SimpleSkill Class Reference
#include <RobotAPI/libraries/skills/provider/SimpleSkill.h>
Inheritance diagram for SimpleSkill:Classes | |
| struct | ExitInput |
| struct | InitInput |
| struct | MainInput |
Public Types | |
| using | Base = Skill |
| Public Types inherited from Skill | |
| using | CallbackT |
Protected Member Functions | |
| ExitResult | exit () final |
| Override this method with the actual implementation. | |
| virtual ExitResult | exit (const ExitInput &in) |
| InitResult | init () final |
| Override this method with the actual implementation. | |
| virtual InitResult | init (const InitInput &in) |
| MainResult | main () final |
| Override this method with the actual implementation. | |
| virtual MainResult | main (const MainInput &in) |
| Protected Member Functions inherited from Skill | |
| void | notifyTimeoutReached () |
| virtual void | onStopRequested () |
| virtual void | onTimeoutReached () |
| Override these methods if you want to do something special when notification comes. | |
| virtual PrepareResult | prepare () |
| Override this method with the actual implementation. | |
| void | throwIfSkillShouldTerminate (const std::function< void()> &do_before, const std::string &abortedMessage="") const |
| void | throwIfSkillShouldTerminate (const std::string &abortedMessage="") const |
| Protected Member Functions inherited from Logging | |
| bool | checkLogLevel (MessageTypeT level) const |
| const LogSenderPtr & | getLogSender () const |
| Retrieve log sender. | |
| LogSenderPtr | loghelper (const char *file, int line, const char *function) const |
| Protected Member Functions inherited from SkillExecutorInterface | |
| virtual | ~SkillExecutorInterface ()=default |
Additional Inherited Members | |
| Public Member Functions inherited from Skill | |
| std::optional< TerminatedSkillStatusUpdate > | callSubskill (const SkillID &skillId) |
| Call a subskill with the given ID and its default parameters. | |
| std::optional< TerminatedSkillStatusUpdate > | callSubskill (const SkillID &skillId, const aron::data::DictPtr ¶meters) |
| Call a subskill with the given ID and parameters. | |
| template<class ParameterT> | |
| std::optional< TerminatedSkillStatusUpdate > | callSubskill (const SkillID &skillId, const ParameterT ¶meters) |
| Call a subskill with the given ID and parameters. | |
| std::optional< TerminatedSkillStatusUpdate > | callSubskill (const SkillID &skillId, std::function< void(aron::data::DictPtr ¶meters)> parametersFunction) |
| Call a subskill with parameters based on the default parameters. | |
| template<class ParameterT> | |
| std::optional< TerminatedSkillStatusUpdate > | callSubskill (const SkillID &skillId, std::function< void(ParameterT ¶meters)> parametersFunction) |
| Call a subskill with parameters based on the default parameters. | |
| std::optional< TerminatedSkillStatusUpdate > | callSubskill (const skills::SkillProxy &proxy) |
| Call a subskill with default parameters and block until the subskill terminates. | |
| std::optional< TerminatedSkillStatusUpdate > | callSubskill (const skills::SkillProxy &proxy, const aron::data::DictPtr ¶meters) |
| Call a subskill with given parameters and block until the subskill terminates. | |
| std::optional< TerminatedSkillStatusUpdate > | callSubskill (SkillProxyPtr proxy) |
| Call a subskill with default parameters and block until the subskill terminates. | |
| std::optional< TerminatedSkillStatusUpdate > | callSubskill (SkillProxyPtr proxy, const aron::data::DictPtr ¶meters) |
| Call a subskill with given parameters and block until the subskill terminates. | |
| SkillExecutionHandlePtr | callSubskillAsync (const SkillID &skillId) |
| SkillExecutionHandlePtr | callSubskillAsync (const SkillID &skillId, const aron::data::DictPtr ¶meters) |
| SkillExecutionHandlePtr | callSubskillAsync (const SkillID &skillId, std::function< void(aron::data::DictPtr &)> parametersFunction) |
| template<class ParameterT> | |
| SkillExecutionHandlePtr | callSubskillAsync (const SkillID &skillId, std::function< void(ParameterT ¶meters)> parametersFunction) |
| Similar to callSubskill but non-blocking. | |
| template<class ParameterT> | |
| SkillExecutionHandlePtr | callSubskillAsync (const SkillProxy &proxy, std::function< void(ParameterT ¶meters)> parametersFunction) |
| Similar to callSubskill but non-blocking. | |
| SkillExecutionHandlePtr | callSubskillAsync (const skills::SkillProxy &proxy, const aron::data::DictPtr ¶meters) |
| SkillExecutionHandlePtr | callSubskillAsync (SkillProxyPtr proxy) |
| Similar to callSubskill but non-blocking. | |
| SkillExecutionHandlePtr | callSubskillAsync (SkillProxyPtr proxy, const aron::data::DictPtr ¶meters) |
| Similar to callSubskill but non-blocking. | |
| template<class ParameterT> | |
| SkillExecutionHandlePtr | callSubskillAsync (SkillProxyPtr proxy, std::function< void(ParameterT ¶meters)> parametersFunction) |
| ExitResult | exitSkill () |
| Exit method of a skill. | |
| aron::data::DictPtr | getParameters () const |
| Get the parameters of a skill that have been set so far. | |
| SkillDescription | getSkillDescription () const |
