diff --git a/scenarios/ArMemExample/config/ExampleMemory.cfg b/scenarios/ArMemExample/config/ExampleMemory.cfg
index 251382f2af086afccf73924421ea31a2aad01017..274619e2d4d59a0921c674950c7dd6413b7535d1 100644
--- a/scenarios/ArMemExample/config/ExampleMemory.cfg
+++ b/scenarios/ArMemExample/config/ExampleMemory.cfg
@@ -145,19 +145,27 @@ ArmarX.ArMemExampleMemory.tpc.pub.MemoryListener = MemoryUpdates
# ArmarX.ExampleMemory.mem.ltm.configuration:
# Attributes:
-# - Default: {}
+# - Default: {"SnapshotFrequencyFilter": { "WaitingTimeInMs": 1000}, "PngConverter": {}}
# - Case sensitivity: yes
# - Required: no
-# ArmarX.ExampleMemory.mem.ltm.configuration = {}
+# ArmarX.ExampleMemory.mem.ltm.configuration = {"SnapshotFrequencyFilter": { "WaitingTimeInMs": 1000}, "PngConverter": {}}
-# ArmarX.ExampleMemory.mem.ltm.enabled:
+# ArmarX.ExampleMemory.mem.ltm.enable_querying:
# Attributes:
# - Default: false
# - Case sensitivity: yes
# - Required: no
# - Possible values: {0, 1, false, no, true, yes}
-# ArmarX.ExampleMemory.mem.ltm.enabled = false
+# ArmarX.ExampleMemory.mem.ltm.enable_querying = false
+
+
+# ArmarX.ExampleMemory.mem.ltm.mode:
+# Attributes:
+# - Default: DISABLED
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ExampleMemory.mem.ltm.mode = DISABLED
# ArmarX.ExampleMemory.mns.MemoryNameSystemEnabled: Whether to use (and depend on) the Memory Name System (MNS).
diff --git a/scenarios/RobotSkillsMemory/RobotSkillsMemory.scx b/scenarios/RobotSkillsMemory/RobotSkillsMemory.scx
index 9622c34e544899a5f2e81e01f5f6f7ad6744b013..84c9820b1df4a8304787c971df18f978d8096cd4 100644
--- a/scenarios/RobotSkillsMemory/RobotSkillsMemory.scx
+++ b/scenarios/RobotSkillsMemory/RobotSkillsMemory.scx
@@ -3,5 +3,7 @@
<application name="RemoteGuiProviderApp" instance="" package="ArmarXGui" nodeName="" enabled="true" iceAutoRestart="false"/>
<application name="SkillsMemory" instance="" package="RobotAPI" nodeName="" enabled="true" iceAutoRestart="false"/>
<application name="MemoryNameSystem" instance="" package="RobotAPI" nodeName="" enabled="true" iceAutoRestart="false"/>
+ <application name="DebugObserver" instance="" package="ArmarXCore" nodeName="" enabled="true" iceAutoRestart="false"/>
+ <application name="ArVizStorage" instance="" package="RobotAPI" nodeName="" enabled="true" iceAutoRestart="false"/>
</scenario>
diff --git a/scenarios/RobotSkillsMemory/config/MemoryNameSystem.cfg b/scenarios/RobotSkillsMemory/config/MemoryNameSystem.cfg
index 7dd22218243ca4f9e67e843da8b42916f3b8568a..b8bc70a66ca7f32a628886ad1bf13e373f9750d3 100644
--- a/scenarios/RobotSkillsMemory/config/MemoryNameSystem.cfg
+++ b/scenarios/RobotSkillsMemory/config/MemoryNameSystem.cfg
@@ -18,7 +18,7 @@
# ArmarX.ApplicationName = ""
-# ArmarX.CachePath: Path for cache files. If relative path AND env. variable ARMARX_USER_CONFIG_DIR is set, the cache path will be made relative to ARMARX_USER_CONFIG_DIR. Otherwise if relative it will be relative to the default ArmarX config dir (${HOME}/.armarx)
+# ArmarX.CachePath: Path for cache files. If relative path AND env. variable ARMARX_CONFIG_DIR is set, the cache path will be made relative to ARMARX_CONFIG_DIR. Otherwise if relative it will be relative to the default ArmarX config dir (${ARMARX_WORKSPACE}/armarx_config)
# Attributes:
# - Default: mongo/.cache
# - Case sensitivity: yes
diff --git a/scenarios/RobotSkillsMemory/config/RemoteGuiProviderApp.cfg b/scenarios/RobotSkillsMemory/config/RemoteGuiProviderApp.cfg
index 4fd690cefd94559b207493cf40e346a3e47f3b12..4b6abea40d72afd7d313ee47a9b191f3b26de30d 100644
--- a/scenarios/RobotSkillsMemory/config/RemoteGuiProviderApp.cfg
+++ b/scenarios/RobotSkillsMemory/config/RemoteGuiProviderApp.cfg
@@ -18,7 +18,7 @@
# ArmarX.ApplicationName = ""
-# ArmarX.CachePath: Path for cache files. If relative path AND env. variable ARMARX_USER_CONFIG_DIR is set, the cache path will be made relative to ARMARX_USER_CONFIG_DIR. Otherwise if relative it will be relative to the default ArmarX config dir (${HOME}/.armarx)
