ConfigurableExitStatus.cpp

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#include "ConfigurableExitStatus.h"
 
#include <RobotAPI/libraries/aron/converter/json/NLohmannJSONConverter.h>
#include <RobotAPI/libraries/aron/core/type/variant/container/Object.h>
#include <RobotAPI/libraries/aron/core/type/variant/primitive/String.h>
 
namespace armarx::skills::provider
{
    ConfigurableExitStatus::ConfigurableExitStatus() :
        SimpleSpecializedSkill<skills::Example::DataPassingParams>(GetSkillDescription())
    {
    }
 
    SkillDescription
    ConfigurableExitStatus::GetSkillDescription()
    {
        armarx::skills::Example::DataPassingParams root_profile_params;
        root_profile_params.have_success = true; //by default the skill will succeed
        std::string des =
            "This skill terminates with success if the 'have_success' parameter is true; "
            "otherwise, it fails. Regardless of the outcome, it returns a constant integer "
            "with the value 1234. This skill is primarily used by 'SkillReturnDataProcessing' "
            "to demonstrate how data can be passed upon termination.";
        return SkillDescription{
            .skillId = skills::SkillID{.skillName = "ConfigurableExitStatus"},
            .description = des,
            .rootProfileDefaults = root_profile_params.toAron(),
            .timeout = armarx::core::time::Duration::MilliSeconds(1000),
            .parametersType = armarx::skills::Example::DataPassingParams::ToAronType(),
            .resultType = armarx::skills::Example::DataPassingReturn::ToAronType()};
    }
 
    Skill::MainResult
    ConfigurableExitStatus::main(const SpecializedMainInput& in)
    {
        ARMARX_IMPORTANT << "Hi, from the ConfigurableExitStatus skill.\n";
        ARMARX_IMPORTANT << "The exit status is set to: have success: "
                         << in.parameters.have_success;
 
        armarx::skills::TerminatedSkillStatus status;
        if (in.parameters.have_success)
        {
            // skill will succeed
            status = armarx::skills::TerminatedSkillStatus::Succeeded;
        }
        else
        {
            // skill will fail
            status = armarx::skills::TerminatedSkillStatus::Failed;
        }
        // define output value
        armarx::skills::Example::DataPassingReturn out;
        out.some_return_int = 1234;
 
        return {.status = status, .data = out.toAron()};
    }
} // namespace armarx::skills::provider