- }
- }
-
- if (stop) return;
- aron::data::DictPtr aron_params = nullptr;
- if (status.usedParameterization.params) // check if params are set.
- {
- aron_params = std::make_shared<aron::data::Dict>(status.usedParameterization.params);
- }
- else
- {
- if (description.acceptedType)
- {
- throw armarx::LocalException("The Skill '"+description.name+"' requires a type but no params are NULL.");
- }
- }
-
- auto updateCallback = [&](const aron::data::DictPtr& update)
- {
- if (update)
- {
- status.returnValue = update->toAronDictPtr();
- callbackInterface->updateStatusForSkill(providerName, status);
- }
- };
- auto result = skill->execute(aron_params, updateCallback);
- if (stop) return;
-
- {
- if (result == skills::SkillImplementation::Status::Failed)
- {
- throw armarx::LocalException("The Skill '"+description.name+"' failed during execution.");
- }
- if (result == skills::SkillImplementation::Status::TimeoutReached)
- {
- throw armarx::LocalException("The Skill '"+description.name+"' reached timeout during execution.");
- }
-
- std::lock_guard l(skillStatusMutex);
- status.status = skills::Execution::Succeeded;
- if (callbackInterface)
- {
- callbackInterface->updateStatusForSkill(providerName, status);
- }
- }
- }
- catch (const std::exception& ex)
- {
- ARMARX_WARNING_S << "Skill " << description.name << " died with exception:\n" << ex.what();
-
- std::lock_guard l(skillStatusMutex);
- status.status = skills::Execution::Failed;
- if (callbackInterface)
- {
- callbackInterface->updateStatusForSkill(providerName, status);
- }
- }
- }
-}
diff --git a/source/RobotAPI/libraries/armem_skills/client/SkillProviderComponentPlugin.h b/source/RobotAPI/libraries/armem_skills/client/SkillProviderComponentPlugin.h
deleted file mode 100644
index 8f5cc81fb..000000000
--- a/source/RobotAPI/libraries/armem_skills/client/SkillProviderComponentPlugin.h
+++ /dev/null
@@ -1,165 +0,0 @@
-#pragma once
-
-#include <mutex>
-#include <queue>
-#include <thread>
-#include <functional>
-
-#include <ArmarXCore/core/ComponentPlugin.h>
-#include <ArmarXCore/core/ManagedIceObject.h>
-
-#include <ArmarXCore/core/services/tasks/RunningTask.h>
-
-#include <RobotAPI/interface/skills/SkillManagerInterface.h>
-#include <RobotAPI/libraries/aron/core/data/variant/container/Dict.h>
-
-namespace armarx::plugins
-{
- class SkillProviderComponentPlugin : public ComponentPlugin
- {
- public:
- using ComponentPlugin::ComponentPlugin;
-
- void preOnInitComponent() override;
-
- void preOnConnectComponent() override;
- void postOnConnectComponent() override;
-
- void postCreatePropertyDefinitions(PropertyDefinitionsPtr& properties) override;
-
- private:
- skills::SkillManagerInterfacePrx SkillManager;
- skills::SkillProviderInterfacePrx skillProvider;
- };
-}
-
-namespace armarx
-{
- namespace skills
- {
- class SkillImplementation
- {
- public:
- using CallbackT = std::function<void(const aron::data::DictPtr&)>;
-
- enum class Status
- {
- Succeeded,
- TimeoutReached,
- Failed
- };
-
- virtual Status init()
- {
- return Status::Succeeded;
- }
-
- /// Override this method with the actual implementation. The callback is for status updates
- virtual Status execute(const aron::data::DictPtr& params, const CallbackT& callback)
- {
- ARMARX_WARNING_S << "You have to override this method!";
- return Status::Succeeded;
- }
-
- /// Use this if you do not need a callback
- Status execute(const aron::data::DictPtr& params)
- {
- auto fun = [](const aron::data::DictPtr&) {};
- return execute(params, fun);
- }
- };
-
- class LambdaSkillImplementation : public SkillImplementation
- {
- public:
- using FunT = std::function<bool(const aron::data::DictPtr&)>;
-
- LambdaSkillImplementation() = delete;
- LambdaSkillImplementation(const FunT& f) : fun(f) {};
-
- SkillImplementation::Status execute(const aron::data::DictPtr& data, const CallbackT& callback) override
- {
- bool res = fun(data);
- return res ? Status::Succeeded : Status::Failed;
- }
-
- private:
- FunT fun;
- };
-
- using SkillImplementationPtr = std::shared_ptr<SkillImplementation>;
- using LambdaSkillImplementationPtr = std::shared_ptr<LambdaSkillImplementation>;
- }
-
-
- class SkillProviderComponentPluginUser :
- virtual public ManagedIceObject,
- virtual public skills::SkillProviderInterface
- {
- public:
- struct SkillImplementationWrapper
- {
- // fixed values. Do not change after skill instantiation
- const std::string providerName;
- const skills::SkillDescription description;
- const skills::SkillImplementationPtr skill;
-
- // Current execution status. Changes during execution
- skills::SkillStatus status;
-
- // Used callback interface. May change on start
- skills::SkillManagerInterfacePrx callbackInterface = nullptr;
-
- // Info
- long skillStarted = 0;
-
- // Task information. task is recreated every time the skill restarts
- mutable std::mutex skillStatusMutex;
- std::atomic_bool stop = false;
- std::thread task;
-
- SkillImplementationWrapper(const skills::SkillImplementationPtr& fun, const std::string& providerName, const skills::SkillDescription& desc) :
- providerName(providerName), description(desc), skill(fun)
- {
- reset();
- }
-
- SkillImplementationWrapper(const SkillImplementationWrapper& s) :
- SkillImplementationWrapper(s.skill, s.providerName, s.description)
- {}
-
- void execute();
- void reset();
-
- private:
- bool isTimeoutReached() const
- {
- if (description.timeoutMs < 0)
- {
- return false;
- }
-
- auto now = IceUtil::Time::now().toMilliSeconds();
- return (now - skillStarted) >= description.timeoutMs;
- }
- };
-
- SkillProviderComponentPluginUser();
-
- skills::SkillDescriptionMap getSkills(const Ice::Current ¤t) override;
- skills::SkillStatus getSkillExecutionStatus(const std::string& skill, const Ice::Current ¤t) override;
- void executeSkill(const skills::SkillParametrization &skill, const skills::SkillManagerInterfacePrx& callbackInterface, const Ice::Current ¤t) override;
- skills::SkillStatus abortSkill(const std::string &skill, const Ice::Current ¤t) override;
-
- protected:
- void addSkill(const skills::LambdaSkillImplementation::FunT&, const skills::SkillDescription&);
- void addSkill(const skills::SkillImplementationPtr&, const skills::SkillDescription&);
-
- private:
- armarx::plugins::SkillProviderComponentPlugin* plugin = nullptr;
-
- protected:
- mutable std::mutex skillsMutex;
- std::map<std::string, SkillImplementationWrapper> skillImplementations;
- };
-}
diff --git a/source/RobotAPI/libraries/armem_skills/server/SkillManagerComponentPlugin.cpp b/source/RobotAPI/libraries/armem_skills/server/SkillManagerComponentPlugin.cpp
deleted file mode 100644
index ee2445911..000000000
--- a/source/RobotAPI/libraries/armem_skills/server/SkillManagerComponentPlugin.cpp
+++ /dev/null
@@ -1,65 +0,0 @@
-#include "SkillManagerComponentPlugin.h"
-
-#include <ArmarXCore/core/Component.h>
-
-namespace armarx::plugins
-{
- void SkillManagerComponentPlugin::preOnInitComponent()
- {}
-
- void SkillManagerComponentPlugin::preOnConnectComponent()
- {}
-
- void SkillManagerComponentPlugin::postCreatePropertyDefinitions(PropertyDefinitionsPtr& properties)
- {}
-}
-
-
-namespace armarx
-{
- SkillManagerComponentPluginUser::SkillManagerComponentPluginUser()
- {
- addPlugin(plugin);
- }
-
- void SkillManagerComponentPluginUser::addProvider(const std::string& providerName, const skills::SkillProviderInterfacePrx& provider, const Ice::Current&)
- {
- std::lock_guard l(skillProviderMapMutex);
- if (skillProviderMap.find(providerName) == skillProviderMap.end())
- {
- ARMARX_INFO << "Adding a provider with name '" << providerName << "'.";
- skillProviderMap.insert({providerName, provider});
- }
- }
-
- void SkillManagerComponentPluginUser::removeProvider(const std::string& providerName, const Ice::Current&)
- {
- std::lock_guard l(skillProviderMapMutex);
- if (auto it = skillProviderMap.find(providerName); it != skillProviderMap.end())
- {
- skillProviderMap.erase(it);
- }
- }
-
- skills::SkillProviderMap SkillManagerComponentPluginUser::getSkillProviders(const Ice::Current&)
- {
- return skillProviderMap;
- }
-
- void SkillManagerComponentPluginUser::executeSkill(const std::string& providerName, const skills::SkillParametrization& params, const Ice::Current&)
- {
- if (auto it = skillProviderMap.find(providerName); it != skillProviderMap.end())
- {
- auto myPrx = getProxy<skills::SkillManagerInterfacePrx>(getName());
- it->second->executeSkill(params, myPrx);
- }
- throw LocalException("Could not execute a skill of provider '" + providerName + "' because the provider does not exist.");
- }
-
- void SkillManagerComponentPluginUser::updateStatusForSkill(const std::string& providerName, const skills::SkillStatus& statusUpdate, const Ice::Current&)
- {
- (void) providerName;
- (void) statusUpdate;
- // If you want to use the status, implement this method!
- }
-}
diff --git a/source/RobotAPI/libraries/armem_skills/server/StatechartListenerComponentPlugin.h b/source/RobotAPI/libraries/armem_skills/server/StatechartListenerComponentPlugin.h
index 9379c5008..4f62bfdfe 100644
--- a/source/RobotAPI/libraries/armem_skills/server/StatechartListenerComponentPlugin.h
+++ b/source/RobotAPI/libraries/armem_skills/server/StatechartListenerComponentPlugin.h
@@ -25,7 +25,7 @@ namespace armarx
{
class StatechartListenerComponentPluginUser :
virtual public ManagedIceObject,
- virtual public StatechartListenerInterface
+ virtual public dti::StatechartListenerInterface
{
public:
StatechartListenerComponentPluginUser();
diff --git a/source/RobotAPI/libraries/armem_skills/server/segment/ExecutableSkillLibrarySegment.cpp b/source/RobotAPI/libraries/armem_skills/server/segment/ExecutableSkillLibrarySegment.cpp
index d5bd93058..3c9d18f33 100644
--- a/source/RobotAPI/libraries/armem_skills/server/segment/ExecutableSkillLibrarySegment.cpp
+++ b/source/RobotAPI/libraries/armem_skills/server/segment/ExecutableSkillLibrarySegment.cpp
@@ -7,112 +7,53 @@
#include <RobotAPI/libraries/armem_skills/aron/Skill.aron.generated.h>
-
namespace armarx::skills::segment
{
- ExecutableSkillLibraryProviderSegment::ExecutableSkillLibraryProviderSegment(const std::string& provName, const SkillProviderInterfacePrx& prx, armem::server::MemoryToIceAdapter& iceMemory):
- Base(iceMemory, provName, ExecutableSkillLibraryCoreSegment::CoreSegmentName, skills::arondto::SkillDescription::toAronType()),
- skillProvider(prx)
+ ExecutableSkillLibraryCoreSegment::ExecutableSkillLibraryCoreSegment(armem::server::MemoryToIceAdapter& iceMemory):
+ Base(iceMemory, CoreSegmentName, skills::arondto::SkillDescription::toAronType())
{
}
- void ExecutableSkillLibraryProviderSegment::defineProperties(PropertyDefinitionsPtr defs, const std::string &prefix)
+ void ExecutableSkillLibraryCoreSegment::defineProperties(PropertyDefinitionsPtr defs, const std::string &prefix)
{
// No properties! (meaning no name and no max size)
}
- void ExecutableSkillLibraryProviderSegment::init()
+ void ExecutableSkillLibraryCoreSegment::init()
{
Base::init();
+ }
+ void ExecutableSkillLibraryCoreSegment::addSkillProvider(const skills::manager::dto::ProviderInfo& info)
+ {
// add skills
- auto skills = skillProvider->getSkills();
+ auto skills = info.providedSkills;
+
+ auto provId = id().withProviderSegmentName(info.providerName);
- ARMARX_INFO << "During init the providerSegment '" << getProviderSegment().id().providerSegmentName << "' has " << skills.size() << " skills.";
for (const auto& [key, desc] : skills)
{
- skills::arondto::SkillDescription skillDescription;
- skillDescription.name = desc.name;
- skillDescription.documentation = desc.documentation;
- skillDescription.iceInfo = skillProvider->ice_toString();
- skillDescription.robots = desc.robots;
- if (desc.acceptedType)
- {
- aron::type::VariantPtr t = aron::type::Variant::FromAronDTO(*desc.acceptedType);
- skillDescription.acceptedTypeJson = aron::converter::AronNlohmannJSONConverter::ConvertToNlohmannJSON(t).dump(2);
- }
+ armarx::skills::arondto::SkillDescription skillDescription;
+ skillDescription.skillName = desc.skillName;
+ skillDescription.description = desc.description;
+ skillDescription.iceInfo = info.provider->ice_toString();
+ skillDescription.targets = desc.targets;
+ skillDescription.timeoutMs = desc.timeoutMs;
armem::Commit commit;
auto& entityUpdate = commit.add();
entityUpdate.confidence = 1.0;
entityUpdate.timeCreated = armem::Time::now();
entityUpdate.instancesData = {skillDescription.toAron()};
- entityUpdate.entityID = getProviderSegment().id().withEntityName(key);
+ entityUpdate.entityID = provId.withEntityName(skillDescription.skillName);
// Commit data to memory and notify
iceMemory.commit(commit);
}
}
- void ExecutableSkillLibraryProviderSegment::directlyExecuteSkill(const skills::arondto::SkillExecutionRequest& req, const skills::SkillManagerInterfacePrx& callbackInterface, const aron::data::DictPtr& params)
- {
- skills::SkillParametrization parameterization;
- parameterization.skillName = req.skillName;
- if (params) // may be null
- {
- parameterization.params = params->toAronDictPtr();
- }
- skillProvider->executeSkill(parameterization, callbackInterface);
- }
-
- ExecutableSkillLibraryCoreSegment::ExecutableSkillLibraryCoreSegment(armem::server::MemoryToIceAdapter& iceMemory):
- Base(iceMemory, CoreSegmentName, skills::arondto::SkillDescription::toAronType())
- {
- }
-
- void ExecutableSkillLibraryCoreSegment::defineProperties(PropertyDefinitionsPtr defs, const std::string &prefix)
- {