| Get the description of a skill. | |
| SkillID | getSkillId () const |
| Get the id of the skill. | |
| InitResult | initSkill () |
| Initialization of a skill. | |
| void | installConditionWithCallback (std::function< bool()> &&f, std::function< void()> &&cb) |
| install a condition which is frequently checked from the conditionCheckingThread | |
| MainResult | mainOfSkill () |
| Main method of a skill. | |
| void | notifySkillToStop () |
| Notify the skill from extern to stop. | |
| PrepareResult | prepareSkill () |
| Prepare a skill once. | |
| void | setCallback (const CallbackT &callback) |
| void | setExecutorName (const std::string &executorName) |
| void | setManager (const manager::dti::SkillManagerInterfacePrx &manager) |
| void | setParameters (const aron::data::DictPtr &d) |
| Hard set the parameters, ignoring everything that has been set or merged before. | |
| void | setProviderId (const skills::ProviderID &pid) |
| Set the provider id of the description of the skill. | |
| bool | shouldSkillTerminate () const override |
| Returns whether the skill should terminate as soon as possible. | |
| Skill ()=delete | |
| We completely remove the default constructor! | |
| Skill (const SkillDescription &) | |
| Constructor of a skill for inheritance. Every skill must have a skill description. | |
| void | updateParameters (const aron::data::DictPtr &d) |
| Merge parameters to the local parameters of the skill. | |
| void | updateSubSkillStatus (const skills::SkillStatusUpdate &statusUpdate) |
| void | waitFor (const armarx::Duration &duration, const armarx::Duration &interval=armarx::Duration::MilliSeconds(200)) const override |
| ~Skill () override | |
| Virtual destructor of a skill. | |
| Public Member Functions inherited from Logging | |
| SpamFilterDataPtr | deactivateSpam (float deactivationDurationSec=10.0f, const std::string &identifier="", bool deactivate=true) const |
| disables the logging for the current line for the given amount of seconds. | |
| MessageTypeT | getEffectiveLoggingLevel () const |
| Logging () | |
| void | setLocalMinimumLoggingLevel (MessageTypeT level) |
| With setLocalMinimumLoggingLevel the minimum verbosity-level of log-messages can be set. | |
| void | setTag (const LogTag &tag) |
| void | setTag (const std::string &tagName) |
| virtual | ~Logging () |
| Public Attributes inherited from Skill | |
| armarx::core::time::DateTime | exited = armarx::core::time::DateTime::Invalid() |
| armarx::core::time::DateTime | started = armarx::core::time::DateTime::Now() |
| Static Protected Member Functions inherited from Skill | |
| static MainResult | MakeAbortedResult (aron::data::DictPtr data=nullptr) |
| static MainResult | MakeFailedResult (aron::data::DictPtr data=nullptr) |
| static MainResult | MakeSucceededResult (aron::data::DictPtr data=nullptr) |
| Protected Attributes inherited from Skill | |
| CallbackT | callback = CallbackT() |
| std::atomic_bool | constructing = true |
| SkillDescription | description |
| std::string | executorName = "" |
| std::atomic_bool | exiting = false |
| std::atomic_bool | finished = false |
| std::atomic_bool | initializing = false |
| manager::dti::SkillManagerInterfacePrx | manager = nullptr |
| armarx::aron::data::DictPtr | parameters = nullptr |
| std::mutex | parametersMutex |
| std::atomic_bool | preparing = false |
| std::atomic_bool | running = false |
| std::atomic_bool | stopped = false |
| armem::task_outcome::TaskOutcome | taskOutcome_ |
| std::atomic_bool | timeoutReached = false |
| Protected Attributes inherited from Logging | |
| MessageTypeT | minimumLoggingLevel |
| SpamFilterDataPtr | spamFilter |
| LogTag | tag |
Detailed Description
Definition at line 9 of file SimpleSkill.h.
Member Typedef Documentation
◆ Base
Definition at line 12 of file SimpleSkill.h.
Member Function Documentation
◆ exit() [1/2]
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finalprotectedvirtual |
Override this method with the actual implementation.
Reimplemented from Skill.
Definition at line 25 of file SimpleSkill.cpp.
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protectedvirtual |
Definition at line 50 of file SimpleSkill.cpp.
◆ init() [1/2]
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finalprotectedvirtual |
Override this method with the actual implementation.
Reimplemented from Skill.
Definition at line 6 of file SimpleSkill.cpp.
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protectedvirtual |
Definition at line 34 of file SimpleSkill.cpp.
◆ main() [1/2]
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finalprotectedvirtual |
Override this method with the actual implementation.
The callback is for status updates to the calling instance
Reimplemented from Skill.
Definition at line 15 of file SimpleSkill.cpp.
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protectedvirtual |
Reimplemented in SimplePeriodicSkill.
Definition at line 41 of file SimpleSkill.cpp.
The documentation for this class was generated from the following files:
- RobotAPI/libraries/skills/provider/SimpleSkill.h
- RobotAPI/libraries/skills/provider/SimpleSkill.cpp
