PeriodicSpecializedSkill.h

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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
 */
 
#pragma once
 
#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>
 
#include "PeriodicSkill.h"
#include "SpecializedSkill.h"
 
namespace armarx::skills
{
    template <class AronT>
    class PeriodicSpecializedSkill : public SpecializedSkill<AronT>
    {
    public:
        using Base = SpecializedSkill<AronT>;
 
        using Skill::description;
        using Skill::getSkillId;
 
        using StepResult = PeriodicSkill::StepResult;
 
        PeriodicSpecializedSkill() = delete;
 
        PeriodicSpecializedSkill(const SkillDescription& skillDescription,
                                 const armarx::Frequency& frequency) :
            Base(skillDescription), frequency(frequency)
        {
        }
 
    protected:
        /// Do not use anymore
        Skill::MainResult
        main() final
        {
            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 switch
                        break;
                    case ActiveOrTerminatedSkillStatus::Aborted:
                        return Skill::MakeAbortedResult();
                    case ActiveOrTerminatedSkillStatus::Succeeded:
                        return Skill::MakeSucceededResult(res.data);
                    case ActiveOrTerminatedSkillStatus::Failed:
                        return Skill::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() << ")";
                }
            }
 
            throw skills::error::SkillException(__PRETTY_FUNCTION__, "Should not happen!");
        }
 
        /// Override this method with your own step function
        virtual StepResult
        step()
        {
            ARMARX_IMPORTANT << "Dummy executing once skill '" << this->description.skillName
                             << "'. Please overwrite this method!";
            return {ActiveOrTerminatedSkillStatus::Succeeded, nullptr};
        }
 
    protected:
        const armarx::Frequency frequency;
    };
 
} // namespace armarx::skills