SkillProviderExample.cpp

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#include "SkillProviderExample.h"
 
#include <iostream>
#include <ostream>
#include <string>
 
#include <ArmarXCore/core/Component.h>
#include <ArmarXCore/core/application/properties/PropertyDefinitionContainer.h>
#include <ArmarXCore/core/logging/Logging.h>
#include <ArmarXCore/core/time/Duration.h>
 
#include <RobotAPI/components/skills/SkillProviderExample/BusyWaiting.h>
#include <RobotAPI/components/skills/SkillProviderExample/Callback.h>
#include <RobotAPI/components/skills/SkillProviderExample/Chaining.h>
#include <RobotAPI/components/skills/SkillProviderExample/ChainingAsync.h>
#include <RobotAPI/components/skills/SkillProviderExample/ConfigurableExitStatus.h>
#include <RobotAPI/components/skills/SkillProviderExample/HelloWorld.h>
#include <RobotAPI/components/skills/SkillProviderExample/Incomplete.h>
#include <RobotAPI/components/skills/SkillProviderExample/InstantKill.h>
#include <RobotAPI/components/skills/SkillProviderExample/RandomChaining.h>
#include <RobotAPI/components/skills/SkillProviderExample/RandomExitStatus.h>
#include <RobotAPI/components/skills/SkillProviderExample/Recursive.h>
#include <RobotAPI/components/skills/SkillProviderExample/Segfault.h>
#include <RobotAPI/components/skills/SkillProviderExample/SkillReturnDataProcessing.h>
#include <RobotAPI/components/skills/SkillProviderExample/Sleep.h>
#include <RobotAPI/components/skills/SkillProviderExample/Timeout.h>
#include <RobotAPI/libraries/aron/core/data/variant/container/Dict.h>
#include <RobotAPI/libraries/skills/core/SkillDescription.h>
#include <RobotAPI/libraries/skills/core/SkillID.h>
#include <RobotAPI/libraries/skills/core/SkillStatusUpdate.h>
#include <RobotAPI/libraries/skills/provider/SkillProviderComponentPlugin.h>
 
#include <ArmarXCore/libraries/DecoupledSingleComponent/Decoupled.h>
 
namespace armarx::skills::provider
{
    SkillProviderExample::SkillProviderExample() : SkillProviderComponentPluginUser()
    {
    }
 
    armarx::PropertyDefinitionsPtr
    SkillProviderExample::createPropertyDefinitions()
    {
        armarx::PropertyDefinitionsPtr defs =
            new ComponentPropertyDefinitions(getConfigIdentifier());
        return defs;
    }
 
    std::string
    SkillProviderExample::getDefaultName() const
    {
        return "SkillProviderExample";
    }
 
    void
    SkillProviderExample::onInitComponent()
    {
        // Add example skill
        ARMARX_INFO << "Adding skill HelloWorldSkill";
        addSkillFactory<HelloWorldSkill>();
 
        // Add another lambda example skill
        {
            skills::SkillDescription fooDesc{
                .skillId = SkillID{.skillName = "Foo"},
                .description = "This skill does exactly nothing.",
                .rootProfileDefaults = armarx::aron::make_dict(),
                .timeout = armarx::core::time::Duration::MilliSeconds(1000),
            };
            addSkillFactory(fooDesc,
                            []()
                            {
                                std::cout << "Hello from Foo." << std::endl;
                                return TerminatedSkillStatus::Succeeded;
                            });
        }
 
        // Add another example skill
        ARMARX_INFO << "Adding skill CallbackSkill";
        addSkillFactory<CallbackSkill>();
 
        // Add timeout skill
        ARMARX_INFO << "Adding skill TimeoutSkill";
        addSkillFactory<TimeoutSkill>();
 
        // chaining
        ARMARX_INFO << "Adding skill ChainingSkill";
        addSkillFactory<ChainingSkill>();
 
        // chainingAsync
        ARMARX_INFO << "Adding skill ChainingAsyncSkill";
        addSkillFactory<ChainingAsyncSkill>();
 
        // incomplete and prepare
        ARMARX_INFO << "Adding skill IncompleteSkill";
        addSkillFactory<IncompleteSkill>();
 
        // segfault
        ARMARX_INFO << "Adding skill SegfaultSkill";
        addSkillFactory<SegfaultSkill>();
 
        // random exit status
        ARMARX_INFO << "Adding skill RandomExitStatus";
        addSkillFactory<RandomExitStatus>();
 
        // random exit status
        ARMARX_INFO << "Adding skill Sleep";
        addSkillFactory<Sleep>();
        // random
        ARMARX_INFO << "Adding skill RandomChainingSkill";
        addSkillFactory<RandomChainingSkill>();
 
        // insta kill
        ARMARX_INFO << "Adding skill InstaKill";
        addSkillFactory<InstantKillSkill>();
 
        ARMARX_INFO << "Adding skill BusyWaiting";
        addSkillFactory<BusyWaitingSkill>();
 
        ARMARX_INFO << "Adding skill Recursive";
        addSkillFactory<RecursiveSkill>();
 
        ARMARX_INFO << "Adding skill TimeoutSkill";
        addSkillFactory<ConfigurableExitStatus>();
 
        ARMARX_INFO << "Adding skill TimeoutSkill";
        addSkillFactory<SkillReturnDataProcessing>();
    }
 
    void
    SkillProviderExample::onConnectComponent()
    {
    }
 
    void
    SkillProviderExample::onDisconnectComponent()
    {
    }
 
    void
    SkillProviderExample::onExitComponent()
    {
    }
 
    ARMARX_REGISTER_COMPONENT_EXECUTABLE(SkillProviderExample, "SkillProviderExample");
} // namespace armarx::skills::provider