From ff916e4568c67d81314ee9597e6d983ef23c019f Mon Sep 17 00:00:00 2001
From: Julian Tusch <urhrf@student.kit.edu>
Date: Wed, 20 Nov 2024 16:58:57 +0100
Subject: [PATCH] update profile id logic
---
.../core/executor/FluxioNativeExecutor.cpp | 13 ++++++++---
.../manager/SkillManagerComponentPlugin.cpp | 23 ++++++++++++++++---
2 files changed, 30 insertions(+), 6 deletions(-)
diff --git a/source/RobotAPI/libraries/skills/core/executor/FluxioNativeExecutor.cpp b/source/RobotAPI/libraries/skills/core/executor/FluxioNativeExecutor.cpp
index b27913b12..e5e627709 100644
--- a/source/RobotAPI/libraries/skills/core/executor/FluxioNativeExecutor.cpp
+++ b/source/RobotAPI/libraries/skills/core/executor/FluxioNativeExecutor.cpp
@@ -13,6 +13,7 @@
#include "RobotAPI/libraries/skills/core/FluxioParameter.h"
#include "RobotAPI/libraries/skills/core/SkillStatusUpdate.h"
#include "RobotAPI/libraries/skills/core/executor/FluxioExecutor.h"
+#include <RobotAPI/libraries/aron/converter/json/NLohmannJSONConverter.h>
#include "../ProviderID.h"
#include "../SkillExecutionRequest.h"
@@ -54,6 +55,7 @@ namespace armarx::skills
this->possibleInputs[this->fluxioSkill.id] = parameters;
const auto& type = std::make_shared<armarx::aron::type::Object>();
+
// fill in missing with default values
for (const auto& [key, param] : this->fluxioSkill.parameters)
{
@@ -67,7 +69,9 @@ namespace armarx::skills
if (fallBack == nullptr)
{
ARMARX_WARNING << "No fallback value found for parameter " << param.name;
- continue;
+ ARMARX_WARNING << "Can't execute skill due to incomplete params.";
+ this->setStatus(skills::SkillStatus::Failed);
+ return;
}
this->possibleInputs[this->fluxioSkill.id]->addElement(key, fallBack);
@@ -84,7 +88,7 @@ namespace armarx::skills
{
ARMARX_WARNING << "Parameter with ID " << key << " not found in skill "
<< this->fluxioSkill.id;
- ARMARX_WARNING << "Aborting skill execution.";
+ ARMARX_WARNING << "Can't execute skill due to incomplete params.";
this->setStatus(skills::SkillStatus::Failed);
return;
}
@@ -102,7 +106,7 @@ namespace armarx::skills
if (!isValide)
{
ARMARX_WARNING << "Parameters do not fullfill the type of the skill";
- ARMARX_WARNING << "Aborting skill execution.";
+ ARMARX_WARNING << "Can't execute skill due to incompatible params.";
this->setStatus(skills::SkillStatus::Failed);
return;
}
@@ -113,6 +117,9 @@ namespace armarx::skills
req.executorName = executorName;
this->executorName = executorName;
+ ARMARX_WARNING << "Executing skill with the following parameters: "
+ << aron::data::converter::AronNlohmannJSONConverter::ConvertToNlohmannJSON(
+ req.parameters);
auto eid = executeSkillAsync(req);
this->executionId = eid;
diff --git a/source/RobotAPI/libraries/skills/manager/SkillManagerComponentPlugin.cpp b/source/RobotAPI/libraries/skills/manager/SkillManagerComponentPlugin.cpp
index 7fd21169b..0bd71fab2 100644
--- a/source/RobotAPI/libraries/skills/manager/SkillManagerComponentPlugin.cpp
+++ b/source/RobotAPI/libraries/skills/manager/SkillManagerComponentPlugin.cpp
@@ -736,7 +736,7 @@ namespace armarx::plugins
parameters = std::make_shared<aron::data::Dict>();
}
- ARMARX_WARNING << "Executing skill with the following parameters: "
+ ARMARX_WARNING << "Initializing skill execution with the following parameter values (overrides): "
<< aron::data::converter::AronNlohmannJSONConverter::ConvertToNlohmannJSON(
parameters);
@@ -1556,8 +1556,24 @@ namespace armarx::plugins
__LINE__)};
}
- std::string id;
- if (fluxioDC.profiles.find(profile.id) != fluxioDC.profiles.end())
+ std::string id = profile.id;
+
+ bool validId = false;
+ try
+ {
+ const auto& result = boost::uuids::string_generator()(id);
+ validId = result.version() != boost::uuids::uuid::version_unknown;
+ }
+ catch (...)
+ {
+ validId = false;
+ }
+
+ if (!validId)
+ {
+ id = IceUtil::generateUUID();
+ }
+ else if (fluxioDC.profiles.find(profile.id) != fluxioDC.profiles.end())
{
ARMARX_INFO << "The id '" << profile.id
<< "' is already taken. A new uuid will be generated.";
@@ -1571,6 +1587,7 @@ namespace armarx::plugins
fluxioDC.profiles[id] = profile; // a copy is created when the profile is added to the map
fluxioDC.profiles[id].id = id; // this copy can then be modified
const auto& ret = fluxioDC.profiles[id];
+
l.unlock();
return {ret};
--
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