From 1a46b1b280ad3b02f2d10a635f95d122b4329fcf Mon Sep 17 00:00:00 2001
From: Fabian Peller <fabian.peller-konrad@kit.edu>
Date: Thu, 30 Nov 2023 16:36:03 +0100
Subject: [PATCH] fix missing result for the last status update if a skill
succeeds
---
.../components/skills/SkillProviderExample/HelloWorld.cpp | 5 +++--
.../skills/provider/detail/SkillImplementationWrapper.cpp | 2 +-
2 files changed, 4 insertions(+), 3 deletions(-)
diff --git a/source/RobotAPI/components/skills/SkillProviderExample/HelloWorld.cpp b/source/RobotAPI/components/skills/SkillProviderExample/HelloWorld.cpp
index edf918402..d3e66e838 100644
--- a/source/RobotAPI/components/skills/SkillProviderExample/HelloWorld.cpp
+++ b/source/RobotAPI/components/skills/SkillProviderExample/HelloWorld.cpp
@@ -29,7 +29,8 @@ namespace armarx::skills::provider
.rootProfileDefaults = root_profile_params.toAron(),
.timeout = armarx::core::time::Duration::MilliSeconds(1000),
.parametersType =
- armarx::skills::Example::HelloWorldAcceptedType::ToAronType()};
+ armarx::skills::Example::HelloWorldAcceptedType::ToAronType(),
+ .resultType = armarx::skills::Example::HelloWorldAcceptedType::ToAronType()};
}
Skill::MainResult
@@ -42,6 +43,6 @@ namespace armarx::skills::provider
.dump(2)
<< "\n"
<< "(executed at: " << IceUtil::Time::now() << ")";
- return {TerminatedSkillStatus::Succeeded, nullptr};
+ return {TerminatedSkillStatus::Succeeded, in.parameters.toAron()};
}
} // namespace armarx::skills::provider
diff --git a/source/RobotAPI/libraries/skills/provider/detail/SkillImplementationWrapper.cpp b/source/RobotAPI/libraries/skills/provider/detail/SkillImplementationWrapper.cpp
index 55f9d80c0..25fe34efa 100644
--- a/source/RobotAPI/libraries/skills/provider/detail/SkillImplementationWrapper.cpp
+++ b/source/RobotAPI/libraries/skills/provider/detail/SkillImplementationWrapper.cpp
@@ -340,7 +340,7 @@ namespace armarx
// Exit succeeded!
// All succeeded!
{
- updateStatus(SkillStatus::Succeeded);
+ updateStatus(SkillStatus::Succeeded, mainRet.data);
// return result of main method
std::unique_lock l(skillStatusesMutex);
--
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