Merge branch '140-fix-usage-of-custom-skill-blueprints' into 'master'

Resolve "Fix usage of custom skill blueprints"

Closes #140

See merge request sw/armarx/robot-api!416

source/RobotAPI/libraries/skills/provider/CMakeLists.txt

@@ -46,6 +46,8 @@ armarx_add_library(
         detail/SkillImplementationWrapper.h
         SkillContext.h
 
+        blueprints/SkillWithContextBlueprint.h
+
 
         mixins/All.h
         mixins/ArvizSkillMixin.h

source/RobotAPI/libraries/skills/provider/SkillProviderComponentPlugin.h

@@ -72,7 +72,7 @@ namespace armarx::plugins
         {
             auto fac = std::make_unique<FactoryT>(std::forward<Args>(args)...);
             auto* facPtr = fac.get();
-            addCustomSkillFactory(std::move(fac));
+            addSkillFactory(std::move(fac));
             return static_cast<FactoryT*>(facPtr);
         }
 
@@ -189,7 +189,7 @@ namespace armarx
         requires skills::isSkillBlueprint<FacT> FacT*
         addCustomSkillFactory(Args&&... args)
         {
-            return plugin->addSkillFactory<FacT>(std::forward<Args>(args)...);
+            return plugin->addCustomSkillFactory<FacT>(std::forward<Args>(args)...);
         }
 
     private:

source/RobotAPI/libraries/skills/provider/blueprints/SkillWithContextBlueprint.h

+/*
+ * This file is part of ArmarX.
+ *
+ * ArmarX is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License version 2 as
+ * published by the Free Software Foundation.
+ *
+ * ArmarX is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ * @package    RobotAPI
+ * @author     Christoph Pohl ( christoph dot pohl at kit dot edu )
+ * @date       05.12.23
+ * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
+ *             GNU General Public License
+ */
+
+#pragma once
+
+#include <RobotAPI/libraries/skills/provider/SkillFactory.h>
+
+namespace armarx
+{
+    namespace skills
+    {
+//        template <typename T>
+//        concept takesContext = requires(typename T::Context cntxt) {
+//            { T::connectTo(cntxt) } -> void;
+//        };
+
+
+        template <typename SkillT>
+        class SkillWithContextBlueprint : public SkillBlueprint
+        {
+        public:
+            using ContextT = typename SkillT::Context;
+
+            template <typename... Args>
+            SkillWithContextBlueprint(Args&&... args) :
+                SkillBlueprint(*SkillBlueprint::ForSkill<SkillT>(std::forward<Args>(args)...))
+            {
+            }
+
+            virtual std::unique_ptr<Skill>
+            createSkill(const ProviderID& pid) const override
+            {
+                auto s = _createSkill();
+                s->setProviderId(pid);
+                static_cast<SkillT*>(s.get())->connectTo(context_);
+                return s;
+            }
+
+            void
+            connectTo(const ContextT& services)
+            {
+                context_ = services;
+            }
+
+        private:
+            ContextT context_;
+        };
+    } // namespace skills
+} // namespace armarx
\ No newline at end of file