From e4f40cb2410146eb81b3492e9178c09978af93e0 Mon Sep 17 00:00:00 2001
From: Fabian Peller <fabian.peller-konrad@kit.edu>
Date: Tue, 17 Oct 2023 19:14:08 +0200
Subject: [PATCH] added simple skill classes for periodic skills
---
.../skills/provider/SimplePeriodicSkill.cpp | 21 ++++++++
.../skills/provider/SimplePeriodicSkill.h | 30 +++++++++++
.../SimplePeriodicSpecializedSkill.cpp | 6 +++
.../provider/SimplePeriodicSpecializedSkill.h | 51 +++++++++++++++++++
4 files changed, 108 insertions(+)
create mode 100644 source/RobotAPI/libraries/skills/provider/SimplePeriodicSkill.cpp
create mode 100644 source/RobotAPI/libraries/skills/provider/SimplePeriodicSkill.h
create mode 100644 source/RobotAPI/libraries/skills/provider/SimplePeriodicSpecializedSkill.cpp
create mode 100644 source/RobotAPI/libraries/skills/provider/SimplePeriodicSpecializedSkill.h
diff --git a/source/RobotAPI/libraries/skills/provider/SimplePeriodicSkill.cpp b/source/RobotAPI/libraries/skills/provider/SimplePeriodicSkill.cpp
new file mode 100644
index 000000000..d5f8e6cbd
--- /dev/null
+++ b/source/RobotAPI/libraries/skills/provider/SimplePeriodicSkill.cpp
@@ -0,0 +1,21 @@
+#include "SimplePeriodicSkill.h"
+
+namespace armarx::skills
+{
+
+ PeriodicSkill::StepResult SimplePeriodicSkill::step()
+ {
+ StepInput i;
+ i.executorName = this->executorName;
+ i.parameters = this->parameters;
+ i.callback = this->callback;
+ return this->step(i);
+ }
+
+ PeriodicSkill::StepResult SimplePeriodicSkill::step(const StepInput& in)
+ {
+ ARMARX_IMPORTANT << "Dummy executing once skill '" << description.skillId
+ << "'. Please overwrite this method!";
+ return {ActiveOrTerminatedSkillStatus::Succeeded, nullptr};
+ }
+}
diff --git a/source/RobotAPI/libraries/skills/provider/SimplePeriodicSkill.h b/source/RobotAPI/libraries/skills/provider/SimplePeriodicSkill.h
new file mode 100644
index 000000000..69a7ccc18
--- /dev/null
+++ b/source/RobotAPI/libraries/skills/provider/SimplePeriodicSkill.h
@@ -0,0 +1,30 @@
+#pragma once
+
+#include <RobotAPI/libraries/skills/provider/PeriodicSkill.h>
+
+namespace armarx
+{
+ namespace skills
+ {
+ class SimplePeriodicSkill : public PeriodicSkill
+ {
+ public:
+ using Base = PeriodicSkill;
+
+ struct StepInput
+ {
+ std::string executorName;
+ aron::data::DictPtr parameters;
+ CallbackT callback;
+ };
+
+ using Base::Base;
+
+ protected:
+ StepResult step() final;
+
+ virtual StepResult step(const StepInput& in);
+
+ };
+ } // namespace skills
+} // namespace armarx
diff --git a/source/RobotAPI/libraries/skills/provider/SimplePeriodicSpecializedSkill.cpp b/source/RobotAPI/libraries/skills/provider/SimplePeriodicSpecializedSkill.cpp
new file mode 100644
index 000000000..a04c2b3d8
--- /dev/null
+++ b/source/RobotAPI/libraries/skills/provider/SimplePeriodicSpecializedSkill.cpp
@@ -0,0 +1,6 @@
+#include "SimplePeriodicSpecializedSkill.h"
+
+namespace armarx::skills
+{
+
+}
diff --git a/source/RobotAPI/libraries/skills/provider/SimplePeriodicSpecializedSkill.h b/source/RobotAPI/libraries/skills/provider/SimplePeriodicSpecializedSkill.h
new file mode 100644
index 000000000..221fdc2c7
--- /dev/null
+++ b/source/RobotAPI/libraries/skills/provider/SimplePeriodicSpecializedSkill.h
@@ -0,0 +1,51 @@
+#pragma once
+
+#include <RobotAPI/libraries/skills/provider/PeriodicSpecializedSkill.h>
+
+namespace armarx
+{
+ namespace skills
+ {
+ template <class AronT>
+ class SimplePeriodicSpecializedSkill : public PeriodicSpecializedSkill<AronT>
+ {
+
+ public:
+ using Base = PeriodicSpecializedSkill<AronT>;
+ using Skill::description;
+ using Skill::getSkillId;
+
+ using StepResult = PeriodicSkill::StepResult;
+
+ using Base::Base;
+
+ struct SpecializedStepInput
+ {
+ std::string executorName;
+ AronT parameters;
+ Skill::CallbackT callback;
+ };
+
+ protected:
+ StepResult step() final
+ {
+ AronT p;
+ p.fromAron(this->parameters);
+
+ SpecializedStepInput i;
+ i.executorName = this->executorName;
+ i.parameters = p;
+ i.callback = this->callback;
+ return this->step(i);
+ }
+
+ virtual StepResult step(const SpecializedStepInput& in)
+ {
+ ARMARX_IMPORTANT << "Dummy executing once skill '" << description.skillId
+ << "'. Please overwrite this method!";
+ return {ActiveOrTerminatedSkillStatus::Succeeded, nullptr};
+ }
+
+ };
+ } // namespace skills
+} // namespace armarx
--
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