- // No properties! (meaning no name and no max size)
- }
-
- void ExecutableSkillLibraryCoreSegment::init()
- {
- Base::init();
- }
-
- void ExecutableSkillLibraryCoreSegment::addSkillProvider(const std::string& providerSegmentName, const SkillProviderInterfacePrx& provider)
- {
- auto it = providerSegments.emplace(providerSegmentName, ExecutableSkillLibraryProviderSegment{providerSegmentName, provider, iceMemory});
- if (it.second)
- {
- it.first->second.init();
- }
- else
- {
- ARMARX_WARNING << "Could not insert a skillProvider '"<<providerSegmentName<<"' to the segment '" << getCoreSegment().id().str() << "'. This may leave the SkillManager and the memory unsynchronized.";
- }
- }
-
- SkillProviderInterfacePrx ExecutableSkillLibraryCoreSegment::getSkillProvider(const std::string& providerName) const
- {
- return providerSegments.at(providerName).skillProvider;
- }
-
void ExecutableSkillLibraryCoreSegment::removeSkillProvider(const std::string& providerName)
{
- providerSegments.erase(providerName);
- }
-
- void ExecutableSkillLibraryCoreSegment::directlyExecuteSkill(const skills::arondto::SkillExecutionRequest& req, const skills::SkillManagerInterfacePrx& callbackInterface, const aron::data::DictPtr& params)
- {
- if (const auto& it = providerSegments.find(req.providerName); it != providerSegments.end())
- {
- it->second.directlyExecuteSkill(req, callbackInterface, params);
- }
- }
-
- size_t ExecutableSkillLibraryCoreSegment::size() const
- {
- return providerSegments.size();
+ skills.erase(providerName);
}
}
diff --git a/source/RobotAPI/libraries/armem_skills/server/segment/ExecutableSkillLibrarySegment.h b/source/RobotAPI/libraries/armem_skills/server/segment/ExecutableSkillLibrarySegment.h
index dd2dba322..a2d4227bb 100644
--- a/source/RobotAPI/libraries/armem_skills/server/segment/ExecutableSkillLibrarySegment.h
+++ b/source/RobotAPI/libraries/armem_skills/server/segment/ExecutableSkillLibrarySegment.h
@@ -8,29 +8,13 @@
#include <ArmarXCore/observers/ObserverObjectFactories.h>
#include <ArmarXCore/core/application/properties/PropertyDefinitionContainer.h>
+#include <RobotAPI/interface/skills/SkillManagerInterface.h>
#include <RobotAPI/interface/skills/SkillProviderInterface.h>
#include <RobotAPI/libraries/armem_skills/aron/Skill.aron.generated.h>
namespace armarx::skills::segment
{
- class ExecutableSkillLibraryProviderSegment :
- public armem::server::segment::SpecializedProviderSegment
- {
- using Base = armem::server::segment::SpecializedProviderSegment;
-
- public:
- ExecutableSkillLibraryProviderSegment(const std::string& provName, const SkillProviderInterfacePrx&, armem::server::MemoryToIceAdapter& iceMemory);
-
- void defineProperties(PropertyDefinitionsPtr defs, const std::string &prefix);
- void init();
-
- void directlyExecuteSkill(const skills::arondto::SkillExecutionRequest&, const skills::SkillManagerInterfacePrx& callbackInterface, const aron::data::DictPtr& params);
-
- public:
- SkillProviderInterfacePrx skillProvider;
- };
-
class ExecutableSkillLibraryCoreSegment :
public armem::server::segment::SpecializedCoreSegment
{
@@ -44,14 +28,12 @@ namespace armarx::skills::segment
void defineProperties(PropertyDefinitionsPtr defs, const std::string &prefix);
void init();
- void addSkillProvider(const std::string& providerName, const SkillProviderInterfacePrx& provider);
- SkillProviderInterfacePrx getSkillProvider(const std::string& providerName) const;
+ void addSkillProvider(const skills::manager::dto::ProviderInfo& info);
void removeSkillProvider(const std::string& providerName);
- void directlyExecuteSkill(const skills::arondto::SkillExecutionRequest&, const skills::SkillManagerInterfacePrx& callbackInterface, const aron::data::DictPtr& params);
size_t size() const;
private:
- std::map<std::string, ExecutableSkillLibraryProviderSegment> providerSegments;
+ std::map<std::string, std::map<std::string, skills::manager::dto::ProviderInfo>> skills;
};
}
diff --git a/source/RobotAPI/libraries/armem_skills/server/segment/SkillEventSegment.cpp b/source/RobotAPI/libraries/armem_skills/server/segment/SkillEventSegment.cpp
index 012a2c0ad..e0e833c35 100644
--- a/source/RobotAPI/libraries/armem_skills/server/segment/SkillEventSegment.cpp
+++ b/source/RobotAPI/libraries/armem_skills/server/segment/SkillEventSegment.cpp
@@ -24,4 +24,46 @@ namespace armarx::skills::segment
{
Base::init();
}
+
+ void SkillEventCoreSegment::addSkillUpdateEvent(const skills::provider::dto::SkillStatusUpdate& update)
+ {
+ // add update for skill to memory
+ static std::map<armarx::skills::provider::dto::ExecutionStatus, std::string> ExecutionStatus2String = {
+ {armarx::skills::provider::dto::ExecutionStatus::Idle, "Idle"},
+ {armarx::skills::provider::dto::ExecutionStatus::Scheduled, "Scheduled"},
+ {armarx::skills::provider::dto::ExecutionStatus::Running, "Running"},
+ {armarx::skills::provider::dto::ExecutionStatus::Aborted, "Aborted"},
+ {armarx::skills::provider::dto::ExecutionStatus::Failed, "Failed"},
+ {armarx::skills::provider::dto::ExecutionStatus::Succeeded, "Succeeded"}
+ };
+
+ // create commit about new update
+ armarx::skills::arondto::SkillExecutionEvent event;
+ event.providerName = update.providerName;
+ event.skillName = update.skillName;
+ event.status = ExecutionStatus2String.at(update.status);
+
+ aron::data::DictPtr aron_params = nullptr;
+ if (update.usedParameterization.params) aron_params = std::make_shared<aron::data::Dict>(update.usedParameterization.params);
+
+ aron::data::DictPtr aron_data = nullptr;
+ if (update.data) aron_data = std::make_shared<aron::data::Dict>(update.data);
+
+ armem::MemoryID commitId = id();
+ commitId.providerSegmentName = event.providerName;
+ commitId.entityName = event.skillName;
+
+ auto aron = event.toAron();
+ aron->addElement("return", aron_data); // how to name?!?
+ aron->addElement("params", aron_params);
+
+ armem::Commit comm;
+ auto& entityUpdate = comm.add();
+ entityUpdate.confidence = 1.0;
+ entityUpdate.timeCreated = armem::Time::now();
+ entityUpdate.instancesData = { aron };
+ entityUpdate.entityID = commitId;
+
+ iceMemory.commit(comm);
+ }
}
diff --git a/source/RobotAPI/libraries/armem_skills/server/segment/SkillEventSegment.h b/source/RobotAPI/libraries/armem_skills/server/segment/SkillEventSegment.h
index 7867bc934..93df4bf7a 100644
--- a/source/RobotAPI/libraries/armem_skills/server/segment/SkillEventSegment.h
+++ b/source/RobotAPI/libraries/armem_skills/server/segment/SkillEventSegment.h
@@ -6,6 +6,7 @@
#include <RobotAPI/libraries/armem/server/segment/SpecializedSegment.h>
// ArmarX
+#include <RobotAPI/interface/skills/SkillManagerInterface.h>
#include <RobotAPI/interface/skills/SkillProviderInterface.h>
#include <RobotAPI/libraries/armem_skills/aron/Skill.aron.generated.h>
@@ -25,7 +26,8 @@ namespace armarx::skills::segment
void defineProperties(PropertyDefinitionsPtr defs, const std::string &prefix);
void init();
+ void addSkillUpdateEvent(const skills::provider::dto::SkillStatusUpdate& update);
+
private:
- std::map<std::string, std::map<std::string, std::thread>> pollers;
};
}
diff --git a/source/RobotAPI/libraries/armem_skills/server/segment/SkillExecutionRequestSegment.cpp b/source/RobotAPI/libraries/armem_skills/server/segment/SkillExecutionRequestSegment.cpp
index a4a02d913..1f6e8c377 100644
--- a/source/RobotAPI/libraries/armem_skills/server/segment/SkillExecutionRequestSegment.cpp
+++ b/source/RobotAPI/libraries/armem_skills/server/segment/SkillExecutionRequestSegment.cpp
@@ -11,33 +11,67 @@
namespace armarx::skills::segment
{
- SkillExecutionRequestProviderSegment::SkillExecutionRequestProviderSegment(const std::string& provName, const SkillProviderInterfacePrx& prx, armem::server::MemoryToIceAdapter& iceMemory):
- Base(iceMemory, provName, SkillExecutionRequestCoreSegment::CoreSegmentName/*, skills::arondto::SkillExecutionRequest::toAronType()*/)
+ SkillExecutionRequestCoreSegment::SkillExecutionRequestCoreSegment(armem::server::MemoryToIceAdapter& iceMemory):
+ Base(iceMemory, CoreSegmentName/*, skills::arondto::SkillExecutionRequest::toAronType()*/)
{
}
- void SkillExecutionRequestProviderSegment::defineProperties(PropertyDefinitionsPtr defs, const std::string &prefix)
+ void SkillExecutionRequestCoreSegment::defineProperties(PropertyDefinitionsPtr defs, const std::string &prefix)
{
// No properties! (meaning no name and no max size)
}
- void SkillExecutionRequestProviderSegment::init()
+ void SkillExecutionRequestCoreSegment::init()
{
Base::init();
}
- SkillExecutionRequestCoreSegment::SkillExecutionRequestCoreSegment(armem::server::MemoryToIceAdapter& iceMemory):
- Base(iceMemory, CoreSegmentName/*, skills::arondto::SkillExecutionRequest::toAronType()*/)
- {
- }
- void SkillExecutionRequestCoreSegment::defineProperties(PropertyDefinitionsPtr defs, const std::string &prefix)
+ skills::manager::dto::SkillExecutionInfo SkillExecutionRequestCoreSegment::convertCommit(const aron::data::dto::DictPtr& commitData)
{
- // No properties! (meaning no name and no max size)
+ // convert ice commitData to aron
+ auto commitDataAron = std::make_shared<aron::data::Dict>(commitData);
+
+ // we got a skill execution request
+ skills::arondto::SkillExecutionRequest request;
+ request.fromAron(commitDataAron);
+ auto params = aron::data::Dict::DynamicCastAndCheck(commitDataAron->at("params")); // ToDo remov and add to request
+
+ skills::manager::dto::SkillExecutionInfo info;
+ info.providerName = request.providerName;
+ info.skillName = request.skillName;
+ info.parameterization.params = params->toAronDictPtr();
+ return info;
}
- void SkillExecutionRequestCoreSegment::init()
+
+ void SkillExecutionRequestCoreSegment::addSkillExecutionRequest(const skills::manager::dto::SkillExecutionInfo& info)
{
- Base::init();
+ // override directly execution to add a request to the memory
+ armem::Commit comm;
+ auto& entityUpdate = comm.add();
+
+ skills::arondto::SkillExecutionRequest request;
+ request.clientId = "";
+ request.providerName = info.providerName;
+ request.skillName = info.skillName;
+
+ auto aron = request.toAron();
+
+ aron::data::DictPtr aron_params = nullptr;
+ if (info.parameterization.params) aron_params = std::make_shared<aron::data::Dict>(info.parameterization.params);
+
+ aron->addElement("params", aron_params); // todo add as any type
+
+ armem::MemoryID skillExecutionMemID = id();
+ skillExecutionMemID.providerSegmentName = request.providerName;
+ skillExecutionMemID.entityName = request.skillName;
+
+ entityUpdate.entityID = skillExecutionMemID;
+ entityUpdate.instancesData = { aron };
+ entityUpdate.confidence = 1.0;
+ entityUpdate.timeCreated = armem::Time::now();
+
+ iceMemory.commit(comm);
}
}
diff --git a/source/RobotAPI/libraries/armem_skills/server/segment/SkillExecutionRequestSegment.h b/source/RobotAPI/libraries/armem_skills/server/segment/SkillExecutionRequestSegment.h
index d4e8ba98f..08b6f6b56 100644
--- a/source/RobotAPI/libraries/armem_skills/server/segment/SkillExecutionRequestSegment.h
+++ b/source/RobotAPI/libraries/armem_skills/server/segment/SkillExecutionRequestSegment.h
@@ -8,22 +8,11 @@
#include <ArmarXCore/observers/ObserverObjectFactories.h>
#include <ArmarXCore/core/application/properties/PropertyDefinitionContainer.h>
+#include <RobotAPI/interface/skills/SkillManagerInterface.h>
#include <RobotAPI/interface/skills/SkillProviderInterface.h>
namespace armarx::skills::segment
{
- class SkillExecutionRequestProviderSegment :
- public armem::server::segment::SpecializedProviderSegment
- {
- using Base = armem::server::segment::SpecializedProviderSegment;
-
- public:
- SkillExecutionRequestProviderSegment(const std::string& provName, const SkillProviderInterfacePrx&, armem::server::MemoryToIceAdapter& iceMemory);
-
- void defineProperties(PropertyDefinitionsPtr defs, const std::string &prefix);
- void init();
- };
-
class SkillExecutionRequestCoreSegment :
public armem::server::segment::SpecializedCoreSegment
{
@@ -37,7 +26,8 @@ namespace armarx::skills::segment
void defineProperties(PropertyDefinitionsPtr defs, const std::string &prefix);
void init();
- private:
- std::map<std::string, SkillExecutionRequestProviderSegment> providerSegments;
+ skills::manager::dto::SkillExecutionInfo convertCommit(const aron::data::dto::DictPtr& commitData);
+
+ void addSkillExecutionRequest(const skills::manager::dto::SkillExecutionInfo& info);
};
}
diff --git a/source/RobotAPI/libraries/aron/core/data/variant/Variant.h b/source/RobotAPI/libraries/aron/core/data/variant/Variant.h
index aee8c55fc..04c39ea84 100644
--- a/source/RobotAPI/libraries/aron/core/data/variant/Variant.h
+++ b/source/RobotAPI/libraries/aron/core/data/variant/Variant.h
@@ -144,6 +144,9 @@ namespace armarx::aron::data
/// convert the variant to the ice representation
virtual data::dto::GenericDataPtr toAronDTO() const = 0;
+ /// set a variant from a std string
+ virtual void fromString(const std::string& setter) = 0;
+
protected:
const data::Descriptor descriptor;
const Path path;
diff --git a/source/RobotAPI/libraries/aron/core/data/variant/complex/NDArray.cpp b/source/RobotAPI/libraries/aron/core/data/variant/complex/NDArray.cpp
index dda38b2d0..c5a8b08ab 100644
--- a/source/RobotAPI/libraries/aron/core/data/variant/complex/NDArray.cpp
+++ b/source/RobotAPI/libraries/aron/core/data/variant/complex/NDArray.cpp
@@ -156,6 +156,11 @@ namespace armarx::aron::data
}
// virtual implementations
+ void NDArray::fromString(const std::string& setter)
+ {
+ // TODO!
