From f6924369823f9df92a35d037e4d0aaffc837f7eb Mon Sep 17 00:00:00 2001
From: Christoph Pohl <christoph.pohl@kit.edu>
Date: Thu, 7 Dec 2023 18:05:38 +0100
Subject: [PATCH] Fix splicing in SkillBlueprints
---
.../provider/SkillProviderComponentPlugin.cpp | 4 ++--
.../blueprints/SkillWithContextBlueprint.h | 18 ++++++++++++++++--
.../detail/SkillImplementationWrapper.cpp | 5 +++--
.../detail/SkillImplementationWrapper.h | 5 +++--
4 files changed, 24 insertions(+), 8 deletions(-)
diff --git a/source/RobotAPI/libraries/skills/provider/SkillProviderComponentPlugin.cpp b/source/RobotAPI/libraries/skills/provider/SkillProviderComponentPlugin.cpp
index 3d775f587..730ce95a6 100644
--- a/source/RobotAPI/libraries/skills/provider/SkillProviderComponentPlugin.cpp
+++ b/source/RobotAPI/libraries/skills/provider/SkillProviderComponentPlugin.cpp
@@ -210,7 +210,7 @@ namespace armarx::plugins
auto it =
skillExecutions.emplace(std::piecewise_construct,
std::make_tuple(executionId),
- std::make_tuple(*fac,
+ std::make_tuple(fac,
executionId,
executionRequest.parameters,
executionRequest.callbackInterface));
@@ -265,7 +265,7 @@ namespace armarx::plugins
auto it =
skillExecutions.emplace(std::piecewise_construct,
std::make_tuple(executionId),
- std::make_tuple(*fac,
+ std::make_tuple(fac,
executionId,
executionRequest.parameters,
executionRequest.callbackInterface));
diff --git a/source/RobotAPI/libraries/skills/provider/blueprints/SkillWithContextBlueprint.h b/source/RobotAPI/libraries/skills/provider/blueprints/SkillWithContextBlueprint.h
index 0efc94c81..db852e076 100644
--- a/source/RobotAPI/libraries/skills/provider/blueprints/SkillWithContextBlueprint.h
+++ b/source/RobotAPI/libraries/skills/provider/blueprints/SkillWithContextBlueprint.h
@@ -49,19 +49,33 @@ namespace armarx
virtual std::unique_ptr<Skill>
createSkill(const ProviderID& pid) const override
{
+ if (not isConnected_)
+ {
+ return nullptr;
+ }
auto s = _createSkill();
s->setProviderId(pid);
static_cast<SkillT*>(s.get())->connectTo(context_);
return s;
}
+ virtual SkillDescription
+ createSkillDescription(const skills::ProviderID& pid) const
+ {
+ auto s = _createSkill();
+ s->setProviderId(pid);
+ return s->getSkillDescription();
+ }
+
void
- connectTo(const ContextT& services)
+ connectTo(const ContextT& context)
{
- context_ = services;
+ context_ = context;
+ isConnected_ = true;
}
private:
+ std::atomic_bool isConnected_ = false;
ContextT context_;
};
} // namespace skills
diff --git a/source/RobotAPI/libraries/skills/provider/detail/SkillImplementationWrapper.cpp b/source/RobotAPI/libraries/skills/provider/detail/SkillImplementationWrapper.cpp
index 25fe34efa..c93bbe8fa 100644
--- a/source/RobotAPI/libraries/skills/provider/detail/SkillImplementationWrapper.cpp
+++ b/source/RobotAPI/libraries/skills/provider/detail/SkillImplementationWrapper.cpp
@@ -5,7 +5,7 @@ namespace armarx
namespace skills::detail
{
SkillRuntime::SkillRuntime(
- const skills::SkillBlueprint& fac,
+ const skills::SkillBlueprint* fac,
const skills::SkillExecutionID& execId,
const aron::data::DictPtr& initial_parameters,
const skills::callback::dti::SkillProviderCallbackInterfacePrx& callbackInterface) :
@@ -120,7 +120,8 @@ namespace armarx
ARMARX_INFO_S << "Construct skill: " << skillName;
updateStatus(SkillStatus::Constructing);
- this->skill = this->factory.createSkill(providerId);
+ ARMARX_CHECK_NOT_NULL(factory) << "Skill Factory is a nullptr";
+ this->skill = this->factory->createSkill(providerId);
this->skill->setExecutorName(executorName);
this->skill->setManager(manager);
this->skill->setCallback([&](const SkillStatus s, const armarx::aron::data::DictPtr& d)
diff --git a/source/RobotAPI/libraries/skills/provider/detail/SkillImplementationWrapper.h b/source/RobotAPI/libraries/skills/provider/detail/SkillImplementationWrapper.h
index e5a5b1f82..935fa227b 100644
--- a/source/RobotAPI/libraries/skills/provider/detail/SkillImplementationWrapper.h
+++ b/source/RobotAPI/libraries/skills/provider/detail/SkillImplementationWrapper.h
@@ -1,5 +1,6 @@
#pragma once
+#include <experimental/memory>
#include <shared_mutex>
#include <RobotAPI/interface/skills/SkillManagerInterface.h>
@@ -18,7 +19,7 @@ namespace armarx
class SkillRuntime
{
private:
- const skills::SkillBlueprint factory;
+ const std::experimental::observer_ptr<const skills::SkillBlueprint> factory;
std::unique_ptr<Skill> skill;
mutable std::mutex executionMutex;
@@ -33,7 +34,7 @@ namespace armarx
std::thread execution;
// ctor
- SkillRuntime(const skills::SkillBlueprint& fac,
+ SkillRuntime(const skills::SkillBlueprint* fac,
const skills::SkillExecutionID&,
const aron::data::DictPtr&,
const skills::callback::dti::SkillProviderCallbackInterfacePrx&);
--
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