From 58779ffb274a4f149a716a413518d5a93cf6ce4d Mon Sep 17 00:00:00 2001
From: Rainer Kartmann <rainer.kartmann@kit.edu>
Date: Mon, 15 May 2023 09:42:56 +0200
Subject: [PATCH] Add abortSkill()
---
source/RobotAPI/libraries/skills/provider/SkillProxy.cpp | 7 +++++++
source/RobotAPI/libraries/skills/provider/SkillProxy.h | 2 ++
2 files changed, 9 insertions(+)
diff --git a/source/RobotAPI/libraries/skills/provider/SkillProxy.cpp b/source/RobotAPI/libraries/skills/provider/SkillProxy.cpp
index e0ebdb3b6..93e18a137 100644
--- a/source/RobotAPI/libraries/skills/provider/SkillProxy.cpp
+++ b/source/RobotAPI/libraries/skills/provider/SkillProxy.cpp
@@ -43,5 +43,12 @@ namespace armarx
auto future = manager->begin_executeSkill(req);
return future;
}
+
+ void SkillProxy::abortSkill(const std::string& executorName)
+ {
+ // TODO: This will be used in the future, do not remove it!
+ (void) executorName;
+ manager->abortSkill(skillId.providerName, skillId.skillName);
+ }
}
}
diff --git a/source/RobotAPI/libraries/skills/provider/SkillProxy.h b/source/RobotAPI/libraries/skills/provider/SkillProxy.h
index 6e8ddc5c7..6fb159146 100644
--- a/source/RobotAPI/libraries/skills/provider/SkillProxy.h
+++ b/source/RobotAPI/libraries/skills/provider/SkillProxy.h
@@ -17,6 +17,8 @@ namespace armarx
TerminatedSkillStatusUpdate executeFullSkill(const std::string& executorName, const aron::data::DictPtr& params = nullptr);
IceInternal::Handle<Ice::AsyncResult> begin_executeFullSkill(const std::string& executorName, const aron::data::DictPtr& params = nullptr);
+ void abortSkill(const std::string& executorName);
+
private:
const manager::dti::SkillManagerInterfacePrx& manager;
--
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