diff --git a/source/RobotAPI/gui-plugins/SkillManagerPlugin/SkillManagerMonitorWidgetController.cpp b/source/RobotAPI/gui-plugins/SkillManagerPlugin/SkillManagerMonitorWidgetController.cpp
index f48165ab95c12f4f16dfd68c35212893e24373a6..846c34ae54888288d0f635b03e47da5b2399d8e7 100644
--- a/source/RobotAPI/gui-plugins/SkillManagerPlugin/SkillManagerMonitorWidgetController.cpp
+++ b/source/RobotAPI/gui-plugins/SkillManagerPlugin/SkillManagerMonitorWidgetController.cpp
@@ -187,8 +187,8 @@ namespace armarx
widget.treeWidgetSkills->clear();
widget.treeWidgetSkillDetails->clear();
skillsArgumentsTreeWidgetItem = nullptr;
- selectedSkill.skillId.providerId->providerName = skills::SkillID::UNKNOWN;
- selectedSkill.skillId.skillName = skills::SkillID::UNKNOWN;
+ selectedSkill.skillId.providerId->providerName = "";
+ selectedSkill.skillId.skillName = "";
}
void
@@ -233,7 +233,7 @@ namespace armarx
auto skillId = skills::SkillID::FromIce(sid);
auto providerId = skills::ProviderID(skillId);
- ARMARX_CHECK(skillId.fullySpecified());
+ ARMARX_CHECK(skillId.isFullySpecified());
auto& providedSkillsMap = skills[providerId]; // create new if not existent
providedSkillsMap.insert({skillId, description});
@@ -432,7 +432,7 @@ namespace armarx
void
SkillManagerMonitorWidgetController::executeSkill()
{
- if (not selectedSkill.skillId.fullySpecified())
+ if (not selectedSkill.skillId.isFullySpecified())
{
return;
}
@@ -456,7 +456,7 @@ namespace armarx
")",
data);
- ARMARX_CHECK(selectedSkill.skillId.fullySpecified()); // sanity check
+ ARMARX_CHECK(selectedSkill.skillId.isFullySpecified()); // sanity check
ARMARX_IMPORTANT << "Executing skill from GUI: " << selectedSkill.skillId << ".";
// Note that we execute the skill in a seperate thread so that the GUI thread does not freeze.
memory->begin_executeSkill(req.toManagerIce());
@@ -466,7 +466,7 @@ namespace armarx
SkillManagerMonitorWidgetController::stopSkill()
{
// std::scoped_lock l(updateMutex);
- // if (selectedSkill.skillId.fullySpecified())
+ // if (selectedSkill.skillId.isFullySpecified())
// {
// return;
// }
diff --git a/source/RobotAPI/gui-plugins/SkillManagerPlugin/SkillManagerMonitorWidgetController.h b/source/RobotAPI/gui-plugins/SkillManagerPlugin/SkillManagerMonitorWidgetController.h
index 869e7921366da0290f741037f4aab9cf3ef3a08f..665982d64def770a002ecb73d912d2e7df39550e 100644
--- a/source/RobotAPI/gui-plugins/SkillManagerPlugin/SkillManagerMonitorWidgetController.h
+++ b/source/RobotAPI/gui-plugins/SkillManagerPlugin/SkillManagerMonitorWidgetController.h
@@ -154,7 +154,7 @@ namespace armarx
skills::SkillID skillId;
// make default constructable
- SelectedSkill() : skillId({skills::SkillID::UNKNOWN}, skills::SkillID::UNKNOWN)
+ SelectedSkill() : skillId({""}, "")
{
}
} selectedSkill;
diff --git a/source/RobotAPI/interface/skills/SkillManagerInterface.ice b/source/RobotAPI/interface/skills/SkillManagerInterface.ice
index b2c3b5deba9aa8239023d4559b6d20405e5b0889..b4bb67e6c910aaab5f56340dee310c4d0f55dc4d 100644
--- a/source/RobotAPI/interface/skills/SkillManagerInterface.ice
+++ b/source/RobotAPI/interface/skills/SkillManagerInterface.ice
@@ -92,6 +92,7 @@ module armarx
module dti
{
+ /// @todo Rename in the same manner as provider interface.
interface SkillManagerInterface extends
callback::dti::SkillProviderCallbackInterface
{
diff --git a/source/RobotAPI/interface/skills/SkillProviderInterface.ice b/source/RobotAPI/interface/skills/SkillProviderInterface.ice
index 80a8a97fbdb9f6eff8f19cfaf1384338748c6232..5a256544c075e41deaccc0b0732112178548eccd 100644
--- a/source/RobotAPI/interface/skills/SkillProviderInterface.ice
+++ b/source/RobotAPI/interface/skills/SkillProviderInterface.ice
@@ -58,9 +58,6 @@ module armarx
{
module dto
{
-
- sequence<string> StringList;
-
// The status enum of a skill
module Execution
{
@@ -123,8 +120,8 @@ module armarx
SkillID skillId;
string description;
armarx::core::time::dto::Duration timeout;
- aron::type::dto::AronObject acceptedType;
- aron::type::dto::AronObject returnType;
+ aron::type::dto::AronObject acceptedType; /// @todo Rename to "parametersType"
+ aron::type::dto::AronObject returnType; /// @todo Rename to "resultType"
aron::data::dto::Dict rootProfileDefaults;
};
@@ -135,7 +132,7 @@ module armarx
{
SkillID skillId;
string executorName;
- aron::data::dto::Dict params;
+ aron::data::dto::Dict params; /// @todo Rename to "parameters"
callback::dti::SkillProviderCallbackInterface* callbackInterface;
};
@@ -152,10 +149,13 @@ module armarx
struct SkillStatusUpdate
{
SkillExecutionID executionId;
- aron::data::dto::Dict usedParams;
- callback::dti::SkillProviderCallbackInterface* usedCallbackInterface;
+ aron::data::dto::Dict usedParams; /// @todo Rename to "parameters"
+ callback::dti::SkillProviderCallbackInterface*
+ usedCallbackInterface; /// @todo Rename to "callbackInterface"
core::dto::Execution::Status status;
- aron::data::dto::Dict data;
+ aron::data::dto::Dict data; /// @todo Rename to "result"
+ /// @todo maybe add in future:
+ // aron::data::dto::Dict feedback;
};
dictionary<SkillExecutionID, SkillStatusUpdate> SkillStatusUpdateMap;
@@ -183,9 +183,11 @@ module armarx
dto::SkillExecutionID
executeSkillAsync(dto::SkillExecutionRequest executionInfo);
+ /// @todo: Rename to "updateSkillParameters".
void addSkillParameters(dto::SkillExecutionID executionId,
aron::data::dto::Dict params); // add params to a skill
+ /// @todo Rename to "abortSkillAsync" and add "abortSkill as blocking variant.
// try to kill a skill as soon as possible. When the skill is stopped depends on the implementation.
void abortSkill(dto::SkillExecutionID skill);
};
diff --git a/source/RobotAPI/libraries/armem_skills/aron_conversions.cpp b/source/RobotAPI/libraries/armem_skills/aron_conversions.cpp
index 4bb6f1f5128de5c8afd422114e92530ddba8bce2..44021a2acbb863d51e7f98d1fb0522c8c031b47f 100644
--- a/source/RobotAPI/libraries/armem_skills/aron_conversions.cpp
+++ b/source/RobotAPI/libraries/armem_skills/aron_conversions.cpp
@@ -133,7 +133,7 @@ namespace armarx::armem
fromAron(const armarx::skills::arondto::SkillID& dto, skills::SkillID& bo)
{
bo.skillName = dto.skillName;
- bo.providerId = skills::ProviderID(skills::SkillID::UNKNOWN);
+ bo.providerId = skills::ProviderID("");
fromAron(dto.providerId, *bo.providerId);
}
diff --git a/source/RobotAPI/libraries/skills/core/SkillID.cpp b/source/RobotAPI/libraries/skills/core/SkillID.cpp
index 9bb0b36a881642fbbdb7c21841dc5597e050fe7b..3213183d0a9e267979574df0d50ebb99a2a89a97 100644
--- a/source/RobotAPI/libraries/skills/core/SkillID.cpp
+++ b/source/RobotAPI/libraries/skills/core/SkillID.cpp
@@ -12,7 +12,7 @@ namespace armarx
SkillID::SkillID(const ProviderID& providerId, const std::string& skillName) :
providerId(providerId), skillName(skillName)
{
- if (simox::alg::contains(providerId.providerName, NAME_SEPARATOR) ||
+ if (simox::alg::contains(providerId.providerName, NAME_SEPARATOR) or
simox::alg::contains(skillName, NAME_SEPARATOR))
{
throw error::SkillException(
@@ -20,15 +20,6 @@ namespace armarx
std::string("A skill provider or a skill contains the blacklisted token '") +
NAME_SEPARATOR + "'.");
}
-
- if (simox::alg::contains(providerId.providerName, PREFIX_SEPARATOR) ||
- simox::alg::contains(skillName, PREFIX_SEPARATOR))
- {
- throw error::SkillException(
- __PRETTY_FUNCTION__,
- std::string("A skill provider or a skill contains the blacklisted token '") +
- PREFIX_SEPARATOR + "'.");
- }
}
bool
@@ -69,7 +60,7 @@ namespace armarx
manager::dto::SkillID
SkillID::toManagerIce() const
{
- ARMARX_CHECK(fullySpecified());
+ ARMARX_CHECK(isFullySpecified());
return {providerId->toManagerIce(), skillName};
}
@@ -80,15 +71,13 @@ namespace armarx
}
std::string
- SkillID::toString(const std::string& prefix) const
+ SkillID::toString() const
{
if (providerId.has_value())
{
- return (prefix.empty() ? std::string("") : (prefix + PREFIX_SEPARATOR)) +
- providerId->providerName + NAME_SEPARATOR + skillName;
+ return providerId->providerName + NAME_SEPARATOR + skillName;
}
- return (prefix.empty() ? std::string("") : (prefix + PREFIX_SEPARATOR)) + UNKNOWN +
- NAME_SEPARATOR + skillName;
+ return NAME_SEPARATOR + skillName;
}
} // namespace skills
diff --git a/source/RobotAPI/libraries/skills/core/SkillID.h b/source/RobotAPI/libraries/skills/core/SkillID.h
index 39561595db477c926f809bc5a51644510f8da484..38af6a6d277ebf8e04400af7f9d0a15869c55b86 100644
--- a/source/RobotAPI/libraries/skills/core/SkillID.h
+++ b/source/RobotAPI/libraries/skills/core/SkillID.h
@@ -17,12 +17,7 @@ namespace armarx
class SkillID
{
public:
- static const constexpr char* PREFIX_SEPARATOR = "->";
static const constexpr char* NAME_SEPARATOR = "/";
- static const constexpr char* UNKNOWN = "UNKNOWN";
-
- std::optional<ProviderID> providerId;
- std::string skillName;
SkillID() = delete;
SkillID(const std::string& skillName);
@@ -33,25 +28,25 @@ namespace armarx
bool operator<(const SkillID& other) const;
bool
- fullySpecified() const
+ isFullySpecified() const
{
- return skillSpecified() && providerSpecified();
+ return isSkillSpecified() and isProviderSpecified();
}
bool
- skillSpecified() const
+ isSkillSpecified() const
{
- return skillName != UNKNOWN;
+ return not skillName.empty();
}
bool
- providerSpecified() const
+ isProviderSpecified() const
{
if (not providerId.has_value())
{
return false;
}
- return providerId->providerName != UNKNOWN;
+ return not providerId->providerName.empty();
}
manager::dto::SkillID toManagerIce() const;
@@ -61,7 +56,10 @@ namespace armarx
static SkillID FromIce(const provider::dto::SkillID&,
const std::optional<ProviderID>& providerId = std::nullopt);
- std::string toString(const std::string& prefix = "") const;
+ std::string toString() const;
+
+ std::optional<ProviderID> providerId;
+ std::string skillName;
};
std::ostream& operator<<(std::ostream& os, const SkillID& id);
diff --git a/source/RobotAPI/libraries/skills/manager/SkillManagerComponentPlugin.cpp b/source/RobotAPI/libraries/skills/manager/SkillManagerComponentPlugin.cpp
index 51694c8d9f2ff130f0684a0c0dda268e40c09979..a6f2d60d35123927b953d941d9a9961d60706525 100644
--- a/source/RobotAPI/libraries/skills/manager/SkillManagerComponentPlugin.cpp
+++ b/source/RobotAPI/libraries/skills/manager/SkillManagerComponentPlugin.cpp
@@ -85,7 +85,7 @@ namespace armarx::plugins
skills::SkillStatusUpdate
SkillManagerComponentPlugin::executeSkill(const skills::SkillExecutionRequest& executionRequest)
{
- ARMARX_CHECK(executionRequest.skillId.fullySpecified());
+ ARMARX_CHECK(executionRequest.skillId.isFullySpecified());
std::unique_lock l(skillProviderMapMutex);
@@ -158,7 +158,7 @@ namespace armarx::plugins
SkillManagerComponentPlugin::executeSkillAsync(
const skills::SkillExecutionRequest& executionRequest)
{
- ARMARX_CHECK(executionRequest.skillId.fullySpecified());
+ ARMARX_CHECK(executionRequest.skillId.isFullySpecified());
std::unique_lock l(skillProviderMapMutex);
@@ -232,7 +232,7 @@ namespace armarx::plugins
SkillManagerComponentPlugin::addSkillParameters(const skills::SkillExecutionID& executionId,
const aron::data::DictPtr& data)
{
- ARMARX_CHECK(executionId.skillId.fullySpecified());
+ ARMARX_CHECK(executionId.skillId.isFullySpecified());
std::unique_lock l(skillProviderMapMutex);
if (auto it = skillProviderMap.find(*executionId.skillId.providerId);
@@ -268,7 +268,7 @@ namespace armarx::plugins
void
SkillManagerComponentPlugin::abortSkill(const skills::SkillExecutionID& executionId)
{
- ARMARX_CHECK(executionId.skillId.fullySpecified());
+ ARMARX_CHECK(executionId.skillId.isFullySpecified());
std::unique_lock l(skillProviderMapMutex);
if (auto it = skillProviderMap.find(*executionId.skillId.providerId);
@@ -303,7 +303,7 @@ namespace armarx::plugins
std::optional<skills::SkillDescription>
SkillManagerComponentPlugin::getSkillDescription(const skills::SkillID& skillId)
{
- ARMARX_CHECK(skillId.fullySpecified());
+ ARMARX_CHECK(skillId.isFullySpecified());
std::unique_lock l(skillProviderMapMutex);
if (auto it = skillProviderMap.find(*skillId.providerId); it != skillProviderMap.end())
@@ -406,7 +406,7 @@ namespace armarx::plugins
SkillManagerComponentPlugin::getSkillExecutionStatus(
const skills::SkillExecutionID& executionId)
{
- ARMARX_CHECK(executionId.skillId.fullySpecified());
+ ARMARX_CHECK(executionId.skillId.isFullySpecified());
std::unique_lock l(skillProviderMapMutex);
if (auto it = skillProviderMap.find(*executionId.skillId.providerId);
diff --git a/source/RobotAPI/libraries/skills/provider/SkillFactory.h b/source/RobotAPI/libraries/skills/provider/SkillFactory.h
index ea4cd5edbff7130b560e7725fc57cda70841612d..63996a968a229ba218968be82d00bc068beab481 100644
--- a/source/RobotAPI/libraries/skills/provider/SkillFactory.h
+++ b/source/RobotAPI/libraries/skills/provider/SkillFactory.h
@@ -8,6 +8,7 @@ namespace armarx
{
namespace skills
{
+ /// @todo Rename to SkillBlueprint.
class SkillFactory
{
public:
@@ -18,11 +19,9 @@ namespace armarx
}
template <class _Skill, class... Args>
- requires isSkill<_Skill>
-
+ requires isSkill<_Skill>
static std::unique_ptr<SkillFactory>
ForSkill(Args&&... args)
-
{
// capture params in new lambda
// (https://stackoverflow.com/questions/47496358/c-lambdas-how-to-capture-variadic-parameter-pack-from-the-upper-scope)
diff --git a/source/RobotAPI/libraries/skills/provider/SkillProviderComponentPlugin.cpp b/source/RobotAPI/libraries/skills/provider/SkillProviderComponentPlugin.cpp
index d24535a2241afc4493ab354968313151217e5105..0b4aa3eeaf0524ce5337e78e99eb438142920fc5 100644
--- a/source/RobotAPI/libraries/skills/provider/SkillProviderComponentPlugin.cpp
+++ b/source/RobotAPI/libraries/skills/provider/SkillProviderComponentPlugin.cpp
@@ -101,7 +101,7 @@ namespace armarx::plugins
SkillProviderComponentPlugin::getSkillFactory(const armarx::skills::SkillID& skillId)
{
// NON BLOCKING: WE ASSERT THAT THE LOCK IS ALREADY TAKEN
- ARMARX_CHECK(skillId.fullySpecified());
+ ARMARX_CHECK(skillId.isFullySpecified());
if (skillFactories.count(skillId) == 0)
{
@@ -117,7 +117,7 @@ namespace armarx::plugins
SkillProviderComponentPlugin::getSkillExecutionStatus(
const skills::SkillExecutionID& execId) const
{
- ARMARX_CHECK(execId.skillId.skillSpecified());
+ ARMARX_CHECK(execId.skillId.isSkillSpecified());
const std::unique_lock l(skillExecutionsMutex);
if (skillExecutions.find(execId) != skillExecutions.end())
@@ -147,7 +147,7 @@ namespace armarx::plugins
std::optional<skills::SkillDescription>
SkillProviderComponentPlugin::getSkillDescription(const skills::SkillID& skillId) const
{
- ARMARX_CHECK(skillId.fullySpecified());
+ ARMARX_CHECK(skillId.isFullySpecified());
const std::unique_lock l(skillFactoriesMutex);
if (skillFactories.find(skillId) != skillFactories.end())
@@ -166,7 +166,7 @@ namespace armarx::plugins
const std::unique_lock l(skillFactoriesMutex);
for (const auto& [key, fac] : skillFactories)
{
- ARMARX_CHECK(key.fullySpecified());
+ ARMARX_CHECK(key.isFullySpecified());
skillDesciptions.insert({key, fac->createSkillDescription(*key.providerId)});
}
return skillDesciptions;
@@ -176,7 +176,7 @@ namespace armarx::plugins
SkillProviderComponentPlugin::executeSkill(
const skills::SkillExecutionRequest& executionRequest)
{
- ARMARX_CHECK(executionRequest.skillId.fullySpecified());
+ ARMARX_CHECK(executionRequest.skillId.isFullySpecified());
// The skill will be executed in a seperate thread
std::thread execution;
@@ -244,7 +244,7 @@ namespace armarx::plugins
SkillProviderComponentPlugin::executeSkillAsync(
const skills::SkillExecutionRequest& executionRequest)
{
- ARMARX_CHECK(executionRequest.skillId.fullySpecified());
+ ARMARX_CHECK(executionRequest.skillId.isFullySpecified());
// The skill will be executed in a seperate thread
std::thread execution;
@@ -299,7 +299,7 @@ namespace armarx::plugins
SkillProviderComponentPlugin::addSkillParameters(const skills::SkillExecutionID& executionId,
const armarx::aron::data::DictPtr& input)
{
- ARMARX_CHECK(executionId.skillId.fullySpecified());
+ ARMARX_CHECK(executionId.skillId.isFullySpecified());
const std::scoped_lock l{skillExecutionsMutex};
auto it = skillExecutions.find(executionId);
@@ -324,7 +324,7 @@ namespace armarx::plugins
void
SkillProviderComponentPlugin::abortSkill(const skills::SkillExecutionID& executionId)
{
- ARMARX_CHECK(executionId.skillId.fullySpecified());
+ ARMARX_CHECK(executionId.skillId.isFullySpecified());
const std::unique_lock l(skillExecutionsMutex);
auto it = skillExecutions.find(executionId);
diff --git a/source/RobotAPI/libraries/skills/provider/SkillProviderComponentPlugin.h b/source/RobotAPI/libraries/skills/provider/SkillProviderComponentPlugin.h
index e03d73e26da0ae1fbec86daeca5bd8f1021f5a9f..9e64ea6925344a5adfea525eea8a7dd11c7d17cc 100644
--- a/source/RobotAPI/libraries/skills/provider/SkillProviderComponentPlugin.h
+++ b/source/RobotAPI/libraries/skills/provider/SkillProviderComponentPlugin.h
@@ -56,7 +56,8 @@ namespace armarx::plugins
template <class _Skill, typename... Args>
- requires skills::isSkill<_Skill> skills::SkillFactory*
+ requires skills::isSkill<_Skill>
+ skills::SkillFactory*
addSkillFactory(Args&&... args)
{
auto fac = skills::SkillFactory::ForSkill<_Skill>(std::forward<Args>(args)...);
@@ -67,7 +68,8 @@ namespace armarx::plugins
template <typename _FactoryT, typename... Args>
- requires skills::isSkillFactory<_FactoryT> _FactoryT*
+ requires skills::isSkillFactory<_FactoryT>
+ _FactoryT*
addCustomSkillFactory(Args&&... args)
{
auto fac = std::make_unique<_FactoryT>(std::forward<Args>(args)...);
@@ -160,9 +162,10 @@ namespace armarx
// -----------------------------------------------------------------------------------------
// LEGACY, TODO: NEEDS TESTING
// -----------------------------------------------------------------------------------------
- template <class _Skill>
+ template <class _Skill> /// @todo rename to SkillT or so, _[A-Z] is compiler reserved
- requires skills::isSkill<_Skill> skills::SkillFactory*
+ requires skills::isSkill<_Skill>
+ skills::SkillFactory*
addSkill(std::unique_ptr<_Skill>&& s)
{
return addSkillFactory<_Skill>();
@@ -170,7 +173,8 @@ namespace armarx
template <class _Skill, typename... Args>
- requires skills::isSkill<_Skill> skills::SkillFactory*
+ requires skills::isSkill<_Skill>
+ skills::SkillFactory*
addSkill(Args&&... args)
{
return addSkillFactory<_Skill>(std::forward<Args>(args)...);
@@ -188,15 +192,17 @@ namespace armarx
template <class _Skill, typename... Args>
- requires skills::isSkill<_Skill> skills::SkillFactory*
+ requires skills::isSkill<_Skill>
+ skills::SkillFactory*
addSkillFactory(Args&&... args)
{
return plugin->addSkillFactory<_Skill>(std::forward<Args>(args)...);
}
- template <typename _Fac, typename... Args>
+ template <typename _Fac, typename... Args> /// @todo "_Fac" is compiler reserved identifier
- requires skills::isSkillFactory<_Fac> _Fac*
+ requires skills::isSkillFactory<_Fac>
+ _Fac*
addCustomSkillFactory(Args&&... args)
{
return plugin->addSkillFactory<_Fac>(std::forward<Args>(args)...);
diff --git a/source/RobotAPI/libraries/skills/provider/SkillProxy.cpp b/source/RobotAPI/libraries/skills/provider/SkillProxy.cpp
index 3a969b2819eb8ec9fd2328dfe069ede85fa480f0..98276c4fb166ad2f538e06e21e1de77045467bb6 100644
--- a/source/RobotAPI/libraries/skills/provider/SkillProxy.cpp
+++ b/source/RobotAPI/libraries/skills/provider/SkillProxy.cpp
@@ -16,7 +16,7 @@ namespace armarx
const SkillDescription& skillDesc) :
manager(manager), skillDescription(skillDesc)
{
- ARMARX_CHECK(skillDesc.skillId.fullySpecified());
+ ARMARX_CHECK(skillDesc.skillId.isFullySpecified());
}
TerminatedSkillStatusUpdate
diff --git a/source/RobotAPI/libraries/skills/provider/detail/SkillImplementationWrapper.cpp b/source/RobotAPI/libraries/skills/provider/detail/SkillImplementationWrapper.cpp
index 41679d93a07ea883f9cf199431d83c217b33a3b6..87c446721e7612cd8cfe1027b3ff862504240ddf 100644
--- a/source/RobotAPI/libraries/skills/provider/detail/SkillImplementationWrapper.cpp
+++ b/source/RobotAPI/libraries/skills/provider/detail/SkillImplementationWrapper.cpp
@@ -56,7 +56,7 @@ namespace armarx
// setup basic vars and lambdas
// -------------------------------------------------------------------------------------
// actually we should lock... however this is only read access and the members are const throughout the execution...
- ARMARX_CHECK(statusUpdate.executionId.skillId.fullySpecified());
+ ARMARX_CHECK(statusUpdate.executionId.skillId.isFullySpecified());
const auto& initial_aron_params = statusUpdate.usedParameterization.parameterization;
const auto& callback_interface = statusUpdate.usedParameterization.callbackInterface;
@@ -116,10 +116,10 @@ namespace armarx
// -------------------------------------------------------------------------------------
updateStatus(SkillStatus::Constructing);
this->skill = this->factory.createSkill(providerId);
- this->skill->executorName = (executorName);
+ this->skill->executorName = executorName;
this->skill->manager = skills::manager::dti::SkillManagerInterfacePrx::checkedCast(
callback_interface); // ugly. Get managerPrx from manager!
- ;
+
this->skill->callback = [&](const SkillStatus s, const armarx::aron::data::DictPtr& d)
{ updateStatus(s, d); };
@@ -163,9 +163,10 @@ namespace armarx
// -------------------------------------------------------------------------------------
// Init skill
// -------------------------------------------------------------------------------------
+ updateStatus(SkillStatus::Initializing);
+
try
{
- updateStatus(SkillStatus::Initializing);
Skill::InitResult initRet = skill->initSkill();
if (initRet.status != TerminatedSkillStatus::Succeeded)
{
@@ -174,7 +175,6 @@ namespace armarx
return exitAndMakeTerminationResult(message);
}
}
-
catch (const std::exception& ex)
{
std::string message =
@@ -187,9 +187,10 @@ namespace armarx
// -------------------------------------------------------------------------------------
// Prepare skill
// -------------------------------------------------------------------------------------
+ updateStatus(SkillStatus::Preparing);
+
try
{
- updateStatus(SkillStatus::Preparing);
auto prepareRet = skill->prepareSkill();
while (prepareRet.status == ActiveOrTerminatedSkillStatus::Running)
{
@@ -197,8 +198,8 @@ namespace armarx
<< skillName << " fulfilled. Waiting...";
// wait...
- prepareRet = skill->prepareSkill();
std::this_thread::sleep_for(std::chrono::milliseconds(50));
+ prepareRet = skill->prepareSkill();
}
if (prepareRet.status != ActiveOrTerminatedSkillStatus::Succeeded)
@@ -208,7 +209,6 @@ namespace armarx
return exitAndMakeTerminationResult(message);
}
}
-
catch (const std::exception& ex)
{
std::string message = "SkillError 201e: An error occured during waiting for skill "
diff --git a/source/RobotAPI/libraries/skills/provider/detail/SkillImplementationWrapper.h b/source/RobotAPI/libraries/skills/provider/detail/SkillImplementationWrapper.h
index 45108724d3ce8ec2bf1e9e1559ebb9be5142fdb6..433777e4e81ab8b3a817a8942db4f926023d4593 100644
--- a/source/RobotAPI/libraries/skills/provider/detail/SkillImplementationWrapper.h
+++ b/source/RobotAPI/libraries/skills/provider/detail/SkillImplementationWrapper.h
@@ -15,6 +15,7 @@ namespace armarx
{
namespace detail
{
+ /// @todo SkillRuntime
class SkillImplementationWrapper
{
private: