commit_and_wait.h

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#pragma once
 
#include <cstdint>
#include <functional>
 
#include <RobotAPI/libraries/skills/core/Skill.h>
 
#include <armarx/view_selection/gaze_targets/GazeTarget.h>
 
namespace armarx::view_selection::client
{
    class ViewSelection;
}
 
namespace armarx::view_selection::skills
{
 
    /**
     * @brief Commit a gaze target, optionally blocking until the robot's gaze is fixed on it.
     *
     * Shared by the skills that offer the opt-in blocking mode, so they agree on what counts as
     * success and on what to do when it does not happen.
     *
     * The verdict is "was this target reached at some point", not "is it still the active one": a
     * target that settled and was then superseded by something more important did what the caller
     * asked for, and reporting that as a failure would be wrong.
     *
     * @param waitTimeout_ms  Non-positive waits indefinitely.
     * @param shouldAbort     Polled while waiting; pass the skill's shouldSkillTerminate().
     */
    ::armarx::skills::Skill::MainResult
    commitAndMaybeWait(client::ViewSelection& viewSelection,
                       const gaze_targets::GazeTarget& target,
                       bool waitUntilReached,
                       std::int64_t waitTimeout_ms,
                       const std::function<bool()>& shouldAbort);
 
} // namespace armarx::view_selection::skills