SkillStatusUpdate.cpp

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#include "SkillStatusUpdate.h"
 
namespace armarx
{
    namespace skills
    {
        SkillStatus
        toSkillStatus(const ActiveOrTerminatedSkillStatus& d)
        {
            switch (d)
            {
                case ActiveOrTerminatedSkillStatus::Running:
                    return SkillStatus::Running;
                case ActiveOrTerminatedSkillStatus::Failed:
                    return SkillStatus::Failed;
                case ActiveOrTerminatedSkillStatus::Succeeded:
                    return SkillStatus::Succeeded;
                case ActiveOrTerminatedSkillStatus::Aborted:
                    return SkillStatus::Aborted;
            }
            throw error::SkillException(__PRETTY_FUNCTION__, "Should not happen!");
        }
 
        SkillStatus
        toSkillStatus(const TerminatedSkillStatus& d)
        {
            switch (d)
            {
                case TerminatedSkillStatus::Failed:
                    return SkillStatus::Failed;
                case TerminatedSkillStatus::Succeeded:
                    return SkillStatus::Succeeded;
                case TerminatedSkillStatus::Aborted:
                    return SkillStatus::Aborted;
            }
            throw error::SkillException(__PRETTY_FUNCTION__, "Should not happen!");
        }
 
        TerminatedSkillStatus
        mergeSkillStatuseses(const TerminatedSkillStatus t1, const TerminatedSkillStatus t2)
        {
            // if both are equal
            if (t1 == t2)
            {
                return t1;
            }
 
            // if one is failed (most unspecific result)
            if (t1 == TerminatedSkillStatus::Failed or t2 == TerminatedSkillStatus::Failed)
            {
                return TerminatedSkillStatus::Failed;
            }
 
            // else one must be aborted and the other one must be succeeded
            return TerminatedSkillStatus::Aborted;
        }
 
        ActiveOrTerminatedSkillStatus
        mergeSkillStatuseses(const ActiveOrTerminatedSkillStatus t1,
                             const ActiveOrTerminatedSkillStatus t2)
        {
            // if both are equal
            if (t1 == t2)
            {
                return t1;
            }
 
            // if one is failed (most unspecific result)
            if (t1 == ActiveOrTerminatedSkillStatus::Failed or
                t2 == ActiveOrTerminatedSkillStatus::Failed)
            {
                return ActiveOrTerminatedSkillStatus::Failed;
            }
 
            // if none is failed and one is aborted (second most unspecific result)
            if (t1 == ActiveOrTerminatedSkillStatus::Aborted or
                t2 == ActiveOrTerminatedSkillStatus::Aborted)
            {
                return ActiveOrTerminatedSkillStatus::Aborted;
            }
 
            // else one must be running and the other one must be succeeded
            return ActiveOrTerminatedSkillStatus::Running;
        }
 
        void
        toIce(core::dto::Execution::Status& ret, const SkillStatus& status)
        {
            switch (status)
            {
                case SkillStatus::Constructing:
                    ret = core::dto::Execution::Status::Constructing;
                    return;
                case SkillStatus::Initializing:
                    ret = core::dto::Execution::Status::Initializing;
                    return;
                case SkillStatus::Preparing:
                    ret = core::dto::Execution::Status::Preparing;
                    return;
                case SkillStatus::Running:
                    ret = core::dto::Execution::Status::Running;
                    return;
                case SkillStatus::Failed:
                    ret = core::dto::Execution::Status::Failed;
                    return;
                case SkillStatus::Succeeded:
                    ret = core::dto::Execution::Status::Succeeded;
                    return;
                case SkillStatus::Aborted:
                    ret = core::dto::Execution::Status::Aborted;
                    return;
            }
            throw error::SkillException(__PRETTY_FUNCTION__, "Should not happen!");
        }
 
        void
        toIce(core::dto::Execution::Status& ret, const ActiveOrTerminatedSkillStatus& status)
        {
            switch (status)
            {
                case ActiveOrTerminatedSkillStatus::Running:
                    ret = core::dto::Execution::Status::Running;
                    return;
                case ActiveOrTerminatedSkillStatus::Failed:
                    ret = core::dto::Execution::Status::Failed;
                    return;
                case ActiveOrTerminatedSkillStatus::Succeeded:
                    ret = core::dto::Execution::Status::Succeeded;
                    return;
                case ActiveOrTerminatedSkillStatus::Aborted:
                    ret = core::dto::Execution::Status::Aborted;
                    return;
            }
            throw error::SkillException(__PRETTY_FUNCTION__, "Should not happen!");
        }
 
        void
        toIce(core::dto::Execution::Status& ret, const TerminatedSkillStatus& status)
        {
            switch (status)
            {
                case TerminatedSkillStatus::Failed:
                    ret = core::dto::Execution::Status::Failed;
                    return;
                case TerminatedSkillStatus::Succeeded:
                    ret = core::dto::Execution::Status::Succeeded;
                    return;
                case TerminatedSkillStatus::Aborted:
                    ret = core::dto::Execution::Status::Aborted;
                    return;
            }
            throw error::SkillException(__PRETTY_FUNCTION__, "Should not happen!");
        }
 