+# ArmarX.CachePath: Path for cache files. If relative path AND env. variable ARMARX_CONFIG_DIR is set, the cache path will be made relative to ARMARX_CONFIG_DIR. Otherwise if relative it will be relative to the default ArmarX config dir (${ARMARX_WORKSPACE}/armarx_config)
# Attributes:
# - Default: mongo/.cache
# - Case sensitivity: yes
diff --git a/scenarios/RobotSkillsMemory/config/SkillsMemory.cfg b/scenarios/RobotSkillsMemory/config/SkillsMemory.cfg
index 33ff12f5046dad45169c1661741ff7216055c26d..57d1fbc563156ae096bdaad0324321323a1a0724 100644
--- a/scenarios/RobotSkillsMemory/config/SkillsMemory.cfg
+++ b/scenarios/RobotSkillsMemory/config/SkillsMemory.cfg
@@ -18,7 +18,7 @@
# ArmarX.ApplicationName = ""
-# ArmarX.CachePath: Path for cache files. If relative path AND env. variable ARMARX_USER_CONFIG_DIR is set, the cache path will be made relative to ARMARX_USER_CONFIG_DIR. Otherwise if relative it will be relative to the default ArmarX config dir (${HOME}/.armarx)
+# ArmarX.CachePath: Path for cache files. If relative path AND env. variable ARMARX_CONFIG_DIR is set, the cache path will be made relative to ARMARX_CONFIG_DIR. Otherwise if relative it will be relative to the default ArmarX config dir (${ARMARX_WORKSPACE}/armarx_config)
# Attributes:
# - Default: mongo/.cache
# - Case sensitivity: yes
@@ -117,88 +117,105 @@
# ArmarX.SecondsStartupDelay = 0
-# ArmarX.SkillsMemory.:
+# ArmarX.SkillMemory.EnableProfiling: enable profiler which is used for logging performance events
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.SkillMemory.EnableProfiling = false
+
+
+# ArmarX.SkillMemory.MinimumLoggingLevel: Local logging level only for this component
+# Attributes:
+# - Default: Undefined
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {Debug, Error, Fatal, Important, Info, Undefined, Verbose, Warning}
+# ArmarX.SkillMemory.MinimumLoggingLevel = Undefined
+
+
+# ArmarX.SkillMemory.ObjectName: Name of IceGrid well-known object
# Attributes:
# - Default: ""
# - Case sensitivity: yes
# - Required: no
-# ArmarX.SkillsMemory. = ""
+# ArmarX.SkillMemory.ObjectName = ""
-# ArmarX.SkillsMemory.EnableProfiling: enable profiler which is used for logging performance events
+# ArmarX.SkillMemory.StatechartCoreSegmentName: Name of the core segment for statecharts.
# Attributes:
-# - Default: false
+# - Default: Statechart
# - Case sensitivity: yes
# - Required: no
-# - Possible values: {0, 1, false, no, true, yes}
-# ArmarX.SkillsMemory.EnableProfiling = false
+# ArmarX.SkillMemory.StatechartCoreSegmentName = Statechart
-# ArmarX.SkillsMemory.MinimumLoggingLevel: Local logging level only for this component
+# ArmarX.SkillMemory.TransitionsProviderSegmentName: Name of the provider segment for statechart transitions.
# Attributes:
-# - Default: Undefined
+# - Default: Transitions
# - Case sensitivity: yes
# - Required: no
-# - Possible values: {Debug, Error, Fatal, Important, Info, Undefined, Verbose, Warning}
-# ArmarX.SkillsMemory.MinimumLoggingLevel = Undefined
+# ArmarX.SkillMemory.TransitionsProviderSegmentName = Transitions
-# ArmarX.SkillsMemory.ObjectName: Name of IceGrid well-known object
+# ArmarX.SkillMemory.mem.MemoryName: Name of this memory server.
# Attributes:
-# - Default: ""
+# - Default: Skill
# - Case sensitivity: yes
# - Required: no
-# ArmarX.SkillsMemory.ObjectName = ""
+# ArmarX.SkillMemory.mem.MemoryName = Skill
-# ArmarX.SkillsMemory.mem.MemoryName: Name of this memory server.
+# ArmarX.SkillMemory.mem.ltm.configuration:
# Attributes:
-# - Default: Skills
+# - Default: {"SnapshotFrequencyFilter": { "WaitingTimeInMs": 1000}, "PngConverter": {}}
# - Case sensitivity: yes
# - Required: no
-# ArmarX.SkillsMemory.mem.MemoryName = Skills
+# ArmarX.SkillMemory.mem.ltm.configuration = {"SnapshotFrequencyFilter": { "WaitingTimeInMs": 1000}, "PngConverter": {}}
-# ArmarX.SkillsMemory.mns.MemoryNameSystemEnabled: Whether to use (and depend on) the Memory Name System (MNS).
-# Set to false to use this memory as a stand-alone.
+# ArmarX.SkillMemory.mem.ltm.enable_querying:
# Attributes:
-# - Default: true
+# - Default: false
# - Case sensitivity: yes
# - Required: no
# - Possible values: {0, 1, false, no, true, yes}
-# ArmarX.SkillsMemory.mns.MemoryNameSystemEnabled = true
+# ArmarX.SkillMemory.mem.ltm.enable_querying = false
-# ArmarX.SkillsMemory.mns.MemoryNameSystemName: Name of the Memory Name System (MNS) component.
+# ArmarX.SkillMemory.mem.ltm.mode:
# Attributes:
-# - Default: MemoryNameSystem
+# - Default: DISABLED
# - Case sensitivity: yes
# - Required: no
-# ArmarX.SkillsMemory.mns.MemoryNameSystemName = MemoryNameSystem
+# ArmarX.SkillMemory.mem.ltm.mode = DISABLED
-# ArmarX.SkillsMemory.tpc.pub.DebugObserver: Name of the `DebugObserver` topic to publish data to.
+# ArmarX.SkillMemory.mns.MemoryNameSystemEnabled: Whether to use (and depend on) the Memory Name System (MNS).
+# Set to false to use this memory as a stand-alone.
# Attributes:
-# - Default: DebugObserver
+# - Default: true
# - Case sensitivity: yes
# - Required: no
-# ArmarX.SkillsMemory.tpc.pub.DebugObserver = DebugObserver
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.SkillMemory.mns.MemoryNameSystemEnabled = true
-# ArmarX.SkillsMemory.tpc.pub.MemoryListener: Name of the `MemoryListener` topic to publish data to.
+# ArmarX.SkillMemory.mns.MemoryNameSystemName: Name of the Memory Name System (MNS) component.
# Attributes:
-# - Default: MemoryUpdates
+# - Default: MemoryNameSystem
# - Case sensitivity: yes
# - Required: no
-# ArmarX.SkillsMemory.tpc.pub.MemoryListener = MemoryUpdates
+# ArmarX.SkillMemory.mns.MemoryNameSystemName = MemoryNameSystem
-# ArmarX.SkillsMemory.tpc.sub.ProfilerListener: Name of the ProfilerListenerInterface topics to subscribe.
+# ArmarX.SkillMemory.tpc.sub.ProfilerListener: Name of the ProfilerListenerInterface topics to subscribe.
# Attributes:
# - Default: StateReportingTopic
# - Case sensitivity: yes
# - Required: no
-# ArmarX.SkillsMemory.tpc.sub.ProfilerListener = StateReportingTopic
+# ArmarX.SkillMemory.tpc.sub.ProfilerListener = StateReportingTopic
# ArmarX.StartDebuggerOnCrash: If this application crashes (segmentation fault) qtcreator will attach to this process and start the debugger.
diff --git a/scenarios/SkillProviderTest/config/SkillsMemory.cfg b/scenarios/SkillProviderTest/config/SkillsMemory.cfg
index 8b2bf04855a21e5a8ca955da89ba3a309460241e..57d1fbc563156ae096bdaad0324321323a1a0724 100644
--- a/scenarios/SkillProviderTest/config/SkillsMemory.cfg
+++ b/scenarios/SkillProviderTest/config/SkillsMemory.cfg
@@ -169,19 +169,27 @@
# ArmarX.SkillMemory.mem.ltm.configuration:
# Attributes:
-# - Default: {}
+# - Default: {"SnapshotFrequencyFilter": { "WaitingTimeInMs": 1000}, "PngConverter": {}}
# - Case sensitivity: yes
# - Required: no
-# ArmarX.SkillMemory.mem.ltm.configuration = {}
+# ArmarX.SkillMemory.mem.ltm.configuration = {"SnapshotFrequencyFilter": { "WaitingTimeInMs": 1000}, "PngConverter": {}}
-# ArmarX.SkillMemory.mem.ltm.enabled:
+# ArmarX.SkillMemory.mem.ltm.enable_querying:
# Attributes:
# - Default: false
# - Case sensitivity: yes
# - Required: no
# - Possible values: {0, 1, false, no, true, yes}
-# ArmarX.SkillMemory.mem.ltm.enabled = false
+# ArmarX.SkillMemory.mem.ltm.enable_querying = false
+
+
+# ArmarX.SkillMemory.mem.ltm.mode:
+# Attributes:
+# - Default: DISABLED
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.SkillMemory.mem.ltm.mode = DISABLED
# ArmarX.SkillMemory.mns.MemoryNameSystemEnabled: Whether to use (and depend on) the Memory Name System (MNS).
diff --git a/source/RobotAPI/components/skills/SkillProviderExample/SkillProviderExample.cpp b/source/RobotAPI/components/skills/SkillProviderExample/SkillProviderExample.cpp
index 9b16109a96f01e951974f84c70f7e7b159558de5..65b94a3807343d850003a53bbdbabc438a2d4bcc 100644
--- a/source/RobotAPI/components/skills/SkillProviderExample/SkillProviderExample.cpp
+++ b/source/RobotAPI/components/skills/SkillProviderExample/SkillProviderExample.cpp
@@ -176,6 +176,24 @@ namespace armarx::skills::provider
fooDesc);
}
+ // Add another lambda example skill
+ {
+ skills::SkillDescription fooDesc;
+ fooDesc.acceptedType = nullptr; // accept everything
+ fooDesc.description = "This skill dies hard.";
+ fooDesc.skillName = "Die";
+ fooDesc.timeout = armarx::core::time::Duration::MilliSeconds(1000);
+ addSkill(
+ [](const std::string& clientId, const aron::data::DictPtr&)
+ {
+ std::cout << "bye bye... segfaulting on purpose now!" << std::endl;
+ Skill* nullSkill = NULL;
+ nullSkill->getSkillId(); // DEAD!
