SimpleSpecializedSkill< AronT > Class Template Reference

#include <RobotAPI/libraries/skills/provider/SimpleSpecializedSkill.h>

+ Inheritance diagram for SimpleSpecializedSkill< AronT >:

Classes

struct  SpecializedExitInput
 
struct  SpecializedInitInput
 
struct  SpecializedMainInput
 

Public Types

using Base = SpecializedSkill< AronT >
 
using Base = Skill
 
using ParamType = AronT
 
- Public Types inherited from SpecializedSkill< AronT >
using Base = Skill
 
using ParamType = AronT
 
- Public Types inherited from Skill
using CallbackT = std::function< void(const SkillStatus s, const armarx::aron::data::DictPtr &)>
 

Protected Member Functions

Skill::ExitResult exit () final
 Override this method with the actual implementation. More...
 
virtual Skill::ExitResult exit (const SpecializedExitInput &in)
 
Skill::InitResult init () final
 Override this method with the actual implementation. More...
 
virtual Skill::InitResult init (const SpecializedInitInput &in)
 
Skill::MainResult main () final
 Override this method with the actual implementation. The callback is for status updates to the calling instance. More...
 
virtual Skill::MainResult main (const SpecializedMainInput &in)
 
- Protected Member Functions inherited from Skill
std::optional< TerminatedSkillStatusUpdatecallSubskill (const SkillID &skillId)
 Call a subskill with the given ID and its default parameters. More...
 
std::optional< TerminatedSkillStatusUpdatecallSubskill (const SkillID &skillId, const aron::data::DictPtr &parameters)
 Call a subskill with the given ID and parameters. More...
 
template<class ParameterT >
std::optional< TerminatedSkillStatusUpdatecallSubskill (const SkillID &skillId, const ParameterT &parameters)
 Call a subskill with the given ID and parameters. More...
 
std::optional< TerminatedSkillStatusUpdatecallSubskill (const SkillID &skillId, std::function< void(aron::data::DictPtr &parameters)> parametersFunction)
 Call a subskill with parameters based on the default parameters. More...
 
template<class ParameterT >
std::optional< TerminatedSkillStatusUpdatecallSubskill (const SkillID &skillId, std::function< void(ParameterT &parameters)> parametersFunction)
 Call a subskill with parameters based on the default parameters. More...
 
std::optional< TerminatedSkillStatusUpdatecallSubskill (const skills::SkillProxy &proxy)
 Call a subskill with default parameters and block until the subskill terminates. More...
 
std::optional< TerminatedSkillStatusUpdatecallSubskill (const skills::SkillProxy &proxy, const aron::data::DictPtr &parameters)
 Call a subskill with given parameters and block until the subskill terminates. More...
 
skills::SkillExecutionID callSubskillAsync (const skills::SkillProxy &proxy)
 Similar to callSubskill but non-blocking. More...
 
skills::SkillExecutionID callSubskillAsync (const skills::SkillProxy &proxy, const aron::data::DictPtr &parameters)
 Similar to callSubskill but non-blocking. More...
 
void installConditionWithCallback (std::function< bool()> &&f, std::function< void()> &&cb)
 install a condition which is frequently checked from the conditionCheckingThread More...
 
void notifyTimeoutReached ()
 
virtual void onStopRequested ()
 
virtual void onTimeoutReached ()
 Override these methods if you want to do something special when notification comes. More...
 
virtual PrepareResult prepare ()
 Override this method with the actual implementation. More...
 
void throwIfSkillShouldTerminate (const std::function< void()> &do_before, const std::string &abortedMessage="")
 
void throwIfSkillShouldTerminate (const std::string &abortedMessage="")
 
- Protected Member Functions inherited from Logging
bool checkLogLevel (MessageTypeT level) const
 
const LogSenderPtrgetLogSender () const
 Retrieve log sender. More...
 
LogSenderPtr loghelper (const char *file, int line, const char *function) const
 

Additional Inherited Members

- Public Member Functions inherited from SpecializedSkill< AronT >
AronT getParameters () const
 Overwrite getter for parameters. Shadow Skill::getParameters() More...
 
void setParameters (const AronT &d)
 
 Skill ()=delete
 We completely remove the default constructor! A skill without a desciption cannot exist. More...
 
 Skill (const SkillDescription &)
 Constructor of a skill for inheritance. Every skill must have a skill description. More...
 
virtual ~SpecializedSkill ()=default
 
- Public Member Functions inherited from Skill
ExitResult exitSkill ()
 Exit method of a skill. More...
 
aron::data::DictPtr getParameters () const
 Get the parameters of a skill that have been set so far. More...
 
SkillDescription getSkillDescription () const
 Get the description of a skill. More...
 
SkillID getSkillId () const
 Get the id of the skill. More...
 
InitResult initSkill ()
 Initialization of a skill. More...
 
MainResult mainOfSkill ()
 Main method of a skill. More...
 
void notifySkillToStop ()
 Notify the skill from extern to stop. More...
 
