ChainingAsync.cpp

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#include "ChainingAsync.h"
#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
 
#include "RobotAPI/libraries/skills/core/Skill.h"
#include "RobotAPI/libraries/skills/core/SkillExecutionHandle.h"
 
namespace armarx::skills::provider
{
 
    ChainingAsyncSkill::ChainingAsyncSkill() : SimpleSpecializedSkill(GetSkillDescription())
    {
    }
 
    SkillDescription
    ChainingAsyncSkill::GetSkillDescription()
    {
        armarx::skills::Example::ChainingAsyncSkillParams defaultParams;
        defaultParams.numberOfSkills = 25;
 
        return SkillDescription{
            .skillId = armarx::skills::SkillID{.skillName = "ChainingAsync"},
            .description = "This skill calls the Timeout skill several times async.",
            .rootProfileDefaults = defaultParams.toAron(),
            .timeout = armarx::core::time::Duration::MilliSeconds(100000000),
            .parametersType = armarx::skills::Example::ChainingAsyncSkillParams::ToAronType(),
            .resultType = armarx::skills::Example::ChainingAsyncSkillParams::ToAronType()};
    }
 
    Skill::MainResult
    ChainingAsyncSkill::main(const SpecializedMainInput& in)
    {
        skills::SkillID skillId{.providerId = *getSkillId().providerId, .skillName = "Sleep"};
 
        {
            std::vector<skills::SkillExecutionHandlePtr> handles;
 
            for (int i = 0; i < in.parameters.numberOfSkills; i++)
            {
                this->throwIfSkillShouldTerminate();
 
                ARMARX_INFO << "Call subskill number " << i;
                auto handle = callSubskillAsync(skillId); // Call the Timeout skill
 
                // avoid call of d'tors before skill is done
                handles.emplace_back(std::move(handle));
            }
 
            ARMARX_INFO << "Joining all handles";
            ARMARX_CHECK(util::joinAll(handles));
        }
 
        this->throwIfSkillShouldTerminate();
 
 
        return {TerminatedSkillStatus::Succeeded, nullptr};
    }
} // namespace armarx::skills::provider