SkillImplementationWrapper.h

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#pragma once
 
#include <experimental/memory>
#include <memory>
#include <mutex>
#include <thread>
 
#include <ArmarXCore/core/logging/Logging.h>
 
#include <RobotAPI/interface/skills/SkillProviderInterface.h>
#include <RobotAPI/libraries/aron/core/data/variant/container/Dict.h>
#include <RobotAPI/libraries/skills/core/Skill.h>
#include <RobotAPI/libraries/skills/core/SkillExecutionID.h>
#include <RobotAPI/libraries/skills/core/SkillStatusUpdate.h>
#include <RobotAPI/libraries/skills/provider/SkillFactory.h>
 
namespace armarx
{
    namespace skills
    {
        namespace detail
        {
            class SkillRuntime : public armarx::Logging
            {
            private:
                const std::experimental::observer_ptr<const skills::SkillBlueprint> factory;
 
                std::unique_ptr<Skill> skill;
                mutable std::mutex executionMutex;
 
            public:
                // Current execution statuses. Changes during execution
                // The status also holds the used parameterization
                mutable std::mutex skillStatusesMutex;
                SkillStatusUpdate statusUpdate;
 
                // Set exteranally to store the execution somewhere
                std::thread execution;
 
                // ctor
                SkillRuntime(const skills::SkillBlueprint* fac,
                             const skills::SkillExecutionID&,
                             const aron::data::DictPtr&,
                             const skills::callback::dti::SkillProviderCallbackInterfacePrx&);
 
                // execute a skill. The parameterization is copied. T
                // the return type additionally contains the input configuration (similar to the status updates used in callbacks)
                TerminatedSkillStatusUpdate executeSkill();
 
                // ask a skill to stop. Must be concurrent to execute skill
                void stopSkill();
 
                // add parameters to a skill. Must be concurrent to execute skill
                void updateSkillParameters(const aron::data::DictPtr& i);
 
                inline void
                updateSubSkillStatus(const skills::SkillStatusUpdate& statusUpdate)
                {
                    if (skill)
                    {
                        skill->updateSubSkillStatus(statusUpdate);
                    }
                }
            };
        } // namespace detail
    } // namespace skills
} // namespace armarx