+ return TerminatedSkillStatus::Succeeded;
+ },
+ fooDesc);
+ }
+
// Add another example skill
addSkill(std::make_unique<CallbackSkill>());
diff --git a/source/RobotAPI/components/skills/SkillProviderExample/SkillProviderExample.h b/source/RobotAPI/components/skills/SkillProviderExample/SkillProviderExample.h
index cbd795396941e1d004fd5f7fdf0fa946d70cb71e..2aad033f1f00a2523dd8dcf15b03979eab92b339 100644
--- a/source/RobotAPI/components/skills/SkillProviderExample/SkillProviderExample.h
+++ b/source/RobotAPI/components/skills/SkillProviderExample/SkillProviderExample.h
@@ -27,8 +27,8 @@
#include <ArmarXCore/core/Component.h>
// RobotAPI
-#include <RobotAPI/libraries/skills/provider/SkillProxy.h>
#include <RobotAPI/libraries/skills/provider/SkillProviderComponentPlugin.h>
+#include <RobotAPI/libraries/skills/provider/SkillProxy.h>
namespace armarx::skills::provider
{
@@ -55,7 +55,6 @@ namespace armarx::skills::provider
Skill::MainResult main(const MainInput& in) final;
};
-
class TimeoutSkill : public PeriodicSkill
{
public:
@@ -67,7 +66,6 @@ namespace armarx::skills::provider
PeriodicSkill::StepResult step(const MainInput& in) final;
};
-
class CallbackSkill : public Skill
{
public:
@@ -91,8 +89,8 @@ namespace armarx::skills::provider
* Detailed description of class ExampleClient.
*/
class SkillProviderExample :
- virtual public armarx::Component,
- virtual public SkillProviderComponentPluginUser
+ virtual public armarx::Component,
+ virtual public SkillProviderComponentPluginUser
{
public:
SkillProviderExample();
@@ -101,7 +99,6 @@ namespace armarx::skills::provider
std::string getDefaultName() const override;
protected:
-
armarx::PropertyDefinitionsPtr createPropertyDefinitions() override;
void onInitComponent() override;
@@ -111,4 +108,4 @@ namespace armarx::skills::provider
private:
};
-}
+} // namespace armarx::skills::provider
diff --git a/source/RobotAPI/gui-plugins/SkillManagerPlugin/SkillManagerMonitorWidgetController.cpp b/source/RobotAPI/gui-plugins/SkillManagerPlugin/SkillManagerMonitorWidgetController.cpp
index 12f89e9aff7960b53e39e12bc920f70ea89917a8..85237f794613e4b2938b07462864172abebed457 100644
--- a/source/RobotAPI/gui-plugins/SkillManagerPlugin/SkillManagerMonitorWidgetController.cpp
+++ b/source/RobotAPI/gui-plugins/SkillManagerPlugin/SkillManagerMonitorWidgetController.cpp
@@ -188,133 +188,157 @@ namespace armarx
/* CHECK OWN SKILLS LIST */
// remove non-existing ones
- auto managerSkills = manager->getSkillDescriptions();
- std::vector<std::string> removedProviders;
- for (auto it = skills.begin(); it != skills.end();)
+ try
{
- // TODO: iterate over skills, not just over providers!
- std::string providerName = it->first;
- if (managerSkills.find(providerName) == managerSkills.end())
+ ARMARX_DEBUG << "GET REMOVED PROVIDERS AND REMOVE FROM MAP";
+ std::scoped_lock l(skillMutex);
+ auto managerSkills = manager->getSkillDescriptions();
+ std::vector<std::string> removedProviders;
+ for (auto it = skills.begin(); it != skills.end();)
{
- removedProviders.push_back(providerName);
- it = skills.erase(it);
- }
- else
- {
- it++;
+ // TODO: iterate over skills, not just over providers!
