From eb22d761cd697190ae97a7b511cb4cab3f9a50e0 Mon Sep 17 00:00:00 2001
From: Meixner <andre.meixner@kit.edu>
Date: Mon, 12 Aug 2024 12:27:11 +0200
Subject: [PATCH] Added chance to call a subskill synchronously in
RandomChaining skill
---
.../SkillProviderExample/RandomChaining.cpp | 16 ++++++++++++----
1 file changed, 12 insertions(+), 4 deletions(-)
diff --git a/source/RobotAPI/components/skills/SkillProviderExample/RandomChaining.cpp b/source/RobotAPI/components/skills/SkillProviderExample/RandomChaining.cpp
index d34d8e607..b48462eef 100644
--- a/source/RobotAPI/components/skills/SkillProviderExample/RandomChaining.cpp
+++ b/source/RobotAPI/components/skills/SkillProviderExample/RandomChaining.cpp
@@ -48,12 +48,20 @@ namespace armarx::skills::provider
SkillProxy prx(
manager,
skills::SkillID{.providerId = *getSkillId().providerId, .skillName = subskillName});
- callSubskillAsync(prx);
- auto sleep_milliseconds = util::randomgen(1000, 0);
+ if (util::randomgen(10, 0) < 2)
+ {
+ callSubskill(prx);
+ }
+ else
+ {
+ callSubskillAsync(prx);
- ARMARX_INFO << "SLEEP FOR " << sleep_milliseconds << "ms";
- std::this_thread::sleep_for(std::chrono::milliseconds(sleep_milliseconds));
+ auto sleep_milliseconds = util::randomgen(1000, 0);
+
+ ARMARX_INFO << "SLEEP FOR " << sleep_milliseconds << "ms";
+ std::this_thread::sleep_for(std::chrono::milliseconds(sleep_milliseconds));
+ }
}
return {TerminatedSkillStatus::Succeeded, nullptr};
--
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