ExecutableSkillLibrarySegment.cpp

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#include "ExecutableSkillLibrarySegment.h"
 
#include <SimoxUtility/algorithm/string.h>
 
#include <ArmarXCore/core/time/ice_conversions.h>
 
#include <RobotAPI/libraries/armem/server/MemoryToIceAdapter.h>
#include <RobotAPI/libraries/armem_skills/aron/Skill.aron.generated.h>
#include <RobotAPI/libraries/armem_skills/aron_conversions.h>
#include <RobotAPI/libraries/aron/converter/datatype/DatatypeConverterVisitor.h>
#include <RobotAPI/libraries/aron/converter/json/NLohmannJSONConverter.h>
 
namespace armarx::skills::segment
{
    ExecutableSkillLibraryCoreSegment::ExecutableSkillLibraryCoreSegment(
        armem::server::MemoryToIceAdapter& iceMemory) :
        Base(iceMemory, CoreSegmentName, skills::arondto::SkillDescription::ToAronType())
    {
    }
 
    void
    ExecutableSkillLibraryCoreSegment::defineProperties(PropertyDefinitionsPtr defs,
                                                        const std::string& prefix)
    {
        this->setDefaultMaxHistorySize(10);
        Base::defineProperties(defs, prefix);
    }
 
    void
    ExecutableSkillLibraryCoreSegment::init()
    {
        Base::init();
    }
 
    void
    ExecutableSkillLibraryCoreSegment::addSkillProvider(const skills::ProviderInfo& info)
    {
        // add skills
        auto skills = info.providedSkills;
        auto provId = id().withProviderSegmentName(info.providerId.providerName);
 
        for (const auto& [s, d] : skills)
        {
            armarx::skills::arondto::SkillDescription skillDescription;
            armem::toAron(skillDescription, d);
 
            armem::Commit commit;
            auto& entityUpdate = commit.add();
            entityUpdate.confidence = 1.0;
            entityUpdate.referencedTime = armem::Time::Now();
            entityUpdate.sentTime = armem::Time::Now();
            entityUpdate.arrivedTime = armem::Time::Now();
            entityUpdate.instancesData = {skillDescription.toAron()};
            entityUpdate.entityID = provId.withEntityName(d.skillId.skillName);
 
            // Commit data to memory and notify
            iceMemory.commitLocking(commit);
        }
    }
 
    void
    ExecutableSkillLibraryCoreSegment::removeSkillProvider(const std::string& /*providerName*/)
    {
        // Nothing to do here right now: this segment commits provider
        // skills into the underlying memory in addSkillProvider() and
        // does not maintain any per-provider in-memory bookkeeping.
        // Removing the provider's skills from the memory itself is not
        // implemented yet (TODO: add info about removed provider to
        // memory).
        //
        // A previously-present `skills` std::map member was erased here
        // without any locking, while addSkillProvider() shadowed that
        // member with a local of the same name and never populated it,
        // making the data structure dead. The dead member and the
        // associated data race were removed; this function is kept as
        // part of the public API surface called from
        // SkillsMemory::removeProvider().
    }
} // namespace armarx::skills::segment