From 57ef98fae02f20188df0e0d8dff2cdc86fa17a0c Mon Sep 17 00:00:00 2001
From: Peter Albrecht <albrecpe@gmail.com>
Date: Wed, 8 Nov 2023 17:04:47 +0100
Subject: [PATCH] Merged master; made it compilable and implemented execution
signature in Ice
---
.../SkillManagerMonitorWidgetController.cpp | 25 ++++++++++++-------
.../SkillManagerMonitorWidgetController.h | 7 +++---
.../skills/SkillManagerInterface.ice | 1 +
.../skills/SkillProviderInterface.ice | 1 +
.../server/segment/SkillEventSegment.cpp | 2 +-
.../skills/core/SkillExecutionID.cpp | 23 ++++++++++++++---
.../libraries/skills/core/SkillExecutionID.h | 17 +++++--------
.../RobotAPI/libraries/skills/core/SkillID.h | 1 +
.../provider/SkillProviderComponentPlugin.cpp | 7 +++---
9 files changed, 52 insertions(+), 32 deletions(-)
diff --git a/source/RobotAPI/gui-plugins/SkillManagerPlugin/SkillManagerMonitorWidgetController.cpp b/source/RobotAPI/gui-plugins/SkillManagerPlugin/SkillManagerMonitorWidgetController.cpp
index a8dac1d29..557e7c5ad 100644
--- a/source/RobotAPI/gui-plugins/SkillManagerPlugin/SkillManagerMonitorWidgetController.cpp
+++ b/source/RobotAPI/gui-plugins/SkillManagerPlugin/SkillManagerMonitorWidgetController.cpp
@@ -450,8 +450,8 @@ namespace armarx
// update maps
skillStatusUpdates.insert_or_assign(executionId, statusUpdate);
- skillExecutionParams.insert_or_assign(executionId,
- statusUpdate.usedParameterization);
+ //skillExecutionParams.insert_or_assign(executionId,
+ // statusUpdate.usedParameterization);
SkillExecutionInfoTreeWidgetItem* found = nullptr;
for (int i = 0; i < widget.treeWidgetSkillExecutions->topLevelItemCount(); ++i)
@@ -531,10 +531,13 @@ namespace armarx
void
SkillManagerMonitorWidgetController::rerunSkillWithSimilarParams()
{
- skills::SkillParameterization selectedExecutionParams =
- skillExecutionParams.at(selectedSkill.skillExecutionId);
- executeSkillWithParams(selectedSkill.skillExecutionId.skillId,
- selectedExecutionParams.parameterization);
+ // TODO: disabled until skillparameterization is replaced
+ //skills::SkillParameterization selectedExecutionParams =
+ //skillExecutionParams.at(selectedSkill.skillExecutionId);
+ //executeSkillWithParams(selectedSkill.skillExecutionId.skillId,
+ // selectedExecutionParams.parameterization);
+
+ executeSelectedSkill();
}
void
@@ -543,8 +546,12 @@ namespace armarx
{
std::scoped_lock l(updateMutex);
- auto providerId = skills::ProviderID(skillId);
- const auto& skillDescriptions = skills.at(providerId);
+ auto providerId = skillId.providerId;
+ if (!providerId.has_value())
+ {
+ return;
+ }
+ const auto& skillDescriptions = skills.at(providerId.value());
if (skillDescriptions.find(skillId) == skillDescriptions.end())
{
return;
@@ -553,7 +560,7 @@ namespace armarx
char hostname[HOST_NAME_MAX];
gethostname(hostname, HOST_NAME_MAX);
- skills::SkillExecutionRequest req{selectedSkill.skillId,
+ skills::SkillExecutionRequest req(selectedSkill.skillId,
"Skills.Manager GUI (hostname: " + std::string(hostname) +
")",
params);
diff --git a/source/RobotAPI/gui-plugins/SkillManagerPlugin/SkillManagerMonitorWidgetController.h b/source/RobotAPI/gui-plugins/SkillManagerPlugin/SkillManagerMonitorWidgetController.h
index 63c26f1a8..0480e13c6 100644
--- a/source/RobotAPI/gui-plugins/SkillManagerPlugin/SkillManagerMonitorWidgetController.h
+++ b/source/RobotAPI/gui-plugins/SkillManagerPlugin/SkillManagerMonitorWidgetController.h
@@ -155,8 +155,9 @@ namespace armarx
std::map<skills::ProviderID, std::map<skills::SkillID, skills::SkillDescription>> skills =
{};
std::map<skills::SkillExecutionID, skills::SkillStatusUpdate> skillStatusUpdates = {};
+
// store copies (!) of skill descriptions
- std::map<skills::SkillExecutionID, skills::SkillParameterization> skillExecutionParams = {};
