Chaining.cpp

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#include "Chaining.h"
 
#include <unistd.h>
 
namespace armarx::skills::provider
{
 
    ChainingSkill::ChainingSkill() : SimpleSpecializedSkill(GetSkillDescription())
    {
    }
 
    SkillDescription
    ChainingSkill::GetSkillDescription()
    {
        armarx::skills::Example::ChainingSkillParams defaultParams;
        defaultParams.numberOfSkills = 25;
        defaultParams.waitForXSeconds = 0;
 
        return SkillDescription{
            .skillId = armarx::skills::SkillID{.skillName = "Chaining"},
            .description = "This skill calls the Timeout skill several times. At some point the "
                           "execution is aborted due to a timeout of this skill.",
            .rootProfileDefaults = defaultParams.toAron(),
            .timeout = armarx::core::time::Duration::MilliSeconds(10000000000000000),
            .parametersType = armarx::skills::Example::ChainingSkillParams::ToAronType(),
            .resultType = armarx::skills::Example::ChainingSkillParams::ToAronType()};
    }
 
    Skill::MainResult
    ChainingSkill::main(const SpecializedMainInput& in)
    {
        const int numberOfSkills = in.parameters.numberOfSkills;
 
        skills::SkillID skillId{.providerId = *getSkillId().providerId, .skillName = "Timeout"};
 
        for (int i = 0; i < numberOfSkills; i++)
        {
            this->throwIfSkillShouldTerminate();
 
            ARMARX_INFO << "Call subskill number " << i;
            callSubskill(skillId); // Call the Timeout skill and wait for it to finish
            sleep(in.parameters.waitForXSeconds); // we wait for x seconds
            ARMARX_INFO << "Waiting for " << in.parameters.waitForXSeconds << "seconds.";
        }
 
        this->throwIfSkillShouldTerminate();
 
        return {TerminatedSkillStatus::Succeeded, nullptr};
    }
} // namespace armarx::skills::provider