        void
        fromIce(const core::dto::Execution::Status& status, TerminatedSkillStatus& ret)
        {
            switch (status)
            {
                case core::dto::Execution::Status::Constructing:
                    [[fallthrough]];
                case core::dto::Execution::Status::Initializing:
                    [[fallthrough]];
                case core::dto::Execution::Status::Preparing:
                    [[fallthrough]];
                case core::dto::Execution::Status::Running:
                    break;
                case core::dto::Execution::Status::Failed:
                    ret = TerminatedSkillStatus::Failed;
                    return;
                case core::dto::Execution::Status::Succeeded:
                    ret = TerminatedSkillStatus::Succeeded;
                    return;
                case core::dto::Execution::Status::Aborted:
                    ret = TerminatedSkillStatus::Aborted;
                    return;
            }
            throw error::SkillException(
                __PRETTY_FUNCTION__,
                "You entered an invalid execution status type to convert to a terminating status.");
        }
 
        void
        fromIce(const core::dto::Execution::Status& status, ActiveOrTerminatedSkillStatus& ret)
        {
            switch (status)
            {
                case core::dto::Execution::Status::Constructing:
                    [[fallthrough]];
                case core::dto::Execution::Status::Initializing:
                    [[fallthrough]];
                case core::dto::Execution::Status::Preparing:
                    break;
                case core::dto::Execution::Status::Running:
                    ret = ActiveOrTerminatedSkillStatus::Running;
                    return;
                case core::dto::Execution::Status::Failed:
                    ret = ActiveOrTerminatedSkillStatus::Failed;
                    return;
                case core::dto::Execution::Status::Succeeded:
                    ret = ActiveOrTerminatedSkillStatus::Succeeded;
                    return;
                case core::dto::Execution::Status::Aborted:
                    ret = ActiveOrTerminatedSkillStatus::Aborted;
                    return;
            }
            throw error::SkillException(
                __PRETTY_FUNCTION__,
                "You entered an invalid execution status type to convert to a terminating status.");
        }
 
        void
        fromIce(const core::dto::Execution::Status& status, SkillStatus& ret)
        {
            switch (status)
            {
                case core::dto::Execution::Status::Constructing:
                    ret = SkillStatus::Constructing;
                    return;
                case core::dto::Execution::Status::Initializing:
                    ret = SkillStatus::Initializing;
                    return;
                case core::dto::Execution::Status::Preparing:
                    ret = SkillStatus::Preparing;
                    return;
                case core::dto::Execution::Status::Running:
                    ret = SkillStatus::Running;
                    return;
                case core::dto::Execution::Status::Failed:
                    ret = SkillStatus::Failed;
                    return;
                case core::dto::Execution::Status::Succeeded:
                    ret = SkillStatus::Succeeded;
                    return;
                case core::dto::Execution::Status::Aborted:
                    ret = SkillStatus::Aborted;
                    return;
            }
            throw error::SkillException(__PRETTY_FUNCTION__, "Should not happen!");
        }
 
        manager::dto::SkillStatusUpdate
        SkillStatusUpdateBase::toManagerIce() const
        {
            manager::dto::SkillStatusUpdate ret;
            ret.executionId.skillId = executionId.skillId.toManagerIce();
            ret.executionId.executorName = executionId.executorName;
            armarx::core::time::toIce(ret.executionId.executionStartedTime,
                                      executionId.executionStartedTime);
            ret.parameters = aron::data::Dict::ToAronDictDTO(parameters);
            ret.callbackInterface = callbackInterface;
            ret.result = aron::data::Dict::ToAronDictDTO(result);
            return ret;
        }
 
        provider::dto::SkillStatusUpdate
        SkillStatusUpdateBase::toProviderIce() const
        {
            provider::dto::SkillStatusUpdate ret;
            ret.executionId.skillId = executionId.skillId.toProviderIce();
            ret.executionId.executorName = executionId.executorName;
            armarx::core::time::toIce(ret.executionId.executionStartedTime,
                                      executionId.executionStartedTime);
            ret.parameters = aron::data::Dict::ToAronDictDTO(parameters);
            ret.callbackInterface = callbackInterface;
            ret.result = aron::data::Dict::ToAronDictDTO(result);
            return ret;
        }
 
        manager::dto::SkillStatusUpdate
        TerminatedSkillStatusUpdate::toManagerIce() const
        {
            manager::dto::SkillStatusUpdate ret = SkillStatusUpdateBase::toManagerIce();
            skills::toIce(ret.status, status);
            return ret;
        }
 
        provider::dto::SkillStatusUpdate
        TerminatedSkillStatusUpdate::toProviderIce() const
        {
            provider::dto::SkillStatusUpdate ret = SkillStatusUpdateBase::toProviderIce();
            skills::toIce(ret.status, status);
            return ret;
        }
 