PrepareResult prepareSkill ()
 Prepare a skill once. More...
 
void setCallback (const CallbackT &callback)
 
void setExecutorName (const std::string &executorName)
 
void setManager (const manager::dti::SkillManagerInterfacePrx &manager)
 
void setParameters (const aron::data::DictPtr &d)
 Hard set the parameters, ignoring everything that has been set or merged before. More...
 
void setProviderId (const skills::ProviderID &pid)
 Set the provider id of the description of the skill. More...
 
bool shouldSkillTerminate () const
 Returns whether the skill should terminate as soon as possible. More...
 
 Skill ()=delete
 We completely remove the default constructor! A skill without a desciption cannot exist. More...
 
 Skill (const SkillDescription &)
 Constructor of a skill for inheritance. Every skill must have a skill description. More...
 
void updateParameters (const aron::data::DictPtr &d)
 Merge parameters to the local parameters of the skill. More...
 
virtual ~Skill ()
 Virtual destructor of a skill. More...
 
- Public Member Functions inherited from Logging
SpamFilterDataPtr deactivateSpam (float deactivationDurationSec=10.0f, const std::string &identifier="", bool deactivate=true) const
 disables the logging for the current line for the given amount of seconds. More...
 
MessageTypeT getEffectiveLoggingLevel () const
 
 Logging ()
 
void setLocalMinimumLoggingLevel (MessageTypeT level)
 With setLocalMinimumLoggingLevel the minimum verbosity-level of log-messages can be set. More...
 
void setTag (const LogTag &tag)
 
void setTag (const std::string &tagName)
 
virtual ~Logging ()
 
- Static Public Member Functions inherited from SpecializedSkill< AronT >
static armarx::aron::type::ObjectPtr GetAcceptedType ()
 returns the accepted type of the skill More...
 
- Public Attributes inherited from Skill
armarx::core::time::DateTime exited = armarx::core::time::DateTime::Invalid()
 
armarx::core::time::DateTime started = armarx::core::time::DateTime::Now()
 
- Static Protected Member Functions inherited from Skill
static MainResult MakeAbortedResult ()
 
static MainResult MakeFailedResult ()
 
static MainResult MakeSucceededResult (aron::data::DictPtr data=nullptr)
 
- Protected Attributes inherited from Skill
CallbackT callback = CallbackT()
 
std::atomic_bool constructing = true
 
SkillDescription description
 
std::string executorName = ""
 
std::atomic_bool exiting = false
 
std::atomic_bool finished = false
 
std::atomic_bool initializing = false
 
manager::dti::SkillManagerInterfacePrx manager = nullptr
 
armarx::aron::data::DictPtr parameters = nullptr
 
std::mutex parametersMutex
 
std::atomic_bool preparing = false
 
std::atomic_bool running = false
 
std::atomic_bool stopped = false
 
std::atomic_bool timeoutReached = false
 
- Protected Attributes inherited from Logging
MessageTypeT minimumLoggingLevel
 
SpamFilterDataPtr spamFilter
 
LogTag tag
 

Detailed Description

template<class AronT>
class armarx::skills::SimpleSpecializedSkill< AronT >

Definition at line 10 of file SimpleSpecializedSkill.h.

Member Typedef Documentation

◆ Base [1/2]

using Base = SpecializedSkill<AronT>

Definition at line 13 of file SimpleSpecializedSkill.h.

◆ Base [2/2]

using Base = Skill

Definition at line 17 of file SpecializedSkill.h.

◆ ParamType

using ParamType = AronT

Definition at line 14 of file SimpleSpecializedSkill.h.

Member Function Documentation

◆ exit() [1/2]

Skill::ExitResult exit ( )
inlinefinalprotectedvirtual

Override this method with the actual implementation.

Reimplemented from Skill.

Definition at line 81 of file SimpleSpecializedSkill.h.

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◆ exit() [2/2]

virtual Skill::ExitResult exit ( const SpecializedExitInput in)
inlineprotectedvirtual

Reimplemented in ZeroTorque.

Definition at line 56 of file SimpleSpecializedSkill.h.

◆ init() [1/2]

Skill::InitResult init ( )
inlinefinalprotectedvirtual

Override this method with the actual implementation.

Reimplemented from Skill.

Definition at line 62 of file SimpleSpecializedSkill.h.

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◆ init() [2/2]

virtual Skill::InitResult init ( const SpecializedInitInput in)
inlineprotectedvirtual

Reimplemented in ZeroTorque.

Definition at line 41 of file SimpleSpecializedSkill.h.

◆ main() [1/2]

Skill::MainResult main ( )
inlinefinalprotectedvirtual

Override this method with the actual implementation. The callback is for status updates to the calling instance.

Reimplemented from Skill.

Definition at line 71 of file SimpleSpecializedSkill.h.

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◆ main() [2/2]

virtual Skill::MainResult main ( const SpecializedMainInput in)
inlineprotectedvirtual

Reimplemented in RetrieveHand, ZeroTorque, PointAt, and BringObjectToLocation.

Definition at line 47 of file SimpleSpecializedSkill.h.


The documentation for this class was generated from the following file: