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

Inheritance diagram for Skill:

Data Structures
struct	ExitInput

struct	ExitResult

struct	InitInput

struct	InitResult

struct	MainInput

struct	MainResult

Public Types
using	CallbackT = std::function< void(const aron::data::DictPtr &)>

Public Member Functions
bool	checkWhetherSkillShouldStopASAP () const

MainResult	executeFullSkill (const MainInput &in)
	Do init, main, exit together. More...

ExitResult	exitSkill (const ExitInput &in)

SkillID	getSkillId () const
	The id of the skill (combination of provider and name must be unique). More...

InitResult	initSkill (const InitInput &in)

bool	isSkillAvailable (const InitInput &in) const

MainResult	mainOfSkill (const MainInput &in)

void	notifySkillToStopASAP ()

void	resetSkill ()

	Skill ()=delete

	Skill (const SkillDescription &)

void	waitForDependenciesOfSkill ()

virtual	~Skill ()=default

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 ()

Data Fields
const SkillDescription	description
	The descripion of the skill, which will be available via the provider/manager. More...

armarx::core::time::DateTime	exited = armarx::core::time::DateTime::Invalid()

manager::dti::SkillManagerInterfacePrx	manager = nullptr
	proxy that called the skills. Will be set from provider and is const afterwards More...

std::string	providerName = "INVALID PROVIDER NAME"
	the provider that owns this skill. Will be set from provider and is const afterwards More...

armarx::core::time::DateTime	started = armarx::core::time::DateTime::Invalid()
	running params More...

Protected Member Functions
void	_exit ()

void	_init ()

void	_main ()

void	installConditionWithCallback (std::function< bool()> &&f, std::function< void()> &&cb)
	install a condition which is frequently checked from the conditionCheckingThread More...

void	notifyTimeoutReached ()

Protected Member Functions inherited from Logging
bool	checkLogLevel (MessageTypeT level) const

const LogSenderPtr &	getLogSender () const
	Retrieve log sender. More...

LogSenderPtr	loghelper (const char file, int line, const char function) const

Protected Attributes
std::vector< std::pair< std::function< bool()>, std::function< void()> > >	callbacks
	active conditions. First is condition (bool return func) More...

std::mutex	callbacksMutex

std::atomic_bool	running = false
	Use conditions this way. More...

std::atomic_bool	stopped = false

std::atomic_bool	timeoutReached = false

Protected Attributes inherited from Logging
MessageTypeT	minimumLoggingLevel

SpamFilterDataPtr	spamFilter

LogTag	tag

Detailed Description

Definition at line 29 of file Skill.h.

Member Typedef Documentation

◆ CallbackT

using CallbackT = std::function<void(const aron::data::DictPtr&)>

Definition at line 32 of file Skill.h.

Constructor & Destructor Documentation

◆ Skill() [1/2]

Skill ( )

delete

◆ Skill() [2/2]

Skill ( const SkillDescription & desc )

Definition at line 7 of file Skill.cpp.

◆ ~Skill()

virtual ~Skill ( )

virtualdefault

Member Function Documentation

◆ _exit()

void _exit ( )

protected

Definition at line 110 of file Skill.cpp.

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◆ _init()

void _init ( )

protected

Definition at line 56 of file Skill.cpp.

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◆ _main()

void _main ( )

protected

Definition at line 100 of file Skill.cpp.

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◆ checkWhetherSkillShouldStopASAP()

bool checkWhetherSkillShouldStopASAP ( ) const

Definition at line 140 of file Skill.cpp.

◆ executeFullSkill()

Skill::MainResult executeFullSkill ( const MainInput & in )

Do init, main, exit together.

Definition at line 186 of file Skill.cpp.

◆ exitSkill()

Skill::ExitResult exitSkill ( const ExitInput & in )

Definition at line 121 of file Skill.cpp.

◆ getSkillId()

SkillID getSkillId ( ) const

inline

The id of the skill (combination of provider and name must be unique).

Definition at line 74 of file Skill.h.

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◆ initSkill()

Skill::InitResult initSkill ( const InitInput & in )

Definition at line 94 of file Skill.cpp.

◆ installConditionWithCallback()

void installConditionWithCallback	(	std::function< bool()> &&	f,
		std::function< void()> &&	cb
	)

protected

install a condition which is frequently checked from the conditionCheckingThread

Definition at line 15 of file Skill.cpp.

◆ isSkillAvailable()

bool isSkillAvailable ( const InitInput & in ) const

Definition at line 21 of file Skill.cpp.

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◆ mainOfSkill()

Skill::MainResult mainOfSkill ( const MainInput & in )

Definition at line 104 of file Skill.cpp.

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◆ notifySkillToStopASAP()

void notifySkillToStopASAP ( )

Definition at line 134 of file Skill.cpp.

◆ notifyTimeoutReached()

void notifyTimeoutReached ( )

protected

Definition at line 128 of file Skill.cpp.

◆ resetSkill()

void resetSkill ( )

Definition at line 32 of file Skill.cpp.

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◆ waitForDependenciesOfSkill()

void waitForDependenciesOfSkill ( )

Definition at line 50 of file Skill.cpp.

Field Documentation

◆ callbacks

std::vector<std::pair<std::function<bool()>, std::function<void()> > > callbacks

protected

active conditions. First is condition (bool return func)

Definition at line 161 of file Skill.h.

◆ callbacksMutex

std::mutex callbacksMutex

mutableprotected

Definition at line 162 of file Skill.h.

◆ description

const SkillDescription description

The descripion of the skill, which will be available via the provider/manager.

Definition at line 147 of file Skill.h.

◆ exited

armarx::core::time::DateTime exited = armarx::core::time::DateTime::Invalid()

Definition at line 151 of file Skill.h.

◆ manager

manager::dti::SkillManagerInterfacePrx manager = nullptr

proxy that called the skills. Will be set from provider and is const afterwards

Definition at line 154 of file Skill.h.

◆ providerName

std::string providerName = "INVALID PROVIDER NAME"

the provider that owns this skill. Will be set from provider and is const afterwards

Definition at line 157 of file Skill.h.

◆ running

std::atomic_bool running = false

protected

Use conditions this way.

Definition at line 165 of file Skill.h.

◆ started

armarx::core::time::DateTime started = armarx::core::time::DateTime::Invalid()

running params

Definition at line 150 of file Skill.h.

◆ stopped

std::atomic_bool stopped = false

protected

Definition at line 166 of file Skill.h.

◆ timeoutReached

std::atomic_bool timeoutReached = false

protected

Definition at line 167 of file Skill.h.

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

RobotAPI/libraries/skills/provider/Skill.h
RobotAPI/libraries/skills/provider/Skill.cpp

Data Structures

Public Types

Public Member Functions

Data Fields

Protected Member Functions

Protected Attributes

Detailed Description

Member Typedef Documentation

◆ CallbackT

Constructor & Destructor Documentation

◆ Skill() [1/2]

◆ Skill() [2/2]

◆ ~Skill()

Member Function Documentation

◆ _exit()

◆ _init()

◆ _main()

◆ checkWhetherSkillShouldStopASAP()

◆ executeFullSkill()

◆ exitSkill()

◆ getSkillId()

◆ initSkill()

◆ installConditionWithCallback()

◆ isSkillAvailable()

◆ mainOfSkill()

◆ notifySkillToStopASAP()

◆ notifyTimeoutReached()

◆ resetSkill()

◆ waitForDependenciesOfSkill()

Field Documentation

◆ callbacks

◆ callbacksMutex

◆ description

◆ exited

◆ manager

◆ providerName

◆ running

◆ started

◆ stopped

◆ timeoutReached