+ //std::map<skills::SkillExecutionID, skills::SkillParameterization> skillExecutionParams = {};
// User Input
struct SelectedSkill
@@ -166,8 +167,8 @@ namespace armarx
// make default constructable
SelectedSkill() :
- skillId({skills::SkillID::UNKNOWN}, skills::SkillID::UNKNOWN),
- skillExecutionId({{skills::SkillID::UNKNOWN}, skills::SkillID::UNKNOWN},
+ skillId({}, skills::SkillID::UNKNOWN),
+ skillExecutionId({{}, skills::SkillID::UNKNOWN},
skills::SkillExecutionID::UNKNOWN,
armarx::core::time::DateTime::Invalid())
{
diff --git a/source/RobotAPI/interface/skills/SkillManagerInterface.ice b/source/RobotAPI/interface/skills/SkillManagerInterface.ice
index f22738bda..9fe27d639 100644
--- a/source/RobotAPI/interface/skills/SkillManagerInterface.ice
+++ b/source/RobotAPI/interface/skills/SkillManagerInterface.ice
@@ -67,6 +67,7 @@ module armarx
{
SkillID skillId;
string executorName;
+ string executionSignature;
armarx::core::time::dto::DateTime executionStartedTime;
string uuid;
};
diff --git a/source/RobotAPI/interface/skills/SkillProviderInterface.ice b/source/RobotAPI/interface/skills/SkillProviderInterface.ice
index 3066c962e..e9ea82deb 100644
--- a/source/RobotAPI/interface/skills/SkillProviderInterface.ice
+++ b/source/RobotAPI/interface/skills/SkillProviderInterface.ice
@@ -136,6 +136,7 @@ module armarx
{
SkillID skillId;
string executorName;
+ string executionSignature;
armarx::core::time::dto::DateTime executionStartedTime;
string uuid;
};
diff --git a/source/RobotAPI/libraries/armem_skills/server/segment/SkillEventSegment.cpp b/source/RobotAPI/libraries/armem_skills/server/segment/SkillEventSegment.cpp
index 11dc8d0df..7b179a615 100644
--- a/source/RobotAPI/libraries/armem_skills/server/segment/SkillEventSegment.cpp
+++ b/source/RobotAPI/libraries/armem_skills/server/segment/SkillEventSegment.cpp
@@ -63,7 +63,7 @@ namespace armarx::skills::segment
[&](const armem::wm::EntityInstance& i)
{
auto event = i.dataAs<armarx::skills::arondto::SkillStatusUpdate>();
- skills::SkillStatusUpdate up;
+ skills::SkillStatusUpdate up = {};
armem::fromAron(event, up);
if (auto it = ret.find(up.executionId); it != ret.end() && up < it->second)
diff --git a/source/RobotAPI/libraries/skills/core/SkillExecutionID.cpp b/source/RobotAPI/libraries/skills/core/SkillExecutionID.cpp
index bb2494ac2..e46be421d 100644
--- a/source/RobotAPI/libraries/skills/core/SkillExecutionID.cpp
+++ b/source/RobotAPI/libraries/skills/core/SkillExecutionID.cpp
@@ -4,12 +4,20 @@ namespace armarx
{
namespace skills
{
+ /*SkillExecutionID::SkillExecutionID(const SkillID& id,
+ const std::string& executorName,
+ const armarx::core::time::DateTime& time) :
+ skillId(id), executorName(executorName), executionStartedTime(time)
+ {
+ }*/
+
skills::manager::dto::SkillExecutionID
SkillExecutionID::toManagerIce() const
{
skills::manager::dto::SkillExecutionID ret;
ret.skillId = skillId.toManagerIce();
ret.executorName = executorName;
+ ret.executionSignature = executionSignature;
armarx::core::time::toIce(ret.executionStartedTime, executionStartedTime);
return ret;
}
@@ -20,6 +28,7 @@ namespace armarx
skills::provider::dto::SkillExecutionID ret;
ret.skillId = skillId.toProviderIce();
ret.executorName = executorName;
+ ret.executionSignature = executionSignature;
armarx::core::time::toIce(ret.executionStartedTime, executionStartedTime);
return ret;
}
@@ -29,7 +38,10 @@ namespace armarx
{
armarx::core::time::DateTime t;
armarx::core::time::fromIce(i.executionStartedTime, t);
- return {skills::SkillID::FromIce(i.skillId), i.executorName, t};
+ return {.skillId = skills::SkillID::FromIce(i.skillId),
+ .executorName = i.executorName,
+ .executionSignature = i.executionSignature,
+ .executionStartedTime = t};
}
SkillExecutionID
@@ -38,13 +50,16 @@ namespace armarx
{
armarx::core::time::DateTime t;
armarx::core::time::fromIce(i.executionStartedTime, t);
- return {skills::SkillID::FromIce(i.skillId, providerName), i.executorName, t};
+ return {skills::SkillID::FromIce(i.skillId, providerName),
+ i.executorName,
+ i.executionSignature,
+ t};
}
std::string
- SkillExecutionID::toString(const std::string& prefix) const
+ SkillExecutionID::toString() const
{
- return skillId.toString(prefix) + ENTER_SEPARATOR + executorName + SEPARATOR +
+ return skillId.toString() + ENTER_SEPARATOR + executorName + SEPARATOR +
executionStartedTime.toDateTimeString() + EXIT_SEPARATOR;
}
diff --git a/source/RobotAPI/libraries/skills/core/SkillExecutionID.h b/source/RobotAPI/libraries/skills/core/SkillExecutionID.h
index 474eef2f6..8bf17cab3 100644
--- a/source/RobotAPI/libraries/skills/core/SkillExecutionID.h
+++ b/source/RobotAPI/libraries/skills/core/SkillExecutionID.h
@@ -20,6 +20,7 @@ namespace armarx
{
SkillID skillId;
std::string executorName;
+ std::string executionSignature;
armarx::core::time::DateTime executionStartedTime;
static const constexpr char* UNKNOWN = "UNKNOWN";
@@ -27,10 +28,11 @@ namespace armarx
static const constexpr char* EXIT_SEPARATOR = "]";
static const constexpr char* SEPARATOR = "@";
- SkillExecutionID() = delete;
- SkillExecutionID(const SkillID&,
+ //SkillExecutionID() = delete;
+
+ /*SkillExecutionID(const SkillID& id,
const std::string& executorName,
- const armarx::core::time::DateTime&);
+ const armarx::core::time::DateTime& time);*/
bool
operator==(const SkillExecutionID& other) const
@@ -50,13 +52,6 @@ namespace armarx
return this->toString() <= other.toString();
}
- std::string
- toString() const
- {
- return skillId.toString() + " requested by " + executorName + " at " +
- executionStartedTime.toDateTimeString();
- }
-
skills::manager::dto::SkillExecutionID toManagerIce() const;
skills::provider::dto::SkillExecutionID toProviderIce() const;
@@ -66,7 +61,7 @@ namespace armarx
static SkillExecutionID FromIce(const skills::provider::dto::SkillExecutionID&,
const std::optional<skills::ProviderID>& providerName);
- std::string toString(const std::string& prefix = "") const;
+ std::string toString() const;
};
} // namespace skills
diff --git a/source/RobotAPI/libraries/skills/core/SkillID.h b/source/RobotAPI/libraries/skills/core/SkillID.h
index e611a8282..91494c78c 100644
--- a/source/RobotAPI/libraries/skills/core/SkillID.h
+++ b/source/RobotAPI/libraries/skills/core/SkillID.h
@@ -18,6 +18,7 @@ namespace armarx
{
public:
static const constexpr char* NAME_SEPARATOR = "/";
+ static const constexpr char* UNKNOWN = "UNKNOWN";
bool operator==(const SkillID& other) const;
bool operator!=(const SkillID& other) const;
diff --git a/source/RobotAPI/libraries/skills/provider/SkillProviderComponentPlugin.cpp b/source/RobotAPI/libraries/skills/provider/SkillProviderComponentPlugin.cpp
index a42d78082..e4d3235a3 100644
--- a/source/RobotAPI/libraries/skills/provider/SkillProviderComponentPlugin.cpp
+++ b/source/RobotAPI/libraries/skills/provider/SkillProviderComponentPlugin.cpp
@@ -190,10 +190,9 @@ namespace armarx::plugins
{
ARMARX_CHECK(executionRequest.skillId.isFullySpecified());
- skills::SkillExecutionID executionId{.skillId = executionRequest.skillId,
- .executorName = executionRequest.executorName,
- .executionStartedTime =
- armarx::core::time::DateTime::Now()};
+ skills::SkillExecutionID executionId(executionRequest.skillId,
+ executionRequest.executorName,
+ armarx::core::time::DateTime::Now());
skills::SkillStatusUpdate ret{
{executionId, executionRequest.parameters, executionRequest.callbackInterface}};
--
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