diff --git a/source/RobotAPI/libraries/skills/core/Skill.cpp b/source/RobotAPI/libraries/skills/core/Skill.cpp
index 0b7a32df224d925ced896414d7d47f540f04a0d5..a01eb4908baed4e5f6dc18c76f5493053d4bb886 100644
--- a/source/RobotAPI/libraries/skills/core/Skill.cpp
+++ b/source/RobotAPI/libraries/skills/core/Skill.cpp
@@ -19,10 +19,22 @@ namespace armarx
}
std::optional<TerminatedSkillStatusUpdate>
- Skill::callSubskill(const SkillProxy& prx, const aron::data::DictPtr& params)
+ Skill::callSubskill(const SkillProxy& proxy)
{
- auto eid = callSubskillAsync(prx, params);
- auto ret = prx.join(eid);
+ return callSubskill(proxy, proxy.getRootProfileParameters());
+ }
+
+ std::optional<TerminatedSkillStatusUpdate>
+ Skill::callSubskill(const SkillProxy& proxy, const aron::data::DictPtr& parameters)
+ {
+ auto executionId = callSubskillAsync(proxy, parameters);
+ auto ret = proxy.join(executionId);
+
+ // While the sub skill was running, our skill might also have been aborted.
+ // In this case, the correct behavour would be aborting ourselves.
+ // The caller of callSubskill() can catch the thrown error::SkillAbortedException
+ // if necessary.
+ throwIfSkillShouldTerminate();
return ret;
}
@@ -37,6 +49,35 @@ namespace armarx
return eid;
}
+ std::optional<TerminatedSkillStatusUpdate>
+ Skill::callSubskill(const SkillID& skillId)
+ {
+ return callSubskill(SkillProxy(manager, skillId));
+ }
+
+ std::optional<TerminatedSkillStatusUpdate>
+ Skill::callSubskill(const SkillID& skillId, const aron::data::DictPtr& parameters)
+ {
+ return callSubskill(SkillProxy(manager, skillId), parameters);
+ }
+
+ std::optional<TerminatedSkillStatusUpdate>
+ Skill::callSubskill(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);
+ }
+
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 5ec80e77d9956e8516ae84ffec16313bab0c9206..9fffd35a6f258e778200351ef387ba9d3b184480 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>
@@ -27,6 +23,9 @@ namespace armarx
{
namespace skills
{
+ /**
+ * @brief Base class for skills.
+ */
class Skill : public armarx::Logging
{
public:
@@ -185,14 +184,136 @@ namespace armarx
void installConditionWithCallback(std::function<bool()>&& f,
std::function<void()>&& cb);
- /// call a subskill and block until the subskill terminates.
- /// If you call a subskill this way it will be stopped if the current skill stops.
+ // Calling subskills
+
+ /**
+ * @brief Call a subskill with default parameters and block until the subskill terminates.
+ *
+ * If you call a subskill this way it will be stopped if the current skill stops.
+ *
+ * @param proxy Skill proxy.
+ * @return Terminated skill status update.
+ * @throw armarx::skills::error::SkillAbortedException
+ * If the calling skill has been aborted.
+ * @throw armarx::skills::error::SkillFailedException
+ * If the calling skill's timeout was reached.
+ */
+ std::optional<TerminatedSkillStatusUpdate>
+ callSubskill(const skills::SkillProxy& proxy);
+
+ /**
+ * @brief Call a subskill with given parameters and block until the subskill terminates.
+ * @param proxy Skill proxy.
+ * @param parameters Parameters passed to the skill.
+ * @return Terminated skill status update.
+ * @throw armarx::skills::error::SkillAbortedException
+ * If the calling skill has been aborted.
+ * @throw armarx::skills::error::SkillFailedException
+ * If the calling skill's timeout was reached.
+ */
std::optional<TerminatedSkillStatusUpdate>
- callSubskill(const skills::SkillProxy& prx, const aron::data::DictPtr& = nullptr);
+ callSubskill(const skills::SkillProxy& proxy, const aron::data::DictPtr& parameters);
/// Similar to callSubskill but non-blocking
- skills::SkillExecutionID callSubskillAsync(const skills::SkillProxy& prx,
- const aron::data::DictPtr& = nullptr);
+ skills::SkillExecutionID callSubskillAsync(const skills::SkillProxy& proxy);
+
+ /// Similar to callSubskill but non-blocking
+ skills::SkillExecutionID callSubskillAsync(const skills::SkillProxy& proxy,
+ const aron::data::DictPtr& parameters);
+
+ /**
+ * @brief Call a subskill with the given ID and its default parameters.
+ * @param skillId The subskill's ID.
+ * @return The terminated skill status update.
+ * @throw armarx::skills::error::SkillAbortedException
+ * If the calling skill has been aborted.
+ * @throw armarx::skills::error::SkillFailedException
+ * If the calling skill's timeout was reached.
+ */
+ std::optional<TerminatedSkillStatusUpdate> callSubskill(const SkillID& skillId);
+
+ /**
+ * @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.
+ * @throw armarx::skills::error::SkillAbortedException
+ * If the calling skill has been aborted.
+ * @throw armarx::skills::error::SkillFailedException
+ * If the calling skill's timeout was reached.
+ */
+ std::optional<TerminatedSkillStatusUpdate>
+ callSubskill(const SkillID& skillId, const aron::data::DictPtr& parameters);
+
+ /**
+ * @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.
+ * @throw armarx::skills::error::SkillAbortedException
+ * If the calling skill has been aborted.
+ * @throw armarx::skills::error::SkillFailedException
+ * If the calling skill's timeout was reached.
+ */
+ template <class ParameterT>
+ std::optional<TerminatedSkillStatusUpdate>
+ callSubskill(const SkillID& skillId, const ParameterT& parameters)
+ {
+ return callSubskill(skillId, parameters.toAron());
+ }
+
+ /**
+ * @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.
+ * @throw armarx::skills::error::SkillAbortedException
+ * If the calling skill has been aborted.
+ * @throw armarx::skills::error::SkillFailedException
+ * If the calling skill's timeout was reached.
+ */
+ std::optional<TerminatedSkillStatusUpdate>
+ callSubskill(const SkillID& skillId,
+ std::function<void(aron::data::DictPtr& parameters)> parametersFunction);
+
+ /**
+ * @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.
+ * @throw armarx::skills::error::SkillAbortedException
+ * If the calling skill has been aborted.
+ * @throw armarx::skills::error::SkillFailedException
+ * If the calling skill's timeout was reached.
+ */
+ template <class ParameterT>
+ std::optional<TerminatedSkillStatusUpdate>
+ callSubskill(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