+ std::string providerName = it->first;
+ if (managerSkills.find(providerName) == managerSkills.end())
+ {
+ ARMARX_DEBUG << "REMOVE " << providerName;
+ removedProviders.push_back(providerName);
+ it = skills.erase(it);
+ }
+ else
+ {
+ it++;
+ }
}
- }
- // add new ones
- std::vector<std::string> newProviders;
- for (const auto& [providerName, providerSkills] : managerSkills)
- {
- if (skills.find(providerName) == skills.end())
+ // add new ones
+ ARMARX_DEBUG << "GET NEW PROVIDERS AND ADD THEM TO MAP";
+ std::vector<std::string> newProviders;
+ for (const auto& [providerName, providerSkills] : managerSkills)
{
- skills.insert(std::make_pair(providerName, providerSkills));
- newProviders.push_back(providerName);
+ if (skills.find(providerName) == skills.end())
+ {
+ ARMARX_DEBUG << "ADD " << providerName;
+ skills.insert(std::make_pair(providerName, providerSkills));
+ newProviders.push_back(providerName);
+ }
}
- }
- /* CHECK TREE VIEW */
- // remove providers from tree
- int i = 0;
- while (i < widget.treeWidgetSkills->topLevelItemCount())
- {
- QTreeWidgetItem* item = widget.treeWidgetSkills->topLevelItem(i);
- if (std::find(removedProviders.begin(),
- removedProviders.end(),
- item->text(0).toStdString()) != removedProviders.end())
+ /* CHECK TREE VIEW */
+ // remove providers from tree
+ ARMARX_DEBUG << "REMOVE PROVIDERS FROM TREE VIEW";
+ int i = 0;
+ while (i < widget.treeWidgetSkills->topLevelItemCount())
{
- delete widget.treeWidgetSkills->takeTopLevelItem(i);
- }
- else
- {
- ++i;
+ QTreeWidgetItem* item = widget.treeWidgetSkills->topLevelItem(i);
+ if (auto it = std::find(removedProviders.begin(),
+ removedProviders.end(),
+ item->text(0).toStdString());
+ it != removedProviders.end())
+ {
+ ARMARX_DEBUG << "REMOVE PROVIDER " << *it;
+ delete widget.treeWidgetSkills->takeTopLevelItem(i);
+ }
+ else
+ {
+ ++i;
+ }
}
- }
- // add new providers
- for (const auto& [providerName, providerSkills] : skills)
- {
- if (auto it = std::find(newProviders.begin(), newProviders.end(), providerName);
- it != newProviders.end())
+ // add new providers
+ ARMARX_DEBUG << "ADD NEW PROVIDERS TO TREE VIEW";
+ for (const auto& [providerName, providerSkills] : skills)
{
- auto item = new QTreeWidgetItem(widget.treeWidgetSkills);
- item->setText(0, QString::fromStdString(providerName));
- for (const auto& [name, sk] : providerSkills)
+ if (auto it = std::find(newProviders.begin(), newProviders.end(), providerName);
+ it != newProviders.end())
{
- auto itsk = new QTreeWidgetItem(item);
- item->addChild(itsk);
- itsk->setText(0, QString::fromStdString(name));
+ auto item = new QTreeWidgetItem(widget.treeWidgetSkills);
+ item->setText(0, QString::fromStdString(providerName));
+ for (const auto& [name, sk] : providerSkills)
+ {
+ ARMARX_DEBUG << "ADD PROVIDER " << *it;
+ auto itsk = new QTreeWidgetItem(item);
+ item->addChild(itsk);
+ itsk->setText(0, QString::fromStdString(name));
+ }
}
}
- }
- // update status and active skills window
- std::map<skills::SkillID, std::string> activeSkillsAndPrefixes;
- auto managerStatuses = manager->getSkillExecutionStatuses();
- for (int i = 0; i < widget.treeWidgetSkills->topLevelItemCount(); ++i)
- {
- try
+ // update status and active skills window
+ ARMARX_DEBUG << "UPDATE STATI AND ACTIVE SKILL";
+ std::map<skills::SkillID, std::string> activeSkillsAndPrefixes;
+ auto managerStatuses = manager->getSkillExecutionStatuses();
+ for (int i = 0; i < widget.treeWidgetSkills->topLevelItemCount(); ++i)
{
- QTreeWidgetItem* item = widget.treeWidgetSkills->topLevelItem(i);
- auto providerName = item->text(0).toStdString();
-
- auto allStatusesForProvider = managerStatuses.at(providerName);
-
- for (int j = 0; j < item->childCount(); ++j)
+ try
{
- QTreeWidgetItem* skillItem = item->child(j);
- skills::SkillID currentSkillId(providerName, skillItem->text(0).toStdString());
+ QTreeWidgetItem* item = widget.treeWidgetSkills->topLevelItem(i);
+ auto providerName = item->text(0).toStdString();
- auto statusForSkill = allStatusesForProvider.at(currentSkillId.skillName);
- skillItem->setText(2,
- QString::fromStdString(ExecutionStatus2String.at(
- statusForSkill.header.status)));
+ ARMARX_DEBUG << "UPDATE STATI FOR PROVIDER " << providerName;
+ auto allStatusesForProvider = managerStatuses.at(providerName);
- if (not statusForSkill.header.executorName
- .empty()) // it means that the skill was called by someone
+ for (int j = 0; j < item->childCount(); ++j)
{
- activeSkillsAndPrefixes.insert(
- {currentSkillId, statusForSkill.header.executorName});
+ QTreeWidgetItem* skillItem = item->child(j);
+ skills::SkillID currentSkillId(providerName,
+ skillItem->text(0).toStdString());
+
+ ARMARX_DEBUG << "UPDATE STATI FOR SKILL " << currentSkillId.skillName;
+ auto statusForSkill = allStatusesForProvider.at(currentSkillId.skillName);
+ skillItem->setText(2,
+ QString::fromStdString(ExecutionStatus2String.at(
+ statusForSkill.header.status)));
+
+ if (not statusForSkill.header.executorName
+ .empty()) // it means that the skill was called by someone
+ {
+ ARMARX_DEBUG << "ADD SKILL TO ACTIVE " << currentSkillId.skillName;
+ activeSkillsAndPrefixes.insert(
+ {currentSkillId, statusForSkill.header.executorName});
+ }
}
}
+ catch (...)
