SkillExecutorInterface.h

Go to the documentation of this file.

#pragma once
 
#include <functional>
#include <optional>
 
#include <ArmarXCore/core/time/Duration.h>
 
#include <RobotAPI/libraries/aron/core/data/variant/container/Dict.h>
#include <RobotAPI/libraries/skills/core/SkillID.h> // TODO: Break cyclic dependency.
#include <RobotAPI/libraries/skills/core/SkillStatusUpdate.h> // TODO: Break cyclic dependency.
 
// TODO: core is way to heavy right now. SkillID and the output structs should be very lightweight
// to put there. Most other classes, however, are "server"-code (integrating skills into the skill
// framework), not really "core".
 
namespace armarx::skills::client
{
 
    class SkillExecutorInterface
    {
    public:
        virtual ~SkillExecutorInterface() = default;
 
        virtual std::optional<armarx::skills::TerminatedSkillStatusUpdate> executeSkill(
            const ::armarx::skills::SkillID& skillID,
            std::function<aron::data::DictPtr(aron::data::DictPtr&)> const& parametersFunction) = 0;
 
        virtual void
        waitFor(const armarx::Duration& duration,
                const armarx::Duration& interval = armarx::Duration::MilliSeconds(200)) const = 0;
 
        virtual bool shouldSkillTerminate() const = 0;
    };
 
} // namespace armarx::skills::client