+ }
+
std::string NDArray::getShortName() const
{
return "NDArray";
diff --git a/source/RobotAPI/libraries/aron/core/data/variant/complex/NDArray.h b/source/RobotAPI/libraries/aron/core/data/variant/complex/NDArray.h
index 31677060a..92dbed05e 100644
--- a/source/RobotAPI/libraries/aron/core/data/variant/complex/NDArray.h
+++ b/source/RobotAPI/libraries/aron/core/data/variant/complex/NDArray.h
@@ -90,6 +90,8 @@ namespace armarx::aron::data
return ret;
}
+ void fromString(const std::string& setter) override;
+
virtual std::string getShortName() const override;
virtual std::string getFullName() const override;
diff --git a/source/RobotAPI/libraries/aron/core/data/variant/container/Dict.cpp b/source/RobotAPI/libraries/aron/core/data/variant/container/Dict.cpp
index e2d53ad04..ef895067b 100644
--- a/source/RobotAPI/libraries/aron/core/data/variant/container/Dict.cpp
+++ b/source/RobotAPI/libraries/aron/core/data/variant/container/Dict.cpp
@@ -186,6 +186,11 @@ namespace armarx::aron::data
}
// virtual implementations
+ void Dict::fromString(const std::string& setter)
+ {
+ // TODO!
+ }
+
std::string Dict::getShortName() const
{
return "Dict";
diff --git a/source/RobotAPI/libraries/aron/core/data/variant/container/Dict.h b/source/RobotAPI/libraries/aron/core/data/variant/container/Dict.h
index 69315653a..99d7a3682 100644
--- a/source/RobotAPI/libraries/aron/core/data/variant/container/Dict.h
+++ b/source/RobotAPI/libraries/aron/core/data/variant/container/Dict.h
@@ -49,7 +49,7 @@ namespace armarx::aron::data
Dict(const std::map<std::string, VariantPtr>&, const Path& path = Path());
// operators
- virtual bool operator==(const Dict&) const override;
+ bool operator==(const Dict&) const override;
bool operator==(const DictPtr&) const override;
VariantPtr operator[](const std::string&) const;
@@ -82,6 +82,8 @@ namespace armarx::aron::data
return ret;
}
+ void fromString(const std::string& setter) override;
+
std::string getShortName() const override;
std::string getFullName() const override;
std::vector<VariantPtr> getChildren() const override;
diff --git a/source/RobotAPI/libraries/aron/core/data/variant/container/List.cpp b/source/RobotAPI/libraries/aron/core/data/variant/container/List.cpp
index 2389e7ad5..0d4dffe9b 100644
--- a/source/RobotAPI/libraries/aron/core/data/variant/container/List.cpp
+++ b/source/RobotAPI/libraries/aron/core/data/variant/container/List.cpp
@@ -189,6 +189,11 @@ namespace armarx::aron::data
}
// virtual implementations
+ void List::fromString(const std::string& setter)
+ {
+ // TODO!
+ }
+
std::string List::getShortName() const
{
return "List";
diff --git a/source/RobotAPI/libraries/aron/core/data/variant/container/List.h b/source/RobotAPI/libraries/aron/core/data/variant/container/List.h
index 70a1f81d0..cab6a38e5 100644
--- a/source/RobotAPI/libraries/aron/core/data/variant/container/List.h
+++ b/source/RobotAPI/libraries/aron/core/data/variant/container/List.h
@@ -50,7 +50,7 @@ namespace armarx::aron::data
List(const std::vector<VariantPtr>&, const Path& path = Path());
// operators
- virtual bool operator==(const List&) const override;
+ bool operator==(const List&) const override;
bool operator==(const ListPtr&) const override;
// static methods
@@ -82,6 +82,9 @@ namespace armarx::aron::data
}
return ret;
}
+
+ void fromString(const std::string& setter) override;
+
std::string getShortName() const override;
std::string getFullName() const override;
std::vector<VariantPtr> getChildren() const override;
diff --git a/source/RobotAPI/libraries/aron/core/data/variant/primitive/Bool.cpp b/source/RobotAPI/libraries/aron/core/data/variant/primitive/Bool.cpp
index 463815cb5..59f8ffa16 100644
--- a/source/RobotAPI/libraries/aron/core/data/variant/primitive/Bool.cpp
+++ b/source/RobotAPI/libraries/aron/core/data/variant/primitive/Bool.cpp
@@ -79,6 +79,22 @@ namespace armarx::aron::data
}
/* virtual implementations */
+ void Bool::fromString(const std::string& setter)
+ {
+ if (setter == "true" || setter == "1" || setter == "yes")
+ {
+ setValue(true);
+ }
+ else if (setter == "false" || setter == "0" || setter == "no")
+ {
+ setValue(false);
+ }
+ else
+ {
+ throw error::AronException(__PRETTY_FUNCTION__, "Could not set from string. Got: '" + setter + "'");
+ }
+ }
+
std::string Bool::getShortName() const
{
return "Bool";
diff --git a/source/RobotAPI/libraries/aron/core/data/variant/primitive/Bool.h b/source/RobotAPI/libraries/aron/core/data/variant/primitive/Bool.h
index b598517a1..f76f9396c 100644
--- a/source/RobotAPI/libraries/aron/core/data/variant/primitive/Bool.h
+++ b/source/RobotAPI/libraries/aron/core/data/variant/primitive/Bool.h
@@ -59,6 +59,8 @@ namespace armarx::aron::data
data::dto::AronBoolPtr toAronBoolPtr() const;
/* virtual implementations */
+ void fromString(const std::string& setter) override;
+
std::string getShortName() const override;
std::string getFullName() const override;
diff --git a/source/RobotAPI/libraries/aron/core/data/variant/primitive/Double.cpp b/source/RobotAPI/libraries/aron/core/data/variant/primitive/Double.cpp
index 829a5b7a3..e96cd8485 100644
--- a/source/RobotAPI/libraries/aron/core/data/variant/primitive/Double.cpp
+++ b/source/RobotAPI/libraries/aron/core/data/variant/primitive/Double.cpp
@@ -83,6 +83,11 @@ namespace armarx::aron::data
}
/* virtual implementations */
+ void Double::fromString(const std::string& setter)
+ {
+ setValue(std::stod(setter));
+ }
+
std::string Double::getShortName() const
{
return "Double";
diff --git a/source/RobotAPI/libraries/aron/core/data/variant/primitive/Double.h b/source/RobotAPI/libraries/aron/core/data/variant/primitive/Double.h
index 3149e9961..fdaba984a 100644
--- a/source/RobotAPI/libraries/aron/core/data/variant/primitive/Double.h
+++ b/source/RobotAPI/libraries/aron/core/data/variant/primitive/Double.h
@@ -59,6 +59,8 @@ namespace armarx::aron::data
data::dto::AronDoublePtr toAronDoublePtr() const;
/* virtual implementations */
+ void fromString(const std::string& setter) override;
+
std::string getShortName() const override;
std::string getFullName() const override;
diff --git a/source/RobotAPI/libraries/aron/core/data/variant/primitive/Float.cpp b/source/RobotAPI/libraries/aron/core/data/variant/primitive/Float.cpp
index 712e5bf68..35fd40845 100644
--- a/source/RobotAPI/libraries/aron/core/data/variant/primitive/Float.cpp
+++ b/source/RobotAPI/libraries/aron/core/data/variant/primitive/Float.cpp
@@ -80,6 +80,11 @@ namespace armarx::aron::data
/* virtual implementations */
+ void Float::fromString(const std::string& setter)
+ {
+ setValue(std::stof(setter));
+ }
+
std::string Float::getShortName() const
{
return "Float";
diff --git a/source/RobotAPI/libraries/aron/core/data/variant/primitive/Float.h b/source/RobotAPI/libraries/aron/core/data/variant/primitive/Float.h
index 71187edf4..52f3f41cf 100644
--- a/source/RobotAPI/libraries/aron/core/data/variant/primitive/Float.h
+++ b/source/RobotAPI/libraries/aron/core/data/variant/primitive/Float.h
@@ -59,6 +59,8 @@ namespace armarx::aron::data
data::dto::AronFloatPtr toAronFloatPtr() const;
/* virtual implementations */
+ void fromString(const std::string& setter) override;
+
std::string getShortName() const override;
std::string getFullName() const override;
diff --git a/source/RobotAPI/libraries/aron/core/data/variant/primitive/Int.cpp b/source/RobotAPI/libraries/aron/core/data/variant/primitive/Int.cpp
index f2670889c..ba774f9e5 100644
--- a/source/RobotAPI/libraries/aron/core/data/variant/primitive/Int.cpp
+++ b/source/RobotAPI/libraries/aron/core/data/variant/primitive/Int.cpp
@@ -83,6 +83,11 @@ namespace armarx::aron::data
/* virtual implementations */
+ void Int::fromString(const std::string& setter)
+ {
+ setValue(std::stoi(setter));
+ }
+
std::string Int::getShortName() const
{
return "Int";
diff --git a/source/RobotAPI/libraries/aron/core/data/variant/primitive/Int.h b/source/RobotAPI/libraries/aron/core/data/variant/primitive/Int.h
index f2324a7e0..7cf20562d 100644
--- a/source/RobotAPI/libraries/aron/core/data/variant/primitive/Int.h
+++ b/source/RobotAPI/libraries/aron/core/data/variant/primitive/Int.h
@@ -60,6 +60,8 @@ namespace armarx::aron::data
data::dto::AronIntPtr toAronIntPtr() const;
/* virtual implementations */
+ void fromString(const std::string& setter) override;
+
std::string getShortName() const override;
std::string getFullName() const override;
diff --git a/source/RobotAPI/libraries/aron/core/data/variant/primitive/Long.cpp b/source/RobotAPI/libraries/aron/core/data/variant/primitive/Long.cpp
index 8393743c7..4a65a3933 100644
--- a/source/RobotAPI/libraries/aron/core/data/variant/primitive/Long.cpp
+++ b/source/RobotAPI/libraries/aron/core/data/variant/primitive/Long.cpp
@@ -84,6 +84,11 @@ namespace armarx::aron::data
/* virtual implementations */
+ void Long::fromString(const std::string& setter)
+ {
+ setValue(std::stol(setter));
+ }
+
std::string Long::getShortName() const
{
return "Long";
diff --git a/source/RobotAPI/libraries/aron/core/data/variant/primitive/Long.h b/source/RobotAPI/libraries/aron/core/data/variant/primitive/Long.h
index 813a63228..e8136ed7b 100644
--- a/source/RobotAPI/libraries/aron/core/data/variant/primitive/Long.h
+++ b/source/RobotAPI/libraries/aron/core/data/variant/primitive/Long.h
@@ -60,6 +60,8 @@ namespace armarx::aron::data
data::dto::AronLongPtr toAronLongPtr() const;
/* virtual implementations */
+ void fromString(const std::string& setter) override;
+
std::string getShortName() const override;
std::string getFullName() const override;
diff --git a/source/RobotAPI/libraries/aron/core/data/variant/primitive/String.cpp b/source/RobotAPI/libraries/aron/core/data/variant/primitive/String.cpp
index 878a75f30..4ca2ff4d8 100644
--- a/source/RobotAPI/libraries/aron/core/data/variant/primitive/String.cpp
+++ b/source/RobotAPI/libraries/aron/core/data/variant/primitive/String.cpp
@@ -80,6 +80,11 @@ namespace armarx::aron::data
/* virtual implementations */
+ void String::fromString(const std::string& setter)
+ {
+ setValue(setter);
+ }
+
std::string String::getShortName() const
{
return "String";
diff --git a/source/RobotAPI/libraries/aron/core/data/variant/primitive/String.h b/source/RobotAPI/libraries/aron/core/data/variant/primitive/String.h
index b049fd36e..b8ec3ec03 100644
--- a/source/RobotAPI/libraries/aron/core/data/variant/primitive/String.h
+++ b/source/RobotAPI/libraries/aron/core/data/variant/primitive/String.h
@@ -59,6 +59,8 @@ namespace armarx::aron::data
data::dto::AronStringPtr toAronStringPtr() const;
/* virtual implementations */
+ void fromString(const std::string& setter) override;
+
std::string getShortName() const override;
