Add convenience functions for calling subskills

source/RobotAPI/libraries/skills/core/Skill.cpp

@@ -19,10 +19,22 @@ namespace armarx
         }
 
         std::optional<TerminatedSkillStatusUpdate>
-        Skill::callSubskill(const SkillProxy& prx, const aron::data::DictPtr& params)
+        Skill::callSubskill(const SkillProxy& proxy)
         {
-            auto eid = callSubskillAsync(prx, params);
-            auto ret = prx.join(eid);
+            return callSubskill(proxy, proxy.getRootProfileParameters());
+        }
+
+        std::optional<TerminatedSkillStatusUpdate>
+        Skill::callSubskill(const SkillProxy& proxy, const aron::data::DictPtr& parameters)
+        {
+            auto executionId = callSubskillAsync(proxy, parameters);
+            auto ret = proxy.join(executionId);
+
+            // While the sub skill was running, our skill might also have been aborted.
+            // In this case, the correct behavour would be aborting ourselves.
+            // The caller of callSubskill() can catch the thrown error::SkillAbortedException
+            // if necessary.
+            throwIfSkillShouldTerminate();
             return ret;
         }
 
@@ -37,6 +49,35 @@ namespace armarx
             return eid;
         }
 
+        std::optional<TerminatedSkillStatusUpdate>
+        Skill::callSubskill(const SkillID& skillId)
+        {
+            return callSubskill(SkillProxy(manager, skillId));
+        }
+
+        std::optional<TerminatedSkillStatusUpdate>
+        Skill::callSubskill(const SkillID& skillId, const aron::data::DictPtr& parameters)
+        {
+            return callSubskill(SkillProxy(manager, skillId), parameters);
+        }
+
+        std::optional<TerminatedSkillStatusUpdate>
+        Skill::callSubskill(const SkillID& skillId,
+                            std::function<void(aron::data::DictPtr&)> parametersFunction)
+        {
+            SkillProxy proxy(manager, skillId);
+
+            aron::data::DictPtr parameters = proxy.getRootProfileParameters();
+            if (not parameters)
+            {
+                parameters = armarx::aron::make_dict();
+            }
+
+            parametersFunction(parameters);
+
+            return callSubskill(proxy, parameters);
+        }
+
         void
         Skill::updateParameters(const aron::data::DictPtr& d)
         {