From 1a46db860901db31f8abd10c36cc694f72af9f16 Mon Sep 17 00:00:00 2001
From: Fabian Peller <fabian.peller-konrad@kit.edu>
Date: Thu, 12 Oct 2023 18:06:54 +0200
Subject: [PATCH] strugled with operators. Added operator<=
---
.../libraries/skills/core/ProviderID.cpp | 12 ++++++---
.../libraries/skills/core/ProviderID.h | 9 +++----
.../RobotAPI/libraries/skills/core/Skill.cpp | 27 ++++++++++++-------
source/RobotAPI/libraries/skills/core/Skill.h | 4 ++-
.../libraries/skills/core/SkillID.cpp | 8 +++++-
.../RobotAPI/libraries/skills/core/SkillID.h | 1 +
6 files changed, 42 insertions(+), 19 deletions(-)
diff --git a/source/RobotAPI/libraries/skills/core/ProviderID.cpp b/source/RobotAPI/libraries/skills/core/ProviderID.cpp
index 83330c897..990898f38 100644
--- a/source/RobotAPI/libraries/skills/core/ProviderID.cpp
+++ b/source/RobotAPI/libraries/skills/core/ProviderID.cpp
@@ -19,7 +19,7 @@ namespace armarx
bool
ProviderID::operator==(const ProviderID& other) const
{
- return providerName == other.providerName;
+ return toString() == other.toString();
}
bool
@@ -34,6 +34,12 @@ namespace armarx
return toString() < other.toString();
}
+ bool
+ ProviderID::operator<=(const ProviderID& other) const
+ {
+ return toString() <= other.toString();
+ }
+
ProviderID
ProviderID::FromIce(const manager::dto::ProviderID& s)
{
@@ -59,9 +65,9 @@ namespace armarx
}
std::string
- ProviderID::toString(const std::string& prefix) const
+ ProviderID::toString() const
{
- return (prefix.empty() ? std::string("") : (prefix + PREFIX_SEPARATOR)) + providerName;
+ return providerName;
}
} // namespace skills
diff --git a/source/RobotAPI/libraries/skills/core/ProviderID.h b/source/RobotAPI/libraries/skills/core/ProviderID.h
index 3597c291f..10079220b 100644
--- a/source/RobotAPI/libraries/skills/core/ProviderID.h
+++ b/source/RobotAPI/libraries/skills/core/ProviderID.h
@@ -15,10 +15,6 @@ namespace armarx
class ProviderID
{
public:
- static const constexpr char* PREFIX_SEPARATOR = "->";
-
- std::string providerName;
-
ProviderID() = default;
ProviderID(const skills::SkillID& skillid);
ProviderID(const std::string& pName);
@@ -26,6 +22,7 @@ namespace armarx
bool operator==(const ProviderID& other) const;
bool operator!=(const ProviderID& other) const;
bool operator<(const ProviderID& other) const;
+ bool operator<=(const ProviderID& other) const;
manager::dto::ProviderID toManagerIce() const;
callback::dto::ProviderID toCallbackIce() const;
@@ -33,7 +30,9 @@ namespace armarx
static ProviderID FromIce(const manager::dto::ProviderID&);
static ProviderID FromIce(const callback::dto::ProviderID&);
- std::string toString(const std::string& prefix = "") const;
+ std::string toString() const;
+
+ std::string providerName;
};
std::ostream& operator<<(std::ostream& os, const ProviderID& id);
diff --git a/source/RobotAPI/libraries/skills/core/Skill.cpp b/source/RobotAPI/libraries/skills/core/Skill.cpp
index 754aac8ed..7d8d9b9c8 100644
--- a/source/RobotAPI/libraries/skills/core/Skill.cpp
+++ b/source/RobotAPI/libraries/skills/core/Skill.cpp
@@ -160,14 +160,24 @@ namespace armarx
}
void
- Skill::checkWhetherSkillShouldTerminate(const std::string& abortedMessage)
+ Skill::throwIfSkillShouldTerminate(const std::function<void()>& do_before,
+ const std::string& abortedMessage)
+ {
+ if (shouldSkillTerminate())
+ {
+ do_before();
+ throwIfSkillShouldTerminate(abortedMessage);
+ }
+ }
+
+ void
+ Skill::throwIfSkillShouldTerminate(const std::string& abortedMessage)
{
if (stopped)
{
- std::string message = abortedMessage.empty()
- ? std::string("The skill '" + getSkillId().toString() +
- "' was asked to stop.")
- : abortedMessage;
+ std::string message =
+ std::string("The skill '" + getSkillId().toString() + "' was asked to stop.");
+ message += abortedMessage.empty() ? "" : " Additional message: " + abortedMessage;
throw error::SkillAbortedException(message);
return;
@@ -175,10 +185,9 @@ namespace armarx
if (timeoutReached)
{
- std::string message = abortedMessage.empty()
- ? std::string("The skill '" + getSkillId().toString() +
- "' reached timeout.")
- : abortedMessage;
+ std::string message =
+ std::string("The skill '" + getSkillId().toString() + "' reached timeout.");
+ message += abortedMessage.empty() ? "" : " Additional message: " + abortedMessage;
ARMARX_WARNING << message;
throw error::SkillFailedException(message);
diff --git a/source/RobotAPI/libraries/skills/core/Skill.h b/source/RobotAPI/libraries/skills/core/Skill.h
index 249b38d6e..ff3cf1e82 100644
--- a/source/RobotAPI/libraries/skills/core/Skill.h
+++ b/source/RobotAPI/libraries/skills/core/Skill.h
@@ -123,7 +123,9 @@ namespace armarx
}
protected:
- void checkWhetherSkillShouldTerminate(const std::string& abortedMessage = "");
+ void throwIfSkillShouldTerminate(const std::string& abortedMessage = "");
+ void throwIfSkillShouldTerminate(const std::function<void()>& do_before,
+ const std::string& abortedMessage = "");
static MainResult MakeSucceededResult(aron::data::DictPtr data = nullptr);
static MainResult MakeFailedResult();
diff --git a/source/RobotAPI/libraries/skills/core/SkillID.cpp b/source/RobotAPI/libraries/skills/core/SkillID.cpp
index 3213183d0..fea0eca31 100644
--- a/source/RobotAPI/libraries/skills/core/SkillID.cpp
+++ b/source/RobotAPI/libraries/skills/core/SkillID.cpp
@@ -25,7 +25,7 @@ namespace armarx
bool
SkillID::operator==(const SkillID& other) const
{
- return providerId == other.providerId && skillName == other.skillName;
+ return this->toString() == other.toString();
}
bool
@@ -40,6 +40,12 @@ namespace armarx
return toString() < other.toString();
}
+ bool
+ SkillID::operator<=(const SkillID& other) const
+ {
+ return toString() <= other.toString();
+ }
+
SkillID
SkillID::FromIce(const manager::dto::SkillID& s)
{
diff --git a/source/RobotAPI/libraries/skills/core/SkillID.h b/source/RobotAPI/libraries/skills/core/SkillID.h
index 1ae18aec6..5d0da2a67 100644
--- a/source/RobotAPI/libraries/skills/core/SkillID.h
+++ b/source/RobotAPI/libraries/skills/core/SkillID.h
@@ -26,6 +26,7 @@ namespace armarx
bool operator==(const SkillID& other) const;
bool operator!=(const SkillID& other) const;
bool operator<(const SkillID& other) const;
+ bool operator<=(const SkillID& other) const;
bool
isFullySpecified() const
--
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