        manager::dto::SkillStatusUpdate
        SkillStatusUpdate::toManagerIce() const
        {
            manager::dto::SkillStatusUpdate ret = SkillStatusUpdateBase::toManagerIce();
            skills::toIce(ret.status, status);
            return ret;
        }
 
        provider::dto::SkillStatusUpdate
        SkillStatusUpdate::toProviderIce() const
        {
            provider::dto::SkillStatusUpdate ret = SkillStatusUpdateBase::toProviderIce();
            skills::toIce(ret.status, status);
            return ret;
        }
 
        manager::dto::SkillStatusUpdate
        ActiveOrTerminatedSkillStatusUpdate::toManagerIce() const
        {
            manager::dto::SkillStatusUpdate ret = SkillStatusUpdateBase::toManagerIce();
            skills::toIce(ret.status, status);
            return ret;
        }
 
        provider::dto::SkillStatusUpdate
        ActiveOrTerminatedSkillStatusUpdate::toProviderIce() const
        {
            provider::dto::SkillStatusUpdate ret = SkillStatusUpdateBase::toProviderIce();
            skills::toIce(ret.status, status);
            return ret;
        }
 
        template <class BoT, class DtoT>
        static void
        setResultFromIce(BoT& bo, const DtoT& dto)
        {
            if (dto.result)
            {
                bo.result = aron::make_dict(dto.result);
            }
        }
 
        TerminatedSkillStatusUpdate
        TerminatedSkillStatusUpdate::FromIce(const manager::dto::SkillStatusUpdate& update)
        {
            TerminatedSkillStatusUpdate ret{
                {.executionId = skills::SkillExecutionID::FromIce(update.executionId),
                 .parameters = armarx::aron::data::Dict::FromAronDictDTO(update.parameters),
                 .callbackInterface = update.callbackInterface}};
            skills::fromIce(update.status, ret.status);
            setResultFromIce(ret, update);
            return ret;
        }
 
        TerminatedSkillStatusUpdate
        TerminatedSkillStatusUpdate::FromIce(const provider::dto::SkillStatusUpdate& update,
                                             const std::optional<skills::ProviderID>& providerId)
        {
            TerminatedSkillStatusUpdate ret{
                {.executionId = skills::SkillExecutionID::FromIce(update.executionId, providerId),
                 .parameters = armarx::aron::data::Dict::FromAronDictDTO(update.parameters),
                 .callbackInterface = update.callbackInterface}};
            skills::fromIce(update.status, ret.status);
            setResultFromIce(ret, update);
            return ret;
        }
 
        SkillStatusUpdate
        SkillStatusUpdate::FromIce(const manager::dto::SkillStatusUpdate& update)
        {
            SkillStatusUpdate ret{{
                .executionId = skills::SkillExecutionID::FromIce(update.executionId),
                .parameters = armarx::aron::data::Dict::FromAronDictDTO(update.parameters),
                .callbackInterface = update.callbackInterface,
            }};
            skills::fromIce(update.status, ret.status);
            setResultFromIce(ret, update);
            return ret;
        }
 
        SkillStatusUpdate
        SkillStatusUpdate::FromIce(const provider::dto::SkillStatusUpdate& update,
                                   const std::optional<skills::ProviderID>& providerId)
        {
            SkillStatusUpdate ret{{
                .executionId = skills::SkillExecutionID::FromIce(update.executionId, providerId),
                .parameters = armarx::aron::data::Dict::FromAronDictDTO(update.parameters),
                .callbackInterface = update.callbackInterface,
                .result = armarx::aron::data::Dict::FromAronDictDTO(update.result)
            }};
            skills::fromIce(update.status, ret.status);
            setResultFromIce(ret, update);
            return ret;
        }
 
        ActiveOrTerminatedSkillStatusUpdate
        ActiveOrTerminatedSkillStatusUpdate::FromIce(const manager::dto::SkillStatusUpdate& update)
        {
            ActiveOrTerminatedSkillStatusUpdate ret{
                {.executionId = skills::SkillExecutionID::FromIce(update.executionId),
                 .parameters = armarx::aron::data::Dict::FromAronDictDTO(update.parameters),
                 .callbackInterface = update.callbackInterface}};
            skills::fromIce(update.status, ret.status);
            setResultFromIce(ret, update);
            return ret;
        }
 
        ActiveOrTerminatedSkillStatusUpdate
        ActiveOrTerminatedSkillStatusUpdate::FromIce(
            const provider::dto::SkillStatusUpdate& update,
            const std::optional<skills::ProviderID>& providerId)
        {
            ActiveOrTerminatedSkillStatusUpdate ret{
                {.executionId = skills::SkillExecutionID::FromIce(update.executionId, providerId),
                 .parameters = armarx::aron::data::Dict::FromAronDictDTO(update.parameters),
                 .callbackInterface = update.callbackInterface}};
            skills::fromIce(update.status, ret.status);
            setResultFromIce(ret, update);
            return ret;
        }
 
    } // namespace skills
} // namespace armarx