std::string getFullName() const override;
diff --git a/source/RobotAPI/libraries/aron/core/type/variant/Variant.h b/source/RobotAPI/libraries/aron/core/type/variant/Variant.h
index ab996582c..aba2fdd51 100644
--- a/source/RobotAPI/libraries/aron/core/type/variant/Variant.h
+++ b/source/RobotAPI/libraries/aron/core/type/variant/Variant.h
@@ -115,6 +115,9 @@ namespace armarx::aron::type
/// get the full name of this specific type
virtual std::string getFullName() const = 0;
+ /// the default string to set the corresponding data object from string
+ virtual std::string getDefaultFromString() const = 0;
+
/// get all child elements
virtual std::vector<VariantPtr> getChildren() const = 0;
virtual size_t childrenSize() const = 0;
diff --git a/source/RobotAPI/libraries/aron/core/type/variant/container/Dict.cpp b/source/RobotAPI/libraries/aron/core/type/variant/container/Dict.cpp
index 3919bf844..c58669203 100644
--- a/source/RobotAPI/libraries/aron/core/type/variant/container/Dict.cpp
+++ b/source/RobotAPI/libraries/aron/core/type/variant/container/Dict.cpp
@@ -80,6 +80,15 @@ namespace armarx::aron::type
return "armarx::aron::type::Dict<" + acceptedType->getFullName() + ">";
}
+ std::string Dict::getDefaultFromString() const
+ {
+ std::stringstream ss;
+ ss << "{" << "\n";
+ ss << "\t" << "\"key\": " << acceptedType->getDefaultFromString() << "\n";
+ ss << "}";
+ return ss.str();
+ }
+
VariantPtr Dict::navigateAbsolute(const Path& path) const
{
if (!path.hasElement())
diff --git a/source/RobotAPI/libraries/aron/core/type/variant/container/Dict.h b/source/RobotAPI/libraries/aron/core/type/variant/container/Dict.h
index 4dfdd35e2..0c2e11ee5 100644
--- a/source/RobotAPI/libraries/aron/core/type/variant/container/Dict.h
+++ b/source/RobotAPI/libraries/aron/core/type/variant/container/Dict.h
@@ -56,6 +56,7 @@ namespace armarx::aron::type
std::string getShortName() const override;
std::string getFullName() const override;
+ std::string getDefaultFromString() const override;
std::vector<VariantPtr> getChildren() const override;
size_t childrenSize() const override;
diff --git a/source/RobotAPI/libraries/aron/core/type/variant/container/List.cpp b/source/RobotAPI/libraries/aron/core/type/variant/container/List.cpp
index 807d64fed..d01919203 100644
--- a/source/RobotAPI/libraries/aron/core/type/variant/container/List.cpp
+++ b/source/RobotAPI/libraries/aron/core/type/variant/container/List.cpp
@@ -80,6 +80,15 @@ namespace armarx::aron::type
return "armarx::aron::type::List<" + acceptedType->getFullName() + ">";
}
+ std::string List::getDefaultFromString() const
+ {
+ std::stringstream ss;
+ ss << "[" << "\n";
+ ss << "\t" << acceptedType->getDefaultFromString() << "\n";
+ ss << "]";
+ return ss.str();
+ }
+
VariantPtr List::navigateAbsolute(const Path& path) const
{
if (!path.hasElement())
diff --git a/source/RobotAPI/libraries/aron/core/type/variant/container/List.h b/source/RobotAPI/libraries/aron/core/type/variant/container/List.h
index 532146e01..c739d0694 100644
--- a/source/RobotAPI/libraries/aron/core/type/variant/container/List.h
+++ b/source/RobotAPI/libraries/aron/core/type/variant/container/List.h
@@ -55,6 +55,7 @@ namespace armarx::aron::type
std::string getShortName() const override;
std::string getFullName() const override;
+ std::string getDefaultFromString() const override;
std::vector<VariantPtr> getChildren() const override;
size_t childrenSize() const override;
diff --git a/source/RobotAPI/libraries/aron/core/type/variant/container/Object.cpp b/source/RobotAPI/libraries/aron/core/type/variant/container/Object.cpp
index 52eb6ed43..ee9ab1195 100644
--- a/source/RobotAPI/libraries/aron/core/type/variant/container/Object.cpp
+++ b/source/RobotAPI/libraries/aron/core/type/variant/container/Object.cpp
@@ -197,6 +197,13 @@ namespace armarx::aron::type
return "armarx::aron::type::Object<" + this->aron->objectName + (extends ? (" : " + extends->getFullName()) : "") + ">";
}
+ std::string Object::getDefaultFromString() const
+ {
+ std::stringstream ss;
+ ss << "TODO!";
+ return ss.str();
+ }
+
VariantPtr Object::navigateAbsolute(const Path& path) const
{
if (!path.hasElement())
diff --git a/source/RobotAPI/libraries/aron/core/type/variant/container/Object.h b/source/RobotAPI/libraries/aron/core/type/variant/container/Object.h
index 4c2f58738..15a3273a0 100644
--- a/source/RobotAPI/libraries/aron/core/type/variant/container/Object.h
+++ b/source/RobotAPI/libraries/aron/core/type/variant/container/Object.h
@@ -72,6 +72,7 @@ namespace armarx::aron::type
std::string getShortName() const override;
std::string getFullName() const override;
+ std::string getDefaultFromString() const override;
std::vector<VariantPtr> getChildren() const override;
size_t childrenSize() const override;
diff --git a/source/RobotAPI/libraries/aron/core/type/variant/container/Pair.cpp b/source/RobotAPI/libraries/aron/core/type/variant/container/Pair.cpp
index 48e0c6f4d..fb938e302 100644
--- a/source/RobotAPI/libraries/aron/core/type/variant/container/Pair.cpp
+++ b/source/RobotAPI/libraries/aron/core/type/variant/container/Pair.cpp
@@ -115,6 +115,13 @@ namespace armarx::aron::type
return "armarx::aron::type::Pair<" + acceptedType1->getFullName() + ", " + acceptedType2->getFullName() + ">";
}
+ std::string Pair::getDefaultFromString() const
+ {
+ std::stringstream ss;
+ ss << "TODO!";
+ return ss.str();
+ }
+
VariantPtr Pair::navigateAbsolute(const Path& path) const
{
if (!path.hasElement())
diff --git a/source/RobotAPI/libraries/aron/core/type/variant/container/Pair.h b/source/RobotAPI/libraries/aron/core/type/variant/container/Pair.h
index a63f68194..9798548d0 100644
--- a/source/RobotAPI/libraries/aron/core/type/variant/container/Pair.h
+++ b/source/RobotAPI/libraries/aron/core/type/variant/container/Pair.h
@@ -59,6 +59,7 @@ namespace armarx::aron::type
std::string getShortName() const override;
std::string getFullName() const override;
+ std::string getDefaultFromString() const override;
std::vector<VariantPtr> getChildren() const override;
size_t childrenSize() const override;
diff --git a/source/RobotAPI/libraries/aron/core/type/variant/container/Tuple.cpp b/source/RobotAPI/libraries/aron/core/type/variant/container/Tuple.cpp
index 9fdca45e7..c06d9d1c8 100644
--- a/source/RobotAPI/libraries/aron/core/type/variant/container/Tuple.cpp
+++ b/source/RobotAPI/libraries/aron/core/type/variant/container/Tuple.cpp
@@ -107,6 +107,13 @@ namespace armarx::aron::type
return "armarx::aron::type::Tuple<" + simox::alg::to_string(names, ", ") + ">";
}
+ std::string Tuple::getDefaultFromString() const
+ {
+ std::stringstream ss;
+ ss << "TODO!";
+ return ss.str();
+ }
+
VariantPtr Tuple::navigateAbsolute(const Path& path) const
{
if (!path.hasElement())
diff --git a/source/RobotAPI/libraries/aron/core/type/variant/container/Tuple.h b/source/RobotAPI/libraries/aron/core/type/variant/container/Tuple.h
index d464f8326..d17df06b7 100644
--- a/source/RobotAPI/libraries/aron/core/type/variant/container/Tuple.h
+++ b/source/RobotAPI/libraries/aron/core/type/variant/container/Tuple.h
@@ -56,6 +56,7 @@ namespace armarx::aron::type
std::string getShortName() const override;
std::string getFullName() const override;
+ std::string getDefaultFromString() const override;
std::vector<VariantPtr> getChildren() const override;
size_t childrenSize() const override;
diff --git a/source/RobotAPI/libraries/aron/core/type/variant/enum/IntEnum.cpp b/source/RobotAPI/libraries/aron/core/type/variant/enum/IntEnum.cpp
index 734509d9e..d425e0af8 100644
--- a/source/RobotAPI/libraries/aron/core/type/variant/enum/IntEnum.cpp
+++ b/source/RobotAPI/libraries/aron/core/type/variant/enum/IntEnum.cpp
@@ -111,5 +111,10 @@ namespace armarx::aron::type
{
return "armarx::aron::type::IntEnum";
}
+
+ std::string IntEnum::getDefaultFromString() const
+ {
+ return "0";
+ }
}
diff --git a/source/RobotAPI/libraries/aron/core/type/variant/enum/IntEnum.h b/source/RobotAPI/libraries/aron/core/type/variant/enum/IntEnum.h
index cf652d23c..1fd5661e3 100644
--- a/source/RobotAPI/libraries/aron/core/type/variant/enum/IntEnum.h
+++ b/source/RobotAPI/libraries/aron/core/type/variant/enum/IntEnum.h
@@ -64,5 +64,6 @@ namespace armarx::aron::type
// virtual implementations
std::string getShortName() const override;
std::string getFullName() const override;
+ std::string getDefaultFromString() const override;
};
}
diff --git a/source/RobotAPI/libraries/aron/core/type/variant/ndarray/Image.cpp b/source/RobotAPI/libraries/aron/core/type/variant/ndarray/Image.cpp
index b4efd4c8c..4ea9d7c93 100644
--- a/source/RobotAPI/libraries/aron/core/type/variant/ndarray/Image.cpp
+++ b/source/RobotAPI/libraries/aron/core/type/variant/ndarray/Image.cpp
@@ -78,5 +78,9 @@ namespace armarx::aron::type
return "armarx::aron::type::Image<" + Pixeltype2String.at(this->aron->pixelType) + ">";
}
+ std::string Image::getDefaultFromString() const
+ {
+ return "TODO!";
+ }
}
diff --git a/source/RobotAPI/libraries/aron/core/type/variant/ndarray/Image.h b/source/RobotAPI/libraries/aron/core/type/variant/ndarray/Image.h
index 0b9f9dd09..e6bdee312 100644
--- a/source/RobotAPI/libraries/aron/core/type/variant/ndarray/Image.h
+++ b/source/RobotAPI/libraries/aron/core/type/variant/ndarray/Image.h
@@ -53,6 +53,7 @@ namespace armarx::aron::type
// virtual implementations
std::string getShortName() const override;
std::string getFullName() const override;
+ std::string getDefaultFromString() const override;
static const std::map<image::PixelType, std::string> Pixeltype2String;
static const std::map<std::string, image::PixelType> String2Pixeltype;
diff --git a/source/RobotAPI/libraries/aron/core/type/variant/ndarray/Matrix.cpp b/source/RobotAPI/libraries/aron/core/type/variant/ndarray/Matrix.cpp
index 62eabd986..f471b2398 100644
--- a/source/RobotAPI/libraries/aron/core/type/variant/ndarray/Matrix.cpp
+++ b/source/RobotAPI/libraries/aron/core/type/variant/ndarray/Matrix.cpp
@@ -104,5 +104,10 @@ namespace armarx::aron::type
{
return "armarx::aron::type::Matrix<" + std::to_string(this->aron->rows) + ", " + std::to_string(this->aron->cols) + ", " + Elementtype2String.at(this->aron->elementType) + ">";
}
+
+ std::string Matrix::getDefaultFromString() const
+ {
+ return "TODO!";
+ }
}
diff --git a/source/RobotAPI/libraries/aron/core/type/variant/ndarray/Matrix.h b/source/RobotAPI/libraries/aron/core/type/variant/ndarray/Matrix.h
index da9fd537d..fa2a7cabe 100644
--- a/source/RobotAPI/libraries/aron/core/type/variant/ndarray/Matrix.h
+++ b/source/RobotAPI/libraries/aron/core/type/variant/ndarray/Matrix.h
@@ -57,6 +57,7 @@ namespace armarx::aron::type
