FluxioLoopExecutor.h

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#pragma once
 
#include <experimental/memory>
#include <optional>
#include <shared_mutex>
#include <string>
 
#include "RobotAPI/libraries/aron/core/data/variant/container/Dict.h"
#include "RobotAPI/libraries/skills/core/FluxioResult.h"
#include "RobotAPI/libraries/skills/core/error/FluxioException.h"
 
#include "../FluxioSkill.h"
#include "../FluxioSkillStatusUpdate.h"
#include "../SkillExecutionID.h"
#include "FluxioExecutor.h"
 
namespace armarx::skills
{
    class FluxioLoopExecutor : public FluxioExecutor
    {
    public:
        FluxioLoopExecutor(
            const std::string& id,
            const skills::FluxioSkill& skill,
            bool isRetry,
            const std::function<skills::Result<std::experimental::observer_ptr<FluxioExecutor>,
                                               skills::error::FluxioException>(
                const std::string& skillId,
                const std::string& profileId,
                const std::string& executorName,
                armarx::aron::data::DictPtr parameters)>&& executeFluxioSkillFunc);
 
        void run(std::string executorName,
                 armarx::aron::data::DictPtr parameters,
                 std::experimental::observer_ptr<const FluxioProfile> profilePtr) override;
        void abort() override;
        void abortSubExecutions();
        std::optional<std::vector<skills::FluxioSkillStatusUpdate>> getStatusUpdate() override;
        std::optional<skills::FluxioSkillStatusUpdate> getSlottedStatus();
        std::optional<std::string> slottedExecutionId = std::nullopt;
 
    private:
        std::optional<FluxioSkillStatusUpdate>
        executeSlottedSkill(const std::string& profileId,
                            const std::string& executorName,
                            armarx::aron::data::DictPtr& parameters);
 
        const std::function<skills::Result<std::experimental::observer_ptr<FluxioExecutor>,
                                           skills::error::FluxioException>(
            const std::string& skillId,
            const std::string& profileId,
            const std::string& executorName,
            armarx::aron::data::DictPtr parameters)>
            executeFluxioSkill;
 
        std::optional<skills::SkillExecutionID> executionId = std::nullopt;
        const skills::FluxioSkill& skill;
        std::map<std::string, std::experimental::observer_ptr<FluxioExecutor>>
            subExecutionsMap; // key is node id
        std::shared_mutex subExecutionsMapMutex;
        const armarx::Duration pollingFrequency = armarx::Duration::MilliSeconds(250);
        const bool isRetry;
        int loopIndex;
    };
} // namespace armarx::skills