PeriodicSkill.cpp

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/**
 * This file is part of ArmarX.
 *
 * ArmarX is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License version 2 as
 * published by the Free Software Foundation.
 *
 * ArmarX is distributed in the hope that it will be useful, but
 * WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with this program. If not, see <http://www.gnu.org/licenses/>.
 *
 * @author     Fabian Reister ( fabian dot reister at kit dot edu )
 * @date       2022
 * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
 *             GNU General Public License
 */
 
#include "PeriodicSkill.h"
 
#include "ArmarXCore/core/exceptions/LocalException.h"
#include "ArmarXCore/core/logging/Logging.h"
#include "ArmarXCore/core/time/Frequency.h"
#include <ArmarXCore/core/time/Metronome.h>
 
#include "RobotAPI/libraries/skills/core/Skill.h"
#include <RobotAPI/libraries/skills/core/error/Exception.h>
 
namespace armarx::skills
{
    PeriodicSkill::PeriodicSkill(const SkillDescription& skillDescription,
                                 const armarx::Frequency& frequency) :
        Skill(skillDescription), frequency(frequency)
    {
    }
 
    Skill::MainResult
    PeriodicSkill::main()
    {
        armarx::core::time::Metronome metronome(frequency);
 
        while (true)
        {
            this->throwIfSkillShouldTerminate();
 
            const auto res = step();
            switch (res.status)
            {
                case ActiveOrTerminatedSkillStatus::Running:
                    // nothing to do here
                    break;
                case ActiveOrTerminatedSkillStatus::Aborted:
                    return MakeAbortedResult();
                case ActiveOrTerminatedSkillStatus::Succeeded:
                    return MakeSucceededResult(res.data);
                case ActiveOrTerminatedSkillStatus::Failed:
                    return MakeFailedResult();
            }
 
            const auto sleepDuration = metronome.waitForNextTick();
            if (not sleepDuration.isPositive())
            {
                ARMARX_INFO << deactivateSpam() << __PRETTY_FUNCTION__
                            << ": execution took too long (" << -sleepDuration
                            << " too long. Expected " << frequency.toCycleDuration() << ")";
            }
        }
 
        // never happens
        throw skills::error::SkillException(__PRETTY_FUNCTION__, "Should not happen!");
    }
 
    PeriodicSkill::StepResult
    PeriodicSkill::step()
    {
        ARMARX_IMPORTANT << "Dummy executing once skill '" << description.skillId
                         << "'. Please overwrite this method!";
        return {ActiveOrTerminatedSkillStatus::Succeeded, nullptr};
    }
 
} // namespace armarx::skills