// virtual implementations
std::string getShortName() const override;
std::string getFullName() const override;
+ std::string getDefaultFromString() const override;
static const std::map<matrix::ElementType, std::string> Elementtype2String;
static const std::map<std::string, matrix::ElementType> String2Elementtype;
diff --git a/source/RobotAPI/libraries/aron/core/type/variant/ndarray/NDArray.cpp b/source/RobotAPI/libraries/aron/core/type/variant/ndarray/NDArray.cpp
index cbbf517ba..e30a71b2c 100644
--- a/source/RobotAPI/libraries/aron/core/type/variant/ndarray/NDArray.cpp
+++ b/source/RobotAPI/libraries/aron/core/type/variant/ndarray/NDArray.cpp
@@ -77,5 +77,10 @@ namespace armarx::aron::type
{
return "armarx::aron::type::NDArray";
}
+
+ std::string NDArray::getDefaultFromString() const
+ {
+ return "TODO!";
+ }
}
diff --git a/source/RobotAPI/libraries/aron/core/type/variant/ndarray/NDArray.h b/source/RobotAPI/libraries/aron/core/type/variant/ndarray/NDArray.h
index d04d218eb..b17f6f7ea 100644
--- a/source/RobotAPI/libraries/aron/core/type/variant/ndarray/NDArray.h
+++ b/source/RobotAPI/libraries/aron/core/type/variant/ndarray/NDArray.h
@@ -56,5 +56,6 @@ namespace armarx::aron::type
// virtual implementations
std::string getShortName() const override;
std::string getFullName() const override;
+ std::string getDefaultFromString() const override;
};
}
diff --git a/source/RobotAPI/libraries/aron/core/type/variant/ndarray/Orientation.cpp b/source/RobotAPI/libraries/aron/core/type/variant/ndarray/Orientation.cpp
index 031fd6f73..58b7f948c 100644
--- a/source/RobotAPI/libraries/aron/core/type/variant/ndarray/Orientation.cpp
+++ b/source/RobotAPI/libraries/aron/core/type/variant/ndarray/Orientation.cpp
@@ -52,5 +52,10 @@ namespace armarx::aron::type
{
return "armarx::aron::type::Orientation";
}
+
+ std::string Orientation::getDefaultFromString() const
+ {
+ return "TODO!";
+ }
}
diff --git a/source/RobotAPI/libraries/aron/core/type/variant/ndarray/Orientation.h b/source/RobotAPI/libraries/aron/core/type/variant/ndarray/Orientation.h
index b4bebb8ca..3a8107a26 100644
--- a/source/RobotAPI/libraries/aron/core/type/variant/ndarray/Orientation.h
+++ b/source/RobotAPI/libraries/aron/core/type/variant/ndarray/Orientation.h
@@ -50,5 +50,6 @@ namespace armarx::aron::type
// virtual implementations
std::string getShortName() const override;
std::string getFullName() const override;
+ std::string getDefaultFromString() const override;
};
}
diff --git a/source/RobotAPI/libraries/aron/core/type/variant/ndarray/PointCloud.cpp b/source/RobotAPI/libraries/aron/core/type/variant/ndarray/PointCloud.cpp
index 10a347302..8278b017d 100644
--- a/source/RobotAPI/libraries/aron/core/type/variant/ndarray/PointCloud.cpp
+++ b/source/RobotAPI/libraries/aron/core/type/variant/ndarray/PointCloud.cpp
@@ -75,5 +75,10 @@ namespace armarx::aron::type
{
return "armarx::aron::type::PointCloud<" + Voxeltype2String.at(this->aron->voxelType) + ">";
}
+
+ std::string PointCloud::getDefaultFromString() const
+ {
+ return "TODO!";
+ }
}
diff --git a/source/RobotAPI/libraries/aron/core/type/variant/ndarray/PointCloud.h b/source/RobotAPI/libraries/aron/core/type/variant/ndarray/PointCloud.h
index 37d3aacdb..bec4627de 100644
--- a/source/RobotAPI/libraries/aron/core/type/variant/ndarray/PointCloud.h
+++ b/source/RobotAPI/libraries/aron/core/type/variant/ndarray/PointCloud.h
@@ -54,6 +54,7 @@ namespace armarx::aron::type
// virtual implementations
std::string getShortName() const override;
std::string getFullName() const override;
+ std::string getDefaultFromString() const override;
static const std::map<pointcloud::VoxelType, std::string> Voxeltype2String;
static const std::map<std::string, pointcloud::VoxelType> String2Voxeltype;
diff --git a/source/RobotAPI/libraries/aron/core/type/variant/ndarray/Pose.cpp b/source/RobotAPI/libraries/aron/core/type/variant/ndarray/Pose.cpp
index c6965c12b..8ac9dc886 100644
--- a/source/RobotAPI/libraries/aron/core/type/variant/ndarray/Pose.cpp
+++ b/source/RobotAPI/libraries/aron/core/type/variant/ndarray/Pose.cpp
@@ -52,5 +52,15 @@ namespace armarx::aron::type
{
return "armarx::aron::type::Pose";
}
+
+ std::string Pose::getDefaultFromString() const
+ {
+ std::stringstream ss;
+ ss << "0, 0, 0, 0" << "\n";
+ ss << "0, 0, 0, 0" << "\n";
+ ss << "0, 0, 0, 0" << "\n";
+ ss << "0, 0, 0, 0";
+ return ss.str();
+ }
}
diff --git a/source/RobotAPI/libraries/aron/core/type/variant/ndarray/Pose.h b/source/RobotAPI/libraries/aron/core/type/variant/ndarray/Pose.h
index fa2c1f184..20037341d 100644
--- a/source/RobotAPI/libraries/aron/core/type/variant/ndarray/Pose.h
+++ b/source/RobotAPI/libraries/aron/core/type/variant/ndarray/Pose.h
@@ -50,5 +50,6 @@ namespace armarx::aron::type
// virtual implementations
std::string getShortName() const override;
std::string getFullName() const override;
+ std::string getDefaultFromString() const override;
};
}
diff --git a/source/RobotAPI/libraries/aron/core/type/variant/ndarray/Position.cpp b/source/RobotAPI/libraries/aron/core/type/variant/ndarray/Position.cpp
index 68effb684..8a169dbf2 100644
--- a/source/RobotAPI/libraries/aron/core/type/variant/ndarray/Position.cpp
+++ b/source/RobotAPI/libraries/aron/core/type/variant/ndarray/Position.cpp
@@ -52,5 +52,10 @@ namespace armarx::aron::type
{
return "armarx::aron::type::Position";
}
+
+ std::string Position::getDefaultFromString() const
+ {
+ return "[0, 0, 0]";
+ }
}
diff --git a/source/RobotAPI/libraries/aron/core/type/variant/ndarray/Position.h b/source/RobotAPI/libraries/aron/core/type/variant/ndarray/Position.h
index 427f0f43a..1ed5a040c 100644
--- a/source/RobotAPI/libraries/aron/core/type/variant/ndarray/Position.h
+++ b/source/RobotAPI/libraries/aron/core/type/variant/ndarray/Position.h
@@ -50,5 +50,6 @@ namespace armarx::aron::type
// virtual implementations
std::string getShortName() const override;
std::string getFullName() const override;
+ std::string getDefaultFromString() const override;
};
}
diff --git a/source/RobotAPI/libraries/aron/core/type/variant/ndarray/Quaternion.cpp b/source/RobotAPI/libraries/aron/core/type/variant/ndarray/Quaternion.cpp
index 5457ee844..4d439844f 100644
--- a/source/RobotAPI/libraries/aron/core/type/variant/ndarray/Quaternion.cpp
+++ b/source/RobotAPI/libraries/aron/core/type/variant/ndarray/Quaternion.cpp
@@ -71,5 +71,10 @@ namespace armarx::aron::type
{
return "armarx::aron::type::Quaternion<" + Elementtype2String.at(this->aron->elementType) + ">";
}
+
+ std::string Quaternion::getDefaultFromString() const
+ {
+ return "[0, 0, 0]";
+ }
}
diff --git a/source/RobotAPI/libraries/aron/core/type/variant/ndarray/Quaternion.h b/source/RobotAPI/libraries/aron/core/type/variant/ndarray/Quaternion.h
index f660702be..77f181907 100644
--- a/source/RobotAPI/libraries/aron/core/type/variant/ndarray/Quaternion.h
+++ b/source/RobotAPI/libraries/aron/core/type/variant/ndarray/Quaternion.h
@@ -53,6 +53,7 @@ namespace armarx::aron::type
// virtual implementations
virtual std::string getShortName() const override;
virtual std::string getFullName() const override;
+ std::string getDefaultFromString() const override;
static const std::map<quaternion::ElementType, std::string> Elementtype2String;
static const std::map<std::string, quaternion::ElementType> String2Elementtype;
diff --git a/source/RobotAPI/libraries/aron/core/type/variant/primitive/Bool.cpp b/source/RobotAPI/libraries/aron/core/type/variant/primitive/Bool.cpp
index 9eca55904..4ab368a34 100644
--- a/source/RobotAPI/libraries/aron/core/type/variant/primitive/Bool.cpp
+++ b/source/RobotAPI/libraries/aron/core/type/variant/primitive/Bool.cpp
@@ -57,4 +57,9 @@ namespace armarx::aron::type
{
return "armarx::aron::type::Bool";
}
+
+ std::string Bool::getDefaultFromString() const
+ {
+ return "true|false";
+ }
}
diff --git a/source/RobotAPI/libraries/aron/core/type/variant/primitive/Bool.h b/source/RobotAPI/libraries/aron/core/type/variant/primitive/Bool.h
index eac4aeaea..104849a71 100644
--- a/source/RobotAPI/libraries/aron/core/type/variant/primitive/Bool.h
+++ b/source/RobotAPI/libraries/aron/core/type/variant/primitive/Bool.h
@@ -47,5 +47,6 @@ namespace armarx::aron::type
/* virtual implementations */
virtual std::string getShortName() const override;
virtual std::string getFullName() const override;
+ std::string getDefaultFromString() const override;
};
}
diff --git a/source/RobotAPI/libraries/aron/core/type/variant/primitive/Double.cpp b/source/RobotAPI/libraries/aron/core/type/variant/primitive/Double.cpp
index 256e0a61f..9e2f558b3 100644
--- a/source/RobotAPI/libraries/aron/core/type/variant/primitive/Double.cpp
+++ b/source/RobotAPI/libraries/aron/core/type/variant/primitive/Double.cpp
@@ -57,4 +57,9 @@ namespace armarx::aron::type
{
return "armarx::aron::type::Double";
}
+
+ std::string Double::getDefaultFromString() const
+ {
+ return "0.0";
+ }
}
diff --git a/source/RobotAPI/libraries/aron/core/type/variant/primitive/Double.h b/source/RobotAPI/libraries/aron/core/type/variant/primitive/Double.h
index 17aa98ad7..998a2cdf7 100644
--- a/source/RobotAPI/libraries/aron/core/type/variant/primitive/Double.h
+++ b/source/RobotAPI/libraries/aron/core/type/variant/primitive/Double.h
@@ -47,5 +47,6 @@ namespace armarx::aron::type
/* virtual implementations */
virtual std::string getShortName() const override;
virtual std::string getFullName() const override;
+ std::string getDefaultFromString() const override;
};
}
diff --git a/source/RobotAPI/libraries/aron/core/type/variant/primitive/Float.cpp b/source/RobotAPI/libraries/aron/core/type/variant/primitive/Float.cpp
index 3d08b5bda..f98587a18 100644
--- a/source/RobotAPI/libraries/aron/core/type/variant/primitive/Float.cpp
+++ b/source/RobotAPI/libraries/aron/core/type/variant/primitive/Float.cpp
@@ -57,4 +57,9 @@ namespace armarx::aron::type
{
return "armarx::aron::type::Float";
}
+
+ std::string Float::getDefaultFromString() const
+ {
+ return "0.0";
+ }
}
diff --git a/source/RobotAPI/libraries/aron/core/type/variant/primitive/Float.h b/source/RobotAPI/libraries/aron/core/type/variant/primitive/Float.h
index 2dedfb173..77ff6e4a3 100644
--- a/source/RobotAPI/libraries/aron/core/type/variant/primitive/Float.h
+++ b/source/RobotAPI/libraries/aron/core/type/variant/primitive/Float.h
@@ -47,5 +47,6 @@ namespace armarx::aron::type
/* virtual implementations */
virtual std::string getShortName() const override;
virtual std::string getFullName() const override;
+ std::string getDefaultFromString() const override;
};
}
diff --git a/source/RobotAPI/libraries/aron/core/type/variant/primitive/Int.cpp b/source/RobotAPI/libraries/aron/core/type/variant/primitive/Int.cpp
index b371f53dd..511512cfd 100644
--- a/source/RobotAPI/libraries/aron/core/type/variant/primitive/Int.cpp
+++ b/source/RobotAPI/libraries/aron/core/type/variant/primitive/Int.cpp
@@ -57,4 +57,9 @@ namespace armarx::aron::type
{
return "armarx::aron::type::Int";
}
+
+ std::string Int::getDefaultFromString() const
+ {
+ return "0";
+ }
}
diff --git a/source/RobotAPI/libraries/aron/core/type/variant/primitive/Int.h b/source/RobotAPI/libraries/aron/core/type/variant/primitive/Int.h
index 240cd4a50..6a20a43a4 100644
--- a/source/RobotAPI/libraries/aron/core/type/variant/primitive/Int.h
+++ b/source/RobotAPI/libraries/aron/core/type/variant/primitive/Int.h
@@ -47,5 +47,6 @@ namespace armarx::aron::type
/* virtual implementations */
virtual std::string getShortName() const override;
virtual std::string getFullName() const override;
+ std::string getDefaultFromString() const override;
};
}
diff --git a/source/RobotAPI/libraries/aron/core/type/variant/primitive/Long.cpp b/source/RobotAPI/libraries/aron/core/type/variant/primitive/Long.cpp
index 2654a773d..9d945e717 100644
--- a/source/RobotAPI/libraries/aron/core/type/variant/primitive/Long.cpp
+++ b/source/RobotAPI/libraries/aron/core/type/variant/primitive/Long.cpp
@@ -57,4 +57,9 @@ namespace armarx::aron::type
{
return "armarx::aron::type::Long";
}
+
+ std::string Long::getDefaultFromString() const
+ {
+ return "0";
+ }
}
diff --git a/source/RobotAPI/libraries/aron/core/type/variant/primitive/Long.h b/source/RobotAPI/libraries/aron/core/type/variant/primitive/Long.h
index 710df1a42..eca05833e 100644
--- a/source/RobotAPI/libraries/aron/core/type/variant/primitive/Long.h
+++ b/source/RobotAPI/libraries/aron/core/type/variant/primitive/Long.h
@@ -47,5 +47,6 @@ namespace armarx::aron::type
/* virtual implementations */
virtual std::string getShortName() const override;
virtual std::string getFullName() const override;
+ std::string getDefaultFromString() const override;
};
}
diff --git a/source/RobotAPI/libraries/aron/core/type/variant/primitive/String.cpp b/source/RobotAPI/libraries/aron/core/type/variant/primitive/String.cpp
index 1cced6991..1ac6a3c0b 100644
--- a/source/RobotAPI/libraries/aron/core/type/variant/primitive/String.cpp
+++ b/source/RobotAPI/libraries/aron/core/type/variant/primitive/String.cpp
@@ -58,4 +58,9 @@ namespace armarx::aron::type
{
return "armarx::aron::type::String";
}
+
+ std::string String::getDefaultFromString() const
+ {
+ return "";
+ }
}
diff --git a/source/RobotAPI/libraries/aron/core/type/variant/primitive/String.h b/source/RobotAPI/libraries/aron/core/type/variant/primitive/String.h
index 54dedab7b..b5da23423 100644
--- a/source/RobotAPI/libraries/aron/core/type/variant/primitive/String.h
+++ b/source/RobotAPI/libraries/aron/core/type/variant/primitive/String.h
@@ -47,5 +47,6 @@ namespace armarx::aron::type
/* virtual implementations */
virtual std::string getShortName() const override;
virtual std::string getFullName() const override;
+ std::string getDefaultFromString() const override;
};
}
diff --git a/source/RobotAPI/libraries/aron/core/type/variant/primitive/Time.cpp b/source/RobotAPI/libraries/aron/core/type/variant/primitive/Time.cpp
index 76ba1e55c..1a0e19d85 100644
--- a/source/RobotAPI/libraries/aron/core/type/variant/primitive/Time.cpp
+++ b/source/RobotAPI/libraries/aron/core/type/variant/primitive/Time.cpp
@@ -58,4 +58,9 @@ namespace armarx::aron::type
{
return "armarx::aron::type::Time";
}
+
+ std::string Time::getDefaultFromString() const
+ {
+ return "0";
+ }
}
diff --git a/source/RobotAPI/libraries/aron/core/type/variant/primitive/Time.h b/source/RobotAPI/libraries/aron/core/type/variant/primitive/Time.h
index bd92b965d..d460e7921 100644
--- a/source/RobotAPI/libraries/aron/core/type/variant/primitive/Time.h
+++ b/source/RobotAPI/libraries/aron/core/type/variant/primitive/Time.h
@@ -47,5 +47,6 @@ namespace armarx::aron::type
/* virtual implementations */
virtual std::string getShortName() const override;
virtual std::string getFullName() const override;
+ std::string getDefaultFromString() const override;
};
}
diff --git a/source/RobotAPI/libraries/aron/core/typereader/xml/Factory.cpp b/source/RobotAPI/libraries/aron/core/typereader/xml/Factory.cpp
index 3d2ba252c..da30a7e70 100644
--- a/source/RobotAPI/libraries/aron/core/typereader/xml/Factory.cpp
+++ b/source/RobotAPI/libraries/aron/core/typereader/xml/Factory.cpp
@@ -96,9 +96,8 @@ namespace armarx::aron::typereader::xml
}
}
- type::VariantPtr ReaderFactory::findExistingObject(const std::string& n) const
+ type::VariantPtr ReaderFactory::findExistingObject(const std::string& name) const
{
- auto name = simox::alg::to_lower(n);
const auto public_intenum_it = AllGeneratedPublicIntEnums.find(name);
if (public_intenum_it != AllGeneratedPublicIntEnums.end())
{
@@ -198,12 +197,12 @@ namespace armarx::aron::typereader::xml
if (extends != "")
{
- auto parentObj = type::Object::DynamicCastAndCheck(findExistingObject(simox::alg::to_lower(extends)));
+ auto parentObj = type::Object::DynamicCastAndCheck(findExistingObject(extends));
aronObjectType->setExtends(parentObj);
}
newObject.correspondingType = aronObjectType;
- AllGeneratedPublicObjects.emplace(simox::alg::to_lower(newObject.typeName), newObject);
+ AllGeneratedPublicObjects.emplace(newObject.typeName, newObject);
return aronObjectType;
}
@@ -460,7 +459,7 @@ namespace armarx::aron::typereader::xml
auto o = std::make_shared<type::IntEnum>(name, acceptedValues, path);
newEnumInfo.correspondingType = o;
- AllGeneratedPublicIntEnums.emplace(simox::alg::to_lower(newEnumInfo.typeName), newEnumInfo);
+ AllGeneratedPublicIntEnums.emplace(newEnumInfo.typeName, newEnumInfo);
return o;
diff --git a/source/RobotAPI/libraries/aron/core/typereader/xml/Reader.cpp b/source/RobotAPI/libraries/aron/core/typereader/xml/Reader.cpp
index 33ef52d8f..a8f2f0cc4 100644
--- a/source/RobotAPI/libraries/aron/core/typereader/xml/Reader.cpp
+++ b/source/RobotAPI/libraries/aron/core/typereader/xml/Reader.cpp
@@ -125,14 +125,14 @@ namespace armarx::aron::typereader::xml
if (util::HasTagName(generateType, constantes::OBJECT_TAG))
{
const auto nav = readGenerateObject(generateType);
- generateObjects.push_back(factory.AllGeneratedPublicObjects.at(simox::alg::to_lower(nav->getObjectName())));
+ generateObjects.push_back(factory.AllGeneratedPublicObjects.at(nav->getObjectName()));
continue;
}
if (util::HasTagName(generateType, constantes::INT_ENUM_TAG))
{
const auto nav = readGenerateIntEnum(generateType);
- generateIntEnums.push_back(factory.AllGeneratedPublicIntEnums.at(simox::alg::to_lower(nav->getEnumName())));
+ generateIntEnums.push_back(factory.AllGeneratedPublicIntEnums.at(nav->getEnumName()));
continue;
}
throw error::ValueNotValidException("XMLReader", "parse", "Could not find a valid tag inside generatetypes", generateType.name());
diff --git a/source/RobotAPI/libraries/skills/CMakeLists.txt b/source/RobotAPI/libraries/skills/CMakeLists.txt
new file mode 100644
index 000000000..21406094e
--- /dev/null
+++ b/source/RobotAPI/libraries/skills/CMakeLists.txt
@@ -0,0 +1,36 @@
+set(LIB_NAME skills)
+
+armarx_component_set_name("${LIB_NAME}")
+armarx_set_target("Library: ${LIB_NAME}")
+
+armarx_add_library(
+ LIBS
+ ArmarXCoreInterfaces
+ ArmarXCore
+ ArmarXCoreObservers
+
+ RobotAPI::Core
+ aronjsonconverter
+ SOURCES
+ ./manager/SkillManagerComponentPlugin.cpp
+ ./provider/SkillProviderComponentPlugin.cpp
+ ./provider/Skill.cpp
+ ./provider/SpecializedSkill.cpp
+ ./provider/SkillDescription.cpp
+ ./provider/SkillParameterization.cpp
+ ./provider/SkillStatusUpdate.cpp
+ ./provider/helper/LambdaSkillImplementation.cpp
+ ./provider/detail/SkillImplementationWrapper.cpp
+ HEADERS
+ ./manager/SkillManagerComponentPlugin.h
+ ./provider/SkillProviderComponentPlugin.h
+ ./provider/Skill.h
+ ./provider/SpecializedSkill.h
+ ./provider/SkillDescription.h
+ ./provider/SkillParameterization.h
+ ./provider/SkillStatusUpdate.h
+ ./provider/helper/LambdaSkillImplementation.h
+ ./provider/detail/SkillImplementationWrapper.h
+)
+
+add_library(RobotAPI::skills ALIAS skills)
diff --git a/source/RobotAPI/libraries/skills/manager/SkillManagerComponentPlugin.cpp b/source/RobotAPI/libraries/skills/manager/SkillManagerComponentPlugin.cpp
new file mode 100644
index 000000000..038ed5999
--- /dev/null
+++ b/source/RobotAPI/libraries/skills/manager/SkillManagerComponentPlugin.cpp
@@ -0,0 +1,73 @@
+#include "SkillManagerComponentPlugin.h"
+
+#include <ArmarXCore/core/Component.h>
+
+namespace armarx::plugins
+{
+ void SkillManagerComponentPlugin::preOnInitComponent()
+ {}
+
+ void SkillManagerComponentPlugin::preOnConnectComponent()
+ {}
+
+ void SkillManagerComponentPlugin::postCreatePropertyDefinitions(PropertyDefinitionsPtr& properties)
+ {}
+}
+
+
+namespace armarx
+{
+ SkillManagerComponentPluginUser::SkillManagerComponentPluginUser()
+ {
+ addPlugin(plugin);
+ }
+
+ void SkillManagerComponentPluginUser::addProvider(const skills::manager::dto::ProviderInfo& info, const Ice::Current&)
+ {
+ std::lock_guard l(skillProviderMapMutex);
+ if (skillProviderMap.find(info.providerName) == skillProviderMap.end())
+ {
+ ARMARX_INFO << "Adding a provider with name '" << info.providerName << "'.";
+ skillProviderMap.insert({info.providerName, info.provider});
+ }
+ }
+
+ void SkillManagerComponentPluginUser::removeProvider(const std::string& providerName, const Ice::Current&)
+ {
+ std::lock_guard l(skillProviderMapMutex);
+ if (auto it = skillProviderMap.find(providerName); it != skillProviderMap.end())
+ {
+ skillProviderMap.erase(it);
+ }
+ }
+
+ skills::provider::dti::SkillProviderMap SkillManagerComponentPluginUser::getSkillProviders(const Ice::Current&)
+ {
+ return skillProviderMap;
+ }
+
+ void SkillManagerComponentPluginUser::executeSkill(const skills::manager::dto::SkillExecutionInfo& info, const Ice::Current&)
+ {
+ if (auto it = skillProviderMap.find(info.providerName); it != skillProviderMap.end())
+ {
+ skills::callback::dti::SkillProviderCallbackInterfacePrx myPrx;
+ getProxy(myPrx, -1);
+
+ skills::provider::dto::SkillExecutionInfo exInfo;
+ exInfo.skillName = info.skillName;
+ exInfo.callbackInterface = myPrx;
+ exInfo.parameterization = info.parameterization;
+ it->second->executeSkill(exInfo);
+ }
+ else
+ {
+ throw LocalException("Could not execute a skill of provider '" + info.providerName + "' because the provider does not exist.");
+ }
+ }
+
+ void SkillManagerComponentPluginUser::updateStatusForSkill(const skills::provider::dto::SkillStatusUpdate& statusUpdate, const Ice::Current&)
+ {
+ (void) statusUpdate;
+ // If you want to use the status, implement this method!
+ }
+}
diff --git a/source/RobotAPI/libraries/armem_skills/server/SkillManagerComponentPlugin.h b/source/RobotAPI/libraries/skills/manager/SkillManagerComponentPlugin.h
similarity index 60%
rename from source/RobotAPI/libraries/armem_skills/server/SkillManagerComponentPlugin.h
rename to source/RobotAPI/libraries/skills/manager/SkillManagerComponentPlugin.h
index 8e976fbf0..6fd40f3eb 100644
--- a/source/RobotAPI/libraries/armem_skills/server/SkillManagerComponentPlugin.h
+++ b/source/RobotAPI/libraries/skills/manager/SkillManagerComponentPlugin.h
@@ -26,16 +26,16 @@ namespace armarx
{
class SkillManagerComponentPluginUser :
virtual public ManagedIceObject,
- virtual public skills::SkillManagerInterface
+ virtual public skills::manager::dti::SkillManagerInterface
{
public:
SkillManagerComponentPluginUser();
- void addProvider(const std::string&, const skills::SkillProviderInterfacePrx& provider, const Ice::Current ¤t) override;
+ void addProvider(const skills::manager::dto::ProviderInfo& providerInfo, const Ice::Current ¤t) override;
void removeProvider(const std::string&, const Ice::Current ¤t) override;
- skills::SkillProviderMap getSkillProviders(const Ice::Current ¤t) override;
- void executeSkill(const std::string&, const skills::SkillParametrization& params, const Ice::Current ¤t) override;
- void updateStatusForSkill(const std::string& providerName, const skills::SkillStatus& statusUpdate, const Ice::Current ¤t) override;
+ skills::provider::dti::SkillProviderMap getSkillProviders(const Ice::Current ¤t) override;
+ void executeSkill(const skills::manager::dto::SkillExecutionInfo& info, const Ice::Current ¤t) override;
+ void updateStatusForSkill(const skills::provider::dto::SkillStatusUpdate& update, const Ice::Current ¤t) override;
private:
@@ -43,6 +43,6 @@ namespace armarx
protected:
std::mutex skillProviderMapMutex;
- skills::SkillProviderMap skillProviderMap;
+ skills::provider::dti::SkillProviderMap skillProviderMap;
};
}
diff --git a/source/RobotAPI/libraries/skills/provider/Skill.cpp b/source/RobotAPI/libraries/skills/provider/Skill.cpp
new file mode 100644
index 000000000..5cac4402f
--- /dev/null
+++ b/source/RobotAPI/libraries/skills/provider/Skill.cpp
@@ -0,0 +1,38 @@
+#include "Skill.h"
+
+namespace armarx
+{
+ namespace skills
+ {
+ Skill::Skill()
+ {
+ // replace constructor if you want to have a specific logging tag
+ Logging::setTag("armarx::skills::Skill");
+ }
+
+ Skill::Status Skill::execute(const aron::data::DictPtr& params, const CallbackT& callback)
+ {
+ (void) params;
+
+ ARMARX_WARNING_S << "You have to override this method!";
+ return Status::Succeeded;
+ }
+
+ void Skill::reset()
+ {
+ stopped = false;
+ timeoutReached = false;
+ }
+
+ void Skill::notifyStopped()
+ {
+ stopped = true;
+ }
+
+ void Skill::notifyTimeoutReached()
+ {
+ timeoutReached = true;
+ }
+
+ }
+}
diff --git a/source/RobotAPI/libraries/skills/provider/Skill.h b/source/RobotAPI/libraries/skills/provider/Skill.h
new file mode 100644
index 000000000..f4ed57787
--- /dev/null
+++ b/source/RobotAPI/libraries/skills/provider/Skill.h
@@ -0,0 +1,49 @@
+#pragma once
+
+#include <mutex>
+#include <queue>
+#include <thread>
+#include <functional>
+
+#include <ArmarXCore/core/ComponentPlugin.h>
+#include <ArmarXCore/core/ManagedIceObject.h>
+
+#include <ArmarXCore/core/services/tasks/RunningTask.h>
+
+#include <RobotAPI/interface/skills/SkillManagerInterface.h>
+#include <RobotAPI/libraries/aron/core/data/variant/All.h>
+
+namespace armarx
+{
+ namespace skills
+ {
+ class Skill : public armarx::Logging
+ {
+ public:
+ using CallbackT = std::function<void(const aron::data::DictPtr&)>;
+
+ enum class Status
+ {
+ Succeeded,
+ TimeoutReached,
+ Failed
+ };
+
+ Skill();
+ virtual ~Skill() = default;
+
+ virtual void notifyStopped();
+ virtual void notifyTimeoutReached();
+
+ /// Override this method with the actual implementation. The callback is for status updates to the calling instance to the calling instance
+ virtual Status execute(const aron::data::DictPtr& params, const CallbackT& callback = [](const aron::data::DictPtr& returnValue) { (void) returnValue; });
+
+ /// Reset all parameters before starting a skill. Override if you have special members that needs to be resetted
+ virtual void reset();
+
+ protected:
+ std::atomic_bool stopped = false;
+ std::atomic_bool timeoutReached = false;
+ };
+ }
+}
diff --git a/source/RobotAPI/libraries/skills/provider/SkillDescription.cpp b/source/RobotAPI/libraries/skills/provider/SkillDescription.cpp
new file mode 100644
index 000000000..844249f0e
--- /dev/null
+++ b/source/RobotAPI/libraries/skills/provider/SkillDescription.cpp
@@ -0,0 +1,21 @@
+#include "SkillDescription.h"
+
+namespace armarx
+{
+ namespace skills
+ {
+ provider::dto::SkillDescription SkillDescription::toIce() const
+ {
+ provider::dto::SkillDescription ret;
+ if (acceptedType)
+ {
+ ret.acceptedType = acceptedType->toObjectDTO();
+ }
+ ret.description = description;
+ ret.skillName = skillName;
+ ret.targets = targets;
+ ret.timeoutMs = timeoutMs;
+ return ret;
+ }
+ }
+}
diff --git a/source/RobotAPI/libraries/skills/provider/SkillDescription.h b/source/RobotAPI/libraries/skills/provider/SkillDescription.h
new file mode 100644
index 000000000..2bf9707c2
--- /dev/null
+++ b/source/RobotAPI/libraries/skills/provider/SkillDescription.h
@@ -0,0 +1,24 @@
+#pragma once
+
+#include <string>
+#include <vector>
+
+#include <RobotAPI/interface/skills/SkillProviderInterface.h>
+#include <RobotAPI/libraries/aron/core/type/variant/container/Object.h>
+
+namespace armarx
+{
+ namespace skills
+ {
+ struct SkillDescription
+ {
+ std::string skillName;
+ std::string description;
+ std::vector<std::string> targets;
+ long timeoutMs;
+ aron::type::ObjectPtr acceptedType;
+
+ provider::dto::SkillDescription toIce() const;
+ };
+ }
+}
diff --git a/source/RobotAPI/libraries/skills/provider/SkillParameterization.cpp b/source/RobotAPI/libraries/skills/provider/SkillParameterization.cpp
new file mode 100644
index 000000000..222c860e4
--- /dev/null
+++ b/source/RobotAPI/libraries/skills/provider/SkillParameterization.cpp
@@ -0,0 +1,17 @@
+#include "SkillParameterization.h"
+
+namespace armarx
+{
+ namespace skills
+ {
+ provider::dto::SkillParameterization SkillParameterization::toIce() const
+ {
+ provider::dto::SkillParameterization ret;
+ if (params)
+ {
+ ret.params = params->toAronDictPtr();
+ }
+ return ret;
+ }
+ }
+}
diff --git a/source/RobotAPI/libraries/skills/provider/SkillParameterization.h b/source/RobotAPI/libraries/skills/provider/SkillParameterization.h
new file mode 100644
index 000000000..b42c0e927
--- /dev/null
+++ b/source/RobotAPI/libraries/skills/provider/SkillParameterization.h
@@ -0,0 +1,20 @@
+#pragma once
+
+#include <string>
+#include <vector>
+
+#include <RobotAPI/interface/skills/SkillProviderInterface.h>
+#include <RobotAPI/libraries/aron/core/data/variant/container/Dict.h>
+
+namespace armarx
+{
+ namespace skills
+ {
+ struct SkillParameterization
+ {
+ aron::data::DictPtr params;
+
+ provider::dto::SkillParameterization toIce() const;
+ };
+ }
+}
diff --git a/source/RobotAPI/libraries/skills/provider/SkillProviderComponentPlugin.cpp b/source/RobotAPI/libraries/skills/provider/SkillProviderComponentPlugin.cpp
new file mode 100644
index 000000000..321273b10
--- /dev/null
+++ b/source/RobotAPI/libraries/skills/provider/SkillProviderComponentPlugin.cpp
@@ -0,0 +1,171 @@
+#include "SkillProviderComponentPlugin.h"
+
+#include <ArmarXCore/core/Component.h>
+
+#include <RobotAPI/libraries/aron/core/data/variant/primitive/All.h>
+
+namespace armarx::plugins
+{
+ void SkillProviderComponentPlugin::preOnInitComponent()
+ {
+
+ }
+
+ void SkillProviderComponentPlugin::preOnConnectComponent()
+ {
+ auto& p = parent<SkillProviderComponentPluginUser>();
+ p.getProxy(myPrx, -1);
+ }
+
+ void SkillProviderComponentPlugin::postOnConnectComponent()
+ {
+ auto& p = parent<SkillProviderComponentPluginUser>();
+ std::string providerName = p.getName();
+
+ skills::manager::dto::ProviderInfo i;
+ i.provider = myPrx;
+ i.providerName = providerName;
+ i.providedSkills = p.getSkills();
+ skillManager->addProvider(i);
+ }
+
+ void SkillProviderComponentPlugin::preOnDisconnectComponent()
+ {
+ auto& p = parent<SkillProviderComponentPluginUser>();
+ std::string providerName = p.getName();
+
+ skillManager->removeProvider(providerName);
+ }
+
+ void SkillProviderComponentPlugin::postCreatePropertyDefinitions(PropertyDefinitionsPtr& properties)
+ {
+ std::string prefix = "skill.";
+ properties->component(skillManager, "SkillMemory", prefix + "SkillManager", "The name of the SkillManager (or SkillMemory) proxy.");
+ }
+}
+
+
+namespace armarx
+{
+ SkillProviderComponentPluginUser::SkillProviderComponentPluginUser()
+ {
+ addPlugin(plugin);
+ }
+
+ void SkillProviderComponentPluginUser::addSkill(const std::shared_ptr<skills::Skill>& skill, const skills::SkillDescription& desc)
+ {
+ std::lock_guard l(skillsMutex);
+ std::string skillName = desc.skillName;
+
+ if (skillImplementations.find(skillName) != skillImplementations.end())
+ {
+ ARMARX_WARNING << "Try to add a skill '" + skillName + "' which already exists in list. Ignore this skill.";
+ return;
+ }
+
+ ARMARX_DEBUG << "Adding skill " << skillName << " to list";
+ skills::detail::SkillImplementationWrapper s(desc, skill);
+ skillImplementations.insert({skillName, s});
+ }
+
+ void SkillProviderComponentPluginUser::addSkill(const skills::helper::LambdaSkill::FunT& f, const skills::SkillDescription& desc)
+ {
+ auto lambda = std::make_shared<skills::helper::LambdaSkill>(f);
+ addSkill(lambda, desc);
+ }
+
+ skills::provider::dto::SkillDescriptionMap SkillProviderComponentPluginUser::getSkills(const Ice::Current ¤t)
+ {
+ std::lock_guard l(skillsMutex);
+ skills::provider::dto::SkillDescriptionMap skillDesciptions;
+ for (const auto& [key, skillImplementation] : skillImplementations)
+ {
+ skillDesciptions.insert({key, skillImplementation.description.toIce()});
+ }
+ return skillDesciptions;
+ }
+
+ skills::provider::dto::SkillStatusUpdate SkillProviderComponentPluginUser::getSkillExecutionStatus(const std::string& skill, const Ice::Current ¤t)
+ {
+ std::lock_guard l(skillsMutex);
+ auto& skillImplementation = skillImplementations.at(skill);
+
+ std::lock_guard l2(skillImplementation.statusInfo.skillStatusMutex);
+ return skillImplementation.statusInfo.statusUpdate.toIce();
+ }
+
+ void SkillProviderComponentPluginUser::executeSkill(const skills::provider::dto::SkillExecutionInfo& info, const Ice::Current ¤t)
+ {
+ std::lock_guard l(skillsMutex);
+ std::string skillName = info.skillName;
+ ARMARX_CHECK_EXPRESSION(skillImplementations.count(skillName) > 0);
+
+ auto& impl = skillImplementations.at(skillName);
+
+ if (impl.task.joinable())
+ {
+ impl.task.join();
+ }
+ if (impl.timeoutCheck.joinable())
+ {
+ impl.timeoutCheck.join();
+ }
+ if (impl.stoppedCheck.joinable())
+ {
+ impl.stoppedCheck.join();
+ }
+
+ // update input params
+ impl.reset();
+ impl.statusInfo.statusUpdate.usedCallbackInterface = info.callbackInterface;
+ impl.statusInfo.statusUpdate.skillName = info.skillName;
+ impl.statusInfo.statusUpdate.providerName = getName();
+ if (info.parameterization.params)
+ {
+ impl.statusInfo.statusUpdate.usedParameterization.params = std::make_shared<aron::data::Dict>(info.parameterization.params);
+ }
+
+ // make sure thread is started
+ impl.statusInfo.started = true;
+
+ // recreate thread and execute skill
+ impl.timeoutCheck = std::thread{ [&](){ impl.constantlyCheckForTimeoutReached();}};
+ impl.stoppedCheck = std::thread{ [&](){ impl.constantlyCheckForStopped();}};
+ impl.task = std::thread{ [&] { impl.execute();}};
+ }
+
+ skills::provider::dto::SkillStatusUpdate SkillProviderComponentPluginUser::abortSkill(const std::string& skillName, const Ice::Current ¤t)
+ {
+ std::lock_guard l(skillsMutex);
+ ARMARX_CHECK_EXPRESSION(skillImplementations.count(skillName) > 0);
+
+ auto& impl = skillImplementations.at(skillName);
+ auto& statusInfo = impl.statusInfo;
+
+ std::lock_guard l2(statusInfo.skillStatusMutex);
+ auto& statusUpdate = statusInfo.statusUpdate;
+
+ impl.statusInfo.stopped = true;
+ impl.statusInfo.started = false;
+ if (impl.task.joinable())
+ {
+ impl.task.join();
+ }
+ if (impl.timeoutCheck.joinable())
+ {
+ impl.timeoutCheck.join();
+ }
+ if (impl.stoppedCheck.joinable())
+ {
+ impl.stoppedCheck.join();
+ }
+
+ if (statusUpdate.status != skills::provider::dto::ExecutionStatus::Succeeded &&
+ statusUpdate.status != skills::provider::dto::ExecutionStatus::Failed)
+ {
+ impl.statusInfo.statusUpdate.status = skills::provider::dto::ExecutionStatus::Aborted;
