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 = "Chaining"},
            .description = "This skill calls the Timeout skill several times. At some point the "
                           "execution is aborted due to a timeout of this skill.",
 
            .rootProfileDefaults = armarx::aron::make_dict(),
            .timeout = armarx::core::time::Duration::MilliSeconds(10000)};
    }
 
    Skill::MainResult
    ChainingSkill::main(const MainInput& in)
    {
        SkillProxy prx(
            manager,
            skills::SkillID{.providerId = *getSkillId().providerId, .skillName = "Timeout"});
 
        for (int i = 0; i < 25; i++)
        {
            this->throwIfSkillShouldTerminate();
 
            ARMARX_INFO << "Call subskill number " << i;
            callSubskill(prx); // Call the Timeout skill and wait for it to finish
        }
 
        this->throwIfSkillShouldTerminate();
 
        return {TerminatedSkillStatus::Succeeded, nullptr};
    }
} // namespace armarx::skills::provider