List of all members | Public Member Functions | Protected Attributes
SkillProxy Class Reference

#include <RobotAPI/libraries/skills/core/SkillProxy.h>

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Public Member Functions

bool abortSkill (const SkillExecutionID &executionId) const
 ask skill to abort ASAP. Blocks until skill stopped
 
bool abortSkillAsync (const SkillExecutionID &executionId) const
 ask skill to abort ASAP
 
TerminatedSkillStatusUpdate executeSkill (const std::string &executorName, const aron::data::DictPtr &params=nullptr) const
 execute a skill and block until skill terminates
 
SkillExecutionID executeSkillAsync (const std::string &executorName, const aron::data::DictPtr &params=nullptr) const
 execute a skill. Do not block during execution
 
std::optional< SkillStatusUpdate > getExecutionStatus (const SkillExecutionID &executionId) const
 
aron::data::DictPtr getRootProfileParameters () const
 get the default parameters of the skill. TODO: Skill profiles in memory!
 
SkillDescription getSkillDescription () const
 get the skill description
 
SkillID getSkillId () const
 get the skill id from the skill description
 
std::optional< TerminatedSkillStatusUpdate > join (const SkillExecutionID &executionId, armarx::Duration max_wait_time=armarx::Duration::Seconds(1), armarx::Frequency check_frequency=armarx::Frequency::Hertz(20)) const
 poll execution status and block until its null or terminated
 
SkillProxy & operator= (const SkillProxy &)=delete
 
 SkillProxy ()=delete
 We remove the default constructor as every skill proxy requires a manager.
 
 SkillProxy (const manager::dti::SkillManagerInterfacePrx &manager, const SkillDescription &skillDesc)
 set the proxy using a skill description
 
 SkillProxy (const manager::dti::SkillManagerInterfacePrx &manager, const SkillID &skillId)
 set the skill proxy using a skillId. Queries the manager to get the description.
 
 SkillProxy (const SkillProxy &)=delete
 copy ctor
 
void updateSubSkillStatus (const skills::SkillStatusUpdate &statusUpdate)
 
 ~SkillProxy ()
 
- 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 ()
 

Protected Attributes

SkillUpdateManager::CallbackID callbackId
 
std::unordered_map< std::string, SkillStatusUpdate > lastUpdates
 
std::mutex lastUpdatesMutex
 
manager::dti::SkillManagerInterfacePrx manager
 
SkillDescription skillDescription
 
- Protected Attributes inherited from Logging
MessageTypeT minimumLoggingLevel
 
SpamFilterDataPtr spamFilter
 
LogTag tag
 

Additional Inherited Members

- 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
 

Detailed Description

Definition at line 67 of file SkillProxy.h.

Constructor & Destructor Documentation

◆ SkillProxy() [1/4]

SkillProxy ( )
delete

We remove the default constructor as every skill proxy requires a manager.

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◆ SkillProxy() [2/4]

SkillProxy ( const manager::dti::SkillManagerInterfacePrx & manager,
const SkillID & skillId )

set the skill proxy using a skillId. Queries the manager to get the description.

Definition at line 33 of file SkillProxy.cpp.

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◆ SkillProxy() [3/4]

SkillProxy ( const manager::dti::SkillManagerInterfacePrx & manager,
const SkillDescription & skillDesc )

set the proxy using a skill description

Definition at line 57 of file SkillProxy.cpp.

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◆ SkillProxy() [4/4]

SkillProxy ( const SkillProxy & )
delete

copy ctor

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◆ ~SkillProxy()

~SkillProxy ( )

Definition at line 70 of file SkillProxy.cpp.

Member Function Documentation

◆ abortSkill()

bool abortSkill ( const SkillExecutionID & executionId) const

ask skill to abort ASAP. Blocks until skill stopped

Definition at line 209 of file SkillProxy.cpp.

◆ abortSkillAsync()

bool abortSkillAsync ( const SkillExecutionID & executionId) const

ask skill to abort ASAP

Definition at line 217 of file SkillProxy.cpp.

◆ executeSkill()

TerminatedSkillStatusUpdate executeSkill ( const std::string & executorName,
const aron::data::DictPtr & params = nullptr ) const

execute a skill and block until skill terminates

Definition at line 88 of file SkillProxy.cpp.

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◆ executeSkillAsync()

SkillExecutionID executeSkillAsync ( const std::string & executorName,
const aron::data::DictPtr & params = nullptr ) const

execute a skill. Do not block during execution

Definition at line 102 of file SkillProxy.cpp.

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◆ getExecutionStatus()

std::optional< SkillStatusUpdate > getExecutionStatus ( const SkillExecutionID & executionId) const

Definition at line 231 of file SkillProxy.cpp.

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◆ getRootProfileParameters()

aron::data::DictPtr getRootProfileParameters ( ) const

get the default parameters of the skill. TODO: Skill profiles in memory!

Definition at line 225 of file SkillProxy.cpp.

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◆ getSkillDescription()

SkillDescription getSkillDescription ( ) const

get the skill description

Definition at line 76 of file SkillProxy.cpp.

◆ getSkillId()

SkillID getSkillId ( ) const

get the skill id from the skill description

Definition at line 82 of file SkillProxy.cpp.

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◆ join()

std::optional