+ }
+
+ return statusUpdate.toIce();
+ }
+}
diff --git a/source/RobotAPI/libraries/skills/provider/SkillProviderComponentPlugin.h b/source/RobotAPI/libraries/skills/provider/SkillProviderComponentPlugin.h
new file mode 100644
index 000000000..14b3ce55e
--- /dev/null
+++ b/source/RobotAPI/libraries/skills/provider/SkillProviderComponentPlugin.h
@@ -0,0 +1,66 @@
+#pragma once
+
+#include <mutex>
+#include <queue>
+#include <thread>
+#include <functional>
+
+#include <ArmarXCore/core/ComponentPlugin.h>
+#include <ArmarXCore/core/ManagedIceObject.h>
+
+#include <ArmarXCore/core/services/tasks/RunningTask.h>
+
+#include <RobotAPI/interface/skills/SkillManagerInterface.h>
+#include <RobotAPI/libraries/aron/core/data/variant/container/Dict.h>
+
+#include "helper/LambdaSkillImplementation.h"
+#include "detail/SkillImplementationWrapper.h"
+
+namespace armarx::plugins
+{
+ class SkillProviderComponentPlugin : public ComponentPlugin
+ {
+ public:
+ using ComponentPlugin::ComponentPlugin;
+
+ void preOnInitComponent() override;
+
+ void preOnConnectComponent() override;
+ void postOnConnectComponent() override;
+
+ void postCreatePropertyDefinitions(PropertyDefinitionsPtr& properties) override;
+
+ void preOnDisconnectComponent() override;
+
+ private:
+ skills::manager::dti::SkillManagerInterfacePrx skillManager;
+ skills::provider::dti::SkillProviderInterfacePrx myPrx;
+ };
+}
+
+namespace armarx
+{
+ class SkillProviderComponentPluginUser :
+ virtual public ManagedIceObject,
+ virtual public skills::provider::dti::SkillProviderInterface
+ {
+ public:
+ SkillProviderComponentPluginUser();
+
+ skills::provider::dto::SkillDescriptionMap getSkills(const Ice::Current ¤t = Ice::Current()) override;
+ skills::provider::dto::SkillStatusUpdate getSkillExecutionStatus(const std::string& skill, const Ice::Current ¤t = Ice::Current()) override;
+ void executeSkill(const skills::provider::dto::SkillExecutionInfo& executionInfo, const Ice::Current ¤t = Ice::Current()) override;
+ skills::provider::dto::SkillStatusUpdate abortSkill(const std::string &skill, const Ice::Current ¤t = Ice::Current()) override;
+
+ protected:
+ void addSkill(const skills::helper::LambdaSkill::FunT&, const skills::SkillDescription&);
+ void addSkill(const std::shared_ptr<skills::Skill>&, const skills::SkillDescription&);
+
+ private:
+ armarx::plugins::SkillProviderComponentPlugin* plugin = nullptr;
+
+ protected:
+ mutable std::mutex skillsMutex;
+ std::map<std::string, skills::detail::SkillImplementationWrapper> skillImplementations;
+ };
+}
diff --git a/source/RobotAPI/libraries/skills/provider/SkillStatusUpdate.cpp b/source/RobotAPI/libraries/skills/provider/SkillStatusUpdate.cpp
new file mode 100644
index 000000000..c55eaf973
--- /dev/null
+++ b/source/RobotAPI/libraries/skills/provider/SkillStatusUpdate.cpp
@@ -0,0 +1,22 @@
+#include "SkillStatusUpdate.h"
+
+namespace armarx
+{
+ namespace skills
+ {
+ provider::dto::SkillStatusUpdate SkillStatusUpdate::toIce() const
+ {
+ provider::dto::SkillStatusUpdate ret;
+ ret.providerName = providerName;
+ ret.skillName = skillName;
+ if (data)
+ {
+ ret.data = data->toAronDictPtr();
+ }
+ ret.status = status;
+ ret.usedCallbackInterface = usedCallbackInterface;
+ ret.usedParameterization = usedParameterization.toIce();
+ return ret;
+ }
+ }
+}
diff --git a/source/RobotAPI/libraries/skills/provider/SkillStatusUpdate.h b/source/RobotAPI/libraries/skills/provider/SkillStatusUpdate.h
new file mode 100644
index 000000000..439adf115
--- /dev/null
+++ b/source/RobotAPI/libraries/skills/provider/SkillStatusUpdate.h
@@ -0,0 +1,26 @@
+#pragma once
+
+#include <string>
+#include <vector>
+
+#include "SkillParameterization.h"
+
+#include <RobotAPI/interface/skills/SkillProviderInterface.h>
+
+namespace armarx
+{
+ namespace skills
+ {
+ struct SkillStatusUpdate
+ {
+ std::string providerName;
+ std::string skillName;
+ SkillParameterization usedParameterization;
+ callback::dti::SkillProviderCallbackInterfacePrx usedCallbackInterface;
+ provider::dto::ExecutionStatus status;
+ aron::data::DictPtr data;
+
+ provider::dto::SkillStatusUpdate toIce() const;
+ };
+ }
+}
diff --git a/source/RobotAPI/libraries/skills/provider/SpecializedSkill.cpp b/source/RobotAPI/libraries/skills/provider/SpecializedSkill.cpp
new file mode 100644
index 000000000..c9a42436e
--- /dev/null
+++ b/source/RobotAPI/libraries/skills/provider/SpecializedSkill.cpp
@@ -0,0 +1,9 @@
+#include "SpecializedSkill.h"
+
+namespace armarx
+{
+ namespace skills
+ {
+
+ }
+}
diff --git a/source/RobotAPI/libraries/skills/provider/SpecializedSkill.h b/source/RobotAPI/libraries/skills/provider/SpecializedSkill.h
new file mode 100644
index 000000000..f4107af41
--- /dev/null
+++ b/source/RobotAPI/libraries/skills/provider/SpecializedSkill.h
@@ -0,0 +1,35 @@
+#pragma once
+
+#include "Skill.h"
+
+namespace armarx
+{
+ namespace skills
+ {
+ template <class AronT>
+ class SpecializedSkill : public Skill
+ {
+ public:
+ SpecializedSkill();
+ virtual ~SpecializedSkill() = default;
+
+ /// Override this method with the actual implementation. The callback is for status updates to the calling instance to the calling instance
+ virtual Status execute(const AronT& params, const CallbackT& callback = [](const aron::data::DictPtr& returnValue) { (void) returnValue; })
+ {
+ (void) params;
+
+ ARMARX_WARNING_S << "You have to override this method!";
+ return Status::Succeeded;
+ }
+
+ /// Do not use anymore
+ Status execute(const aron::data::DictPtr& params, const CallbackT& callback = [](const aron::data::DictPtr& returnValue) { (void) returnValue; }) final
+ {
+ AronT p;
+ p.fromAron(params);
+
+ return execute(p, callback);
+ }
+ };
+ }
+}
diff --git a/source/RobotAPI/libraries/skills/provider/detail/SkillImplementationWrapper.cpp b/source/RobotAPI/libraries/skills/provider/detail/SkillImplementationWrapper.cpp
new file mode 100644
index 000000000..09ecd676c
--- /dev/null
+++ b/source/RobotAPI/libraries/skills/provider/detail/SkillImplementationWrapper.cpp
@@ -0,0 +1,130 @@
+#include "SkillImplementationWrapper.h"
+
+namespace armarx
+{
+ namespace skills::detail
+ {
+ void SkillImplementationWrapper::constantlyCheckForTimeoutReached() const
+ {
+ while(statusInfo.started)
+ {
+ if (isTimeoutReached())
+ {
+ skill->notifyTimeoutReached();
+ break; // only notify once?
+ }
+ }
+ std::this_thread::sleep_for(std::chrono::milliseconds(100));
+ }
+
+ void SkillImplementationWrapper::constantlyCheckForStopped() const
+ {
+ while(statusInfo.started)
+ {
+ if (statusInfo.stopped)
+ {
+ skill->notifyStopped();
+ break; // only notify once?
+ }
+ }
+ std::this_thread::sleep_for(std::chrono::milliseconds(100));
+ }
+
+ void SkillImplementationWrapper::reset()
+ {
+ std::lock_guard l(statusInfo.skillStatusMutex);
+ statusInfo.started = false;
+ statusInfo.stopped = false;
+ statusInfo.statusUpdate.status = skills::provider::dto::ExecutionStatus::Idle;
+ statusInfo.statusUpdate.data = nullptr;
+ skillStarted = IceUtil::Time::now().toMilliSeconds();
+ skill->reset();
+ }
+
+ void SkillImplementationWrapper::execute()
+ {
+ ARMARX_INFO_S << "Executing skill: " << description.skillName;
+ statusInfo.started = true;
+
+ // get params and setup variables
+ auto& aron_params = statusInfo.statusUpdate.usedParameterization.params;
+ if (not(aron_params) && description.acceptedType)
+ {
+ throw armarx::LocalException("The Skill '" + description.skillName + "' requires a type but no params are NULL.");
+ }
+
+ try
+ {
+ // set scheduled
+ {
+ std::lock_guard l(statusInfo.skillStatusMutex);
+ statusInfo.statusUpdate.status = skills::provider::dto::ExecutionStatus::Scheduled;
+
+ // do callback
+ updateStatusCallback();
+ }
+
+
+ // execute
+ {
+ std::lock_guard l(statusInfo.skillStatusMutex);
+ statusInfo.statusUpdate.status = skills::provider::dto::ExecutionStatus::Running;
+ updateStatusCallback();
+ }
+
+ auto result = skill->execute(aron_params, [&](const aron::data::DictPtr& update)
+ {
+ statusInfo.statusUpdate.data = update;
+ updateStatusCallback();
+ }
+ );
+
+ if (result == skills::Skill::Status::Failed)
+ {
+ throw armarx::LocalException("The Skill '"+description.skillName+"' failed during execution.");
+ }
+ if (result == skills::Skill::Status::TimeoutReached)
+ {
+ throw armarx::LocalException("The Skill '"+description.skillName+"' reached timeout during execution.");
+ }
+
+ {
+ std::lock_guard l(statusInfo.skillStatusMutex);
+ statusInfo.statusUpdate.status = skills::provider::dto::ExecutionStatus::Succeeded;
+ updateStatusCallback();
+ }
+ }
+ catch (const std::exception& ex)
+ {
+ ARMARX_WARNING_S << "Skill " << description.skillName << " died with exception:\n" << ex.what();
+
+ std::lock_guard l(statusInfo.skillStatusMutex);
+ statusInfo.statusUpdate.status = skills::provider::dto::ExecutionStatus::Failed;
+ updateStatusCallback();
+ }
+
+ statusInfo.started = false;
+ }
+
+ bool SkillImplementationWrapper::isTimeoutReached() const
+ {
+ if (description.timeoutMs < 0)
+ {
+ return false;
+ }
+
+ auto now = IceUtil::Time::now().toMilliSeconds();
+ return (now - skillStarted) >= description.timeoutMs;
+ }
+
+ void SkillImplementationWrapper::updateStatusCallback() const
+ {
+ auto& callbackInterface = statusInfo.statusUpdate.usedCallbackInterface;
+
+ if (callbackInterface)
+ {
+ callbackInterface->updateStatusForSkill(statusInfo.statusUpdate.toIce());
+ }
+ }
+ }
+}
diff --git a/source/RobotAPI/libraries/skills/provider/detail/SkillImplementationWrapper.h b/source/RobotAPI/libraries/skills/provider/detail/SkillImplementationWrapper.h
new file mode 100644
index 000000000..24a8637b4
--- /dev/null
+++ b/source/RobotAPI/libraries/skills/provider/detail/SkillImplementationWrapper.h
@@ -0,0 +1,63 @@
+#pragma once
+
+#include "../SkillDescription.h"
+#include "../SkillStatusUpdate.h"
+#include "../Skill.h"
+
+#include <RobotAPI/interface/skills/SkillManagerInterface.h>
+
+namespace armarx
+{
+ namespace skills
+ {
+ namespace detail
+ {
+ class SkillImplementationWrapper
+ {
+ public:
+ // fixed values. Do not change after skill instantiation
+ const SkillDescription description;
+ const std::shared_ptr<Skill> skill;
+
+ // Current execution status. Changes during execution
+ // The status also holds the used parameterization
+ struct StatusInfo
+ {
+ mutable std::mutex skillStatusMutex;
+ std::atomic_bool started;
+ std::atomic_bool stopped;
+ SkillStatusUpdate statusUpdate;
+ } statusInfo;
+
+ // Task information. task is recreated every time the skill restarts
+ std::thread task;
+ std::thread timeoutCheck;
+ std::thread stoppedCheck;
+
+ SkillImplementationWrapper(const skills::SkillDescription& desc, const std::shared_ptr<skills::Skill> skill) :
+ description(desc), skill(skill)
+ {
+ reset();
+ }
+
+ SkillImplementationWrapper(const SkillImplementationWrapper& s) :
+ SkillImplementationWrapper(s.description, s.skill)
+ {}
+
+ void execute();
+ void reset();
+
+ // checks for interrupts
+ void constantlyCheckForTimeoutReached() const;
+ void constantlyCheckForStopped() const;
+
+ protected:
+ bool isTimeoutReached() const;
+ void updateStatusCallback() const;
+
+ private:
+ long skillStarted = 0;
+ };
+ }
+ }
+}
diff --git a/source/RobotAPI/libraries/skills/provider/helper/LambdaSkillImplementation.cpp b/source/RobotAPI/libraries/skills/provider/helper/LambdaSkillImplementation.cpp
new file mode 100644
index 000000000..9b761b403
--- /dev/null
+++ b/source/RobotAPI/libraries/skills/provider/helper/LambdaSkillImplementation.cpp
@@ -0,0 +1,15 @@
+#include "LambdaSkillImplementation.h"
+
+namespace armarx
+{
+ namespace skills::helper
+ {
+
+ Skill::Status LambdaSkill::execute(const aron::data::DictPtr& data, const CallbackT& callback)
+ {
+ (void) callback;
+ bool res = fun(data);
+ return res ? Status::Succeeded : Status::Failed;
+ }
+ }
+}
diff --git a/source/RobotAPI/libraries/skills/provider/helper/LambdaSkillImplementation.h b/source/RobotAPI/libraries/skills/provider/helper/LambdaSkillImplementation.h
new file mode 100644
index 000000000..bb422b1bd
--- /dev/null
+++ b/source/RobotAPI/libraries/skills/provider/helper/LambdaSkillImplementation.h
@@ -0,0 +1,23 @@
+#pragma once
+
+#include "../Skill.h"
+
+namespace armarx
+{
+ namespace skills::helper
+ {
+ class LambdaSkill : public Skill
+ {
+ public:
+ using FunT = std::function<bool(const aron::data::DictPtr&)>;
+
+ LambdaSkill() = delete;
+ LambdaSkill(const FunT& f) : fun(f) {};
+
+ Skill::Status execute(const aron::data::DictPtr& data, const CallbackT& callback = [](const aron::data::DictPtr& returnValue) { (void) returnValue; }) override;
+
+ private:
+ FunT fun;
+ };
+ }
+}
--
GitLab