From c22c1b2d12b42ec859b911a6acec94863a4b26e5 Mon Sep 17 00:00:00 2001
From: Rainer Kartmann <rainer.kartmann@kit.edu>
Date: Mon, 20 Nov 2023 18:50:30 +0100
Subject: [PATCH] Add convenience functions for calling sub skills
---
.../RobotAPI/libraries/skills/core/Skill.cpp | 33 +++++++++
source/RobotAPI/libraries/skills/core/Skill.h | 68 +++++++++++++++++--
2 files changed, 97 insertions(+), 4 deletions(-)
diff --git a/source/RobotAPI/libraries/skills/core/Skill.cpp b/source/RobotAPI/libraries/skills/core/Skill.cpp
index 0b7a32df2..22e1fc21e 100644
--- a/source/RobotAPI/libraries/skills/core/Skill.cpp
+++ b/source/RobotAPI/libraries/skills/core/Skill.cpp
@@ -37,6 +37,39 @@ namespace armarx
return eid;
}
+ std::optional<TerminatedSkillStatusUpdate>
+ Skill::callSubskillWithParameters(const SkillID& skillId,
+ const aron::data::DictPtr& parameters)
+ {
+ SkillProxy proxy(manager, skillId);
+ return callSubskill(proxy, parameters);
+ }
+
+ std::optional<TerminatedSkillStatusUpdate>
+ Skill::callSubskillBasedOnDefaultParameters(
+ const SkillID& skillId,
+ std::function<void(aron::data::DictPtr&)> parametersFunction)
+ {
+ SkillProxy proxy(manager, skillId);
+
+ aron::data::DictPtr parameters = proxy.getRootProfileParameters();
+ if (not parameters)
+ {
+ parameters = armarx::aron::make_dict();
+ }
+
+ parametersFunction(parameters);
+
+ return callSubskill(proxy, parameters);
+ }
+
+ std::optional<TerminatedSkillStatusUpdate>
+ Skill::callSubskillWithDefaultParameters(const SkillID& skillId)
+ {
+ auto parametersFn = [](aron::data::DictPtr&) {};
+ return callSubskillBasedOnDefaultParameters(skillId, parametersFn);
+ }
+
void
Skill::updateParameters(const aron::data::DictPtr& d)
{
diff --git a/source/RobotAPI/libraries/skills/core/Skill.h b/source/RobotAPI/libraries/skills/core/Skill.h
index 5ec80e77d..dac1767a0 100644
--- a/source/RobotAPI/libraries/skills/core/Skill.h
+++ b/source/RobotAPI/libraries/skills/core/Skill.h
@@ -1,15 +1,11 @@
#pragma once
-// std/stl
#include <functional>
#include <mutex>
#include <queue>
#include <thread>
-// base class
#include <ArmarXCore/core/logging/Logging.h>
-
-// ArmarX
#include <ArmarXCore/core/time/DateTime.h>
#include <ArmarXCore/core/time/Metronome.h>
@@ -194,6 +190,70 @@ namespace armarx
skills::SkillExecutionID callSubskillAsync(const skills::SkillProxy& prx,
const aron::data::DictPtr& = nullptr);
+ /**
+ * @brief Call a subskill with the given ID and parameters.
+ * @param skillId The subskill's ID.
+ * @param parameters The parameters.
+ * @return The terminated skill status update.
+ */
+ std::optional<TerminatedSkillStatusUpdate>
+ callSubskillWithParameters(const SkillID& skillId,
+ const aron::data::DictPtr& parameters);
+
+
+ /**
+ * @brief Call a subskill with parameters based on the default parameters.
+ *
+ * Creates the skill's default parameters, and calls `parametersFunction` on them.
+ * This allows the caller to modify the parameters before executing the skill.
+ *
+ * @param skillId The subskill's ID.
+ * @param parametersFunction Function which edits the parameters.
+ * @return The terminated skill status update.
+ */
+ std::optional<TerminatedSkillStatusUpdate> callSubskillBasedOnDefaultParameters(
+ const SkillID& skillId,
+ std::function<void(aron::data::DictPtr& parameters)> parametersFunction);
+
+ /**
+ * @brief Call a subskill with its default parameters.
+ * @param skillId The subskill's ID.
+ * @return The terminated skill status update.
+ */
+ std::optional<TerminatedSkillStatusUpdate>
+ callSubskillWithDefaultParameters(const SkillID& skillId);
+
+ /**
+ * @brief Call a subskill with parameters based on the default parameters.
+ *
+ * Creates the skill's default parameters, converts them to `ParameterT`,
+ * and calls `parametersFunction` on them.
+ * This allows the caller to modify the parameters as `ParameterT` before executing
+ * the skill.
+ *
+ * @param skillId The subskill's ID.
+ * @param parametersFunction Function which edits the parameters.
+ * @return The terminated skill status update.
+ */
+ template <class ParameterT>
+ std::optional<TerminatedSkillStatusUpdate>
+ callSubskillBasedOnDefaultParameters(
+ const SkillID& skillId,
+ std::function<void(ParameterT& parameters)> parametersFunction)
+ {
+ SkillProxy proxy(manager, skillId);
+
+ ParameterT parameters;
+ if (auto parametersAron = proxy.getRootProfileParameters())
+ {
+ parameters = ParameterT::FromAron(parametersAron);
+ }
+
+ parametersFunction(parameters);
+
+ return callSubskill(proxy, parameters.toAron());
+ }
+
public:
// running params
armarx::core::time::DateTime started = armarx::core::time::DateTime::Now();
--
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