Chaining.cpp

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#include "Chaining.h"
 
namespace armarx::skills::provider
{
 
    ChainingSkill::ChainingSkill() : SimpleSkill(GetSkillDescription())
    {
    }
 
    SkillDescription
    ChainingSkill::GetSkillDescription()
    {
        return SkillDescription{.skillId = armarx::skills::SkillID{.skillName = "ChainingSkill"},
                                .description =
                                    "This skill calls the Timeout skill three times. The last "
                                    "execution is aborted due to a timeout of this skill.",
                                .timeout = armarx::core::time::Duration::MilliSeconds(5000)};
    }
 
    Skill::MainResult
    ChainingSkill::main(const MainInput& in)
    {
        SkillProxy prx(
            manager,
            skills::SkillID{.providerId = *getSkillId().providerId, .skillName = "Timeout"});
 
        ARMARX_INFO << "CALL PROXY FIRST TIME";
        callSubskill(prx);
        ARMARX_INFO << "CALL PROXY SECOND TIME";
        callSubskill(prx);
        ARMARX_INFO << "CALL PROXY THIRD TIME";
        callSubskill(prx);
 
        this->throwIfSkillShouldTerminate();
 
        return {TerminatedSkillStatus::Succeeded, nullptr};
    }
} // namespace armarx::skills::provider