add return type for skill desc

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

@@ -8,26 +8,18 @@ namespace armarx
     namespace skills
     {
 
-        //        provider::dto::SkillProfile
-        //        SkillProfile::toIce() const
-        //        {
-        //            provider::dto::SkillProfile ret;
-        //            ret.profileName = profileName;
-        //            ret.predecessorProfileName = predecessorProfileName;
-        //            ret.parameterization = parameterization->toAronDictDTO();
-        //            return ret;
-        //        }
-
         SkillDescription::SkillDescription(const SkillID& id,
                                            const std::string& desc,
                                            const aron::data::DictPtr& data,
                                            const armarx::core::time::Duration& timeout,
-                                           const aron::type::ObjectPtr& acceptedType) :
+                                           const aron::type::ObjectPtr& acceptedType,
+                                           const aron::type::ObjectPtr& returnType) :
             skillId(id),
             description(desc),
             rootProfileParameterization(data),
             timeout(timeout),
-            acceptedType(acceptedType)
+            acceptedType(acceptedType),
+            returnType(returnType)
         {
         }
 
@@ -36,6 +28,7 @@ namespace armarx
         {
             provider::dto::SkillDescription ret;
             ret.acceptedType = aron::type::Object::ToAronObjectDTO(acceptedType);
+            ret.returnType = aron::type::Object::ToAronObjectDTO(returnType);
             ret.description = description;
             ret.skillId = skillId.toProviderIce();
             ret.rootProfileDefaults = aron::data::Dict::ToAronDictDTO(rootProfileParameterization);
@@ -49,6 +42,7 @@ namespace armarx
         {
             manager::dto::SkillDescription ret;
             ret.acceptedType = aron::type::Object::ToAronObjectDTO(acceptedType);
+            ret.returnType = aron::type::Object::ToAronObjectDTO(returnType);
             ret.description = description;
             ret.skillId = skillId.toManagerIce();
             ret.rootProfileDefaults = aron::data::Dict::ToAronDictDTO(rootProfileParameterization);
@@ -68,7 +62,8 @@ namespace armarx
                 i.description,
                 armarx::aron::data::Dict::FromAronDictDTO(i.rootProfileDefaults),
                 _d,
-                armarx::aron::type::Object::FromAronObjectDTO(i.acceptedType));
+                armarx::aron::type::Object::FromAronObjectDTO(i.acceptedType),
+                armarx::aron::type::Object::FromAronObjectDTO(i.returnType));
         }
 
         SkillDescription
@@ -81,7 +76,8 @@ namespace armarx
                 i.description,
                 armarx::aron::data::Dict::FromAronDictDTO(i.rootProfileDefaults),
                 _d,
-                armarx::aron::type::Object::FromAronObjectDTO(i.acceptedType));
+                armarx::aron::type::Object::FromAronObjectDTO(i.acceptedType),
+                armarx::aron::type::Object::FromAronObjectDTO(i.returnType));
         }
     } // namespace skills
 } // namespace armarx

source/RobotAPI/libraries/skills/core/SkillDescription.h

@@ -15,18 +15,6 @@ namespace armarx
 {
     namespace skills
     {
-        //        struct SkillProfile
-        //        {
-        //            static const constexpr char* ROOT_PROFILE_NAME = "root";
-        //            static const constexpr char* NO_PREDECESSOR = "";
-
-        //            std::string profileName = ROOT_PROFILE_NAME;
-        //            std::string predecessorProfileName = "";
-        //            aron::data::DictPtr parameterization = nullptr;
-
-        //            provider::dto::SkillProfile toIce() const;
-        //        };
-
         struct SkillDescription
         {
             SkillDescription() = delete;
@@ -36,7 +24,8 @@ namespace armarx
                              const aron::data::DictPtr& data = nullptr,
                              const armarx::core::time::Duration& timeout =
                                  armarx::core::time::Duration::MilliSeconds(-1),
-                             const aron::type::ObjectPtr& acceptedType = nullptr);
+                             const aron::type::ObjectPtr& acceptedType = nullptr,
+                             const aron::type::ObjectPtr& returnType = nullptr);
 
             SkillDescription& operator=(const SkillDescription&) = default;
 
@@ -45,6 +34,7 @@ namespace armarx
             aron::data::DictPtr rootProfileParameterization;
             armarx::core::time::Duration timeout;
             aron::type::ObjectPtr acceptedType;
+            aron::type::ObjectPtr returnType;
 
             provider::dto::SkillDescription toProviderIce() const;
             manager::dto::SkillDescription toManagerIce() const;