+ {
+ // Perhaps the skill provider died after the check at the beginning of this method
+ continue;
+ }
}
- catch (const std::exception& e)
- {
- // Perhaps the skill provider died after the check at the beginning of this method
- continue;
- }
- }
- // finally update the view of active skills
- widget.listWidgetActiveSkills->clear();
- for (const auto& [id, prefix] : activeSkillsAndPrefixes)
- {
- auto prefixedStr = id.toString(prefix);
- bool longest = true;
- for (const auto& [id2, prefix2] :
- activeSkillsAndPrefixes) // check if there is a deeper skill currently executing
+ // finally update the view of active skills
+ ARMARX_DEBUG << "UPDATE ACTIVE SKILLS";
+ widget.listWidgetActiveSkills->clear();
+ for (const auto& [id, prefix] : activeSkillsAndPrefixes)
{
- auto prefixedStr2 = id.toString(prefix2);
- if (prefixedStr == prefixedStr2)
+ auto prefixedStr = id.toString(prefix);
+ bool longest = true;
+ for (
+ const auto& [id2, prefix2] :
+ activeSkillsAndPrefixes) // check if there is a deeper skill currently executing
{
- continue;
+ auto prefixedStr2 = id.toString(prefix2);
+ if (prefixedStr == prefixedStr2)
+ {
+ continue;
+ }
+
+ if (simox::alg::starts_with(prefixedStr2, prefixedStr))
+ {
+ longest = false;
+ break;
+ }
}
- if (simox::alg::starts_with(prefixedStr2, prefixedStr))
+ if (longest)
{
- longest = false;
- break;
+ widget.listWidgetActiveSkills->addItem(
+ QString::fromStdString(id.toString() + ": " + id.toString(prefix)));
}
}
-
- if (longest)
- {
- widget.listWidgetActiveSkills->addItem(
- QString::fromStdString(id.toString() + ": " + id.toString(prefix)));
- }
+ }
+ catch (...)
+ {
+ // perhaps the manager died during the method?
}
}
@@ -326,6 +350,7 @@ namespace armarx
return;
}
+ std::scoped_lock l(skillMutex);
const auto& skillDescriptions = skills.at(selectedSkill.providerName);
if (!skillDescriptions.count(selectedSkill.skillName))
{
@@ -352,6 +377,7 @@ namespace armarx
void
SkillManagerMonitorWidgetController::stopSkill()
{
+ std::scoped_lock l(skillMutex);
if (selectedSkill.providerName.empty() or selectedSkill.skillName.empty())
{
return;
@@ -372,6 +398,7 @@ namespace armarx
SkillManagerMonitorWidgetController::skillSelectionChanged(QTreeWidgetItem* current,
QTreeWidgetItem*)
{
+ std::scoped_lock l(skillMutex);
widget.groupBoxSkillDetails->setEnabled(false);
if (!current)
diff --git a/source/RobotAPI/gui-plugins/SkillManagerPlugin/SkillManagerMonitorWidgetController.h b/source/RobotAPI/gui-plugins/SkillManagerPlugin/SkillManagerMonitorWidgetController.h
index 59fd812aa79732ad2af9d501f84adaf2628fab3a..e30b00cf03e892412a06d85ac29d0cea3ac61bc2 100644
--- a/source/RobotAPI/gui-plugins/SkillManagerPlugin/SkillManagerMonitorWidgetController.h
+++ b/source/RobotAPI/gui-plugins/SkillManagerPlugin/SkillManagerMonitorWidgetController.h
@@ -43,14 +43,12 @@
namespace armarx
{
- class ARMARXCOMPONENT_IMPORT_EXPORT
- SkillManagerMonitorWidgetController:
- public armarx::ArmarXComponentWidgetControllerTemplate < SkillManagerMonitorWidgetController >
+ class ARMARXCOMPONENT_IMPORT_EXPORT SkillManagerMonitorWidgetController :
+ public armarx::ArmarXComponentWidgetControllerTemplate<SkillManagerMonitorWidgetController>
{
Q_OBJECT
public:
-
/// Controller Constructor
explicit SkillManagerMonitorWidgetController();
/// Controller destructor
@@ -65,7 +63,8 @@ namespace armarx
* Returns the Widget name displayed in the ArmarXGui to create an
* instance of this class.
