Recursive.cpp

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#include "Recursive.h"
 
#include "RobotAPI/libraries/skills/core/SkillDescription.h"
 
namespace armarx::skills::provider
{
 
    RecursiveSkill::RecursiveSkill() :
        SimpleSpecializedSkill<skills::Example::RecursiveSkillParams>(GetSkillDescription())
    {
    }
 
    SkillDescription
    RecursiveSkill::GetSkillDescription()
    {
        armarx::skills::Example::RecursiveSkillParams root_profile_params;
        root_profile_params.n = 10;
 
        return SkillDescription{
            .skillId = skills::SkillID{.skillName = "Recursive"},
            .description = "This skill calls itself recursively {n} times",
            .rootProfileDefaults = root_profile_params.toAron(),
            .timeout = armarx::core::time::Duration::MilliSeconds(10000),
            .parametersType = armarx::skills::Example::RecursiveSkillParams::ToAronType(),
            .resultType = armarx::skills::Example::RecursiveSkillParams::ToAronType()};
    }
 
    Skill::MainResult
    RecursiveSkill::main(const SpecializedMainInput& in)
    {
        const int n = in.parameters.n;
 
        if (n > 0)
        {
            SkillProxy prx(
                manager,
                skills::SkillID{.providerId = *getSkillId().providerId, .skillName = "Recursive"});
 
            armarx::skills::Example::RecursiveSkillParams params;
            params.n = n - 1;
 
            std::this_thread::sleep_for(std::chrono::milliseconds(100));
 
            callSubskill(prx, params.toAron());
        }
 
        throwIfSkillShouldTerminate();
 
        return {TerminatedSkillStatus::Succeeded, nullptr};
    }
} // namespace armarx::skills::provider