*/
- static QString GetWidgetName()
+ static QString
+ GetWidgetName()
{
return "Skills.Manager";
}
@@ -95,8 +94,8 @@ namespace armarx
/**
* Widget Form
*/
- Ui::SkillManagerMonitorWidget widget;
- QPointer<SimpleConfigDialog> dialog;
+ Ui::SkillManagerMonitorWidget widget;
+ QPointer<SimpleConfigDialog> dialog;
std::string observerName = "SkillManager";
skills::manager::dti::SkillManagerInterfacePrx manager = nullptr;
@@ -108,6 +107,7 @@ namespace armarx
};
// Data taken from observer (snapshot of it)
+ mutable std::mutex skillMutex;
skills::manager::dto::SkillDescriptionMapMap skills = {};
// User Input
@@ -126,6 +126,4 @@ namespace armarx
// connected flag
std::atomic_bool connected = false;
};
-}
-
-
+} // namespace armarx
diff --git a/source/RobotAPI/libraries/skills/manager/SkillManagerComponentPlugin.cpp b/source/RobotAPI/libraries/skills/manager/SkillManagerComponentPlugin.cpp
index 60a38b465ddb8bd9d6cbdac5ec4952606624880c..f0171437b9b4898a87a48fc2cc2e49d4a467e986 100644
--- a/source/RobotAPI/libraries/skills/manager/SkillManagerComponentPlugin.cpp
+++ b/source/RobotAPI/libraries/skills/manager/SkillManagerComponentPlugin.cpp
@@ -1,20 +1,26 @@
#include "SkillManagerComponentPlugin.h"
#include <ArmarXCore/core/Component.h>
+
#include "../error/Exception.h"
namespace armarx::plugins
{
- void SkillManagerComponentPlugin::preOnInitComponent()
- {}
-
- void SkillManagerComponentPlugin::preOnConnectComponent()
- {}
+ void
+ SkillManagerComponentPlugin::preOnInitComponent()
+ {
+ }
- void SkillManagerComponentPlugin::postCreatePropertyDefinitions(PropertyDefinitionsPtr& properties)
- {}
-}
+ void
+ SkillManagerComponentPlugin::preOnConnectComponent()
+ {
+ }
+ void
+ SkillManagerComponentPlugin::postCreatePropertyDefinitions(PropertyDefinitionsPtr& properties)
+ {
+ }
+} // namespace armarx::plugins
namespace armarx
{
@@ -23,7 +29,9 @@ namespace armarx
addPlugin(plugin);
}
- void SkillManagerComponentPluginUser::addProvider(const skills::manager::dto::ProviderInfo& info, const Ice::Current&)
+ void
+ SkillManagerComponentPluginUser::addProvider(const skills::manager::dto::ProviderInfo& info,
+ const Ice::Current&)
{
std::lock_guard l(skillProviderMapMutex);
if (skillProviderMap.find(info.providerName) == skillProviderMap.end())
@@ -33,13 +41,16 @@ namespace armarx
}
else
{
- ARMARX_INFO << "Trying to add a provider with name '" << info.providerName << "' but the provider already exists. "
+ ARMARX_INFO << "Trying to add a provider with name '" << info.providerName
+ << "' but the provider already exists. "
<< "Overwriting the old provider info.";
skillProviderMap[info.providerName] = info.provider;
}
}
- void SkillManagerComponentPluginUser::removeProvider(const std::string& providerName, const Ice::Current&)
+ void
+ SkillManagerComponentPluginUser::removeProvider(const std::string& providerName,
+ const Ice::Current&)
{
std::lock_guard l(skillProviderMapMutex);
if (auto it = skillProviderMap.find(providerName); it != skillProviderMap.end())
@@ -49,11 +60,13 @@ namespace armarx
}
else
{
- ARMARX_INFO << "Trying to remove a provider with name '" << providerName << "' but it couldn't be found.";
+ ARMARX_INFO << "Trying to remove a provider with name '" << providerName
+ << "' but it couldn't be found.";
}
}
- std::string SkillManagerComponentPluginUser::getFirstProviderNameThatHasSkill(const std::string& skillName)
+ std::string
+ SkillManagerComponentPluginUser::getFirstProviderNameThatHasSkill(const std::string& skillName)
{
for (const auto& [providerName, providerPrx] : skillProviderMap)
{
@@ -69,18 +82,30 @@ namespace armarx
return "INVALID PROVIDER NAME";
}
- skills::provider::dto::SkillStatusUpdate SkillManagerComponentPluginUser::executeSkill(const skills::manager::dto::SkillExecutionRequest& info, const Ice::Current&)
+ using SkillProviderInterfacePrxMap =
+ std::map<std::string, skills::provider::dti::SkillProviderInterfacePrx>;
+
+ skills::provider::dto::SkillStatusUpdate
+ SkillManagerComponentPluginUser::executeSkill(
+ const skills::manager::dto::SkillExecutionRequest& info,
+ const Ice::Current&)
{
std::string providerName = "INVALID PROVIDER NAME";
if (info.skillId.providerName == "*")
{
providerName = getFirstProviderNameThatHasSkill(info.skillId.skillName);
}
- else if(not(info.skillId.providerName.empty()))
+ else if (not(info.skillId.providerName.empty()))
{
providerName = info.skillId.providerName;
}
+ SkillProviderInterfacePrxMap skillProviderMap;
+ {
+ std::scoped_lock l(skillProviderMapMutex);
+ skillProviderMap = this->skillProviderMap;
+ }
+
bool remove = false;
if (auto it = skillProviderMap.find(providerName); it != skillProviderMap.end())
{
@@ -108,24 +133,39 @@ namespace armarx
if (remove)
{
std::scoped_lock l(skillProviderMapMutex);
+ // No copy!
+ SkillProviderInterfacePrxMap& skillProviderMap = this->skillProviderMap;
if (auto it = skillProviderMap.find(providerName); it != skillProviderMap.end())
{
- ARMARX_WARNING << __PRETTY_FUNCTION__ << ": Found disconnected skill provider '" << n << "' during execution. Removing it from skills.";
+ ARMARX_WARNING << __PRETTY_FUNCTION__ << ": Found disconnected skill provider '"
+ << n << "' during execution. Removing it from skills.";
it = skillProviderMap.erase(it);
}
}
}
else
{
- ARMARX_ERROR << "Could not execute a skill of provider '" + providerName + "' because the provider does not exist.";
- throw skills::error::SkillException(__PRETTY_FUNCTION__, "Skill execution failed. Could not execute a skill of provider '" + providerName + "' because the provider does not exist.");
+ ARMARX_ERROR << "Could not execute a skill of provider '" + providerName +
+ "' because the provider does not exist.";
+ throw skills::error::SkillException(
+ __PRETTY_FUNCTION__,
+ "Skill execution failed. Could not execute a skill of provider '" + providerName +
+ "' because the provider does not exist.");
}
return {}; // Never happens
}
- void SkillManagerComponentPluginUser::abortSkill(const std::string& providerName, const std::string& skillName, const Ice::Current ¤t)
+ void
+ SkillManagerComponentPluginUser::abortSkill(const std::string& providerName,
+ const std::string& skillName,
+ const Ice::Current& current)
{
- std::scoped_lock l(skillProviderMapMutex);
+ SkillProviderInterfacePrxMap skillProviderMap;
+ {
+ std::scoped_lock l(skillProviderMapMutex);
+ skillProviderMap = this->skillProviderMap;
+ }
+
if (auto it = skillProviderMap.find(providerName); it != skillProviderMap.end())
{
const auto& n = it->first;
@@ -136,19 +176,23 @@ namespace armarx
}
else
{
- ARMARX_WARNING << __PRETTY_FUNCTION__ << ": Found disconnected skill provider '" << n << "'. Removing it from skills.";
- it = skillProviderMap.erase(it);
+ ARMARX_WARNING << __PRETTY_FUNCTION__ << ": Found disconnected skill provider '"
+ << n << "'. Removing it from skills on next execute.";
}
}
}
- void SkillManagerComponentPluginUser::updateStatusForSkill(const skills::provider::dto::SkillStatusUpdate& statusUpdate, const Ice::Current&)
+ void
+ SkillManagerComponentPluginUser::updateStatusForSkill(
+ const skills::provider::dto::SkillStatusUpdate& statusUpdate,
+ const Ice::Current&)
{
- (void) statusUpdate;
+ (void)statusUpdate;
// If you want to use the status, implement this method!
}
- skills::manager::dto::SkillDescriptionMapMap SkillManagerComponentPluginUser::getSkillDescriptions(const Ice::Current ¤t)
+ skills::manager::dto::SkillDescriptionMapMap
+ SkillManagerComponentPluginUser::getSkillDescriptions(const Ice::Current& current)
{
skills::manager::dto::SkillDescriptionMapMap ret;
@@ -157,22 +201,33 @@ namespace armarx
{
const auto& n = it->first;
const auto& s = it->second;
- if (s)
+ try
{
- skills::provider::dto::SkillDescriptionMap m = s->getSkillDescriptions();
- ret.insert({n, m});
- ++it;
+ if (s)
+ {
+ skills::provider::dto::SkillDescriptionMap m = s->getSkillDescriptions();
+ ret.insert({n, m});
+ ++it;
+ }
+ else
+ {
+ ARMARX_WARNING << __PRETTY_FUNCTION__ << ": Found disconnected skill provider '"
+ << n << "'. Removing it from skills.";
+ it = skillProviderMap.erase(it);
+ }
}
- else
+ catch (...)
{
- ARMARX_WARNING << __PRETTY_FUNCTION__ << ": Found disconnected skill provider '" << n << "'. Removing it from skills.";
+ ARMARX_WARNING << __PRETTY_FUNCTION__ << ": Found buggy skill provider '" << n
+ << "'. Removing it from skills.";
it = skillProviderMap.erase(it);
}
}
return ret;
}
- skills::manager::dto::SkillStatusUpdateMapMap SkillManagerComponentPluginUser::getSkillExecutionStatuses(const Ice::Current ¤t)
+ skills::manager::dto::SkillStatusUpdateMapMap
+ SkillManagerComponentPluginUser::getSkillExecutionStatuses(const Ice::Current& current)
{
skills::manager::dto::SkillStatusUpdateMapMap ret;
@@ -189,10 +244,11 @@ namespace armarx
}
else
{
- ARMARX_WARNING << __PRETTY_FUNCTION__ << ": Found disconnected skill provider '" << n << "'. Removing it from skills.";
+ ARMARX_WARNING << __PRETTY_FUNCTION__ << ": Found disconnected skill provider '"
+ << n << "'. Removing it from skills.";
it = skillProviderMap.erase(it);
}
}
return ret;
}
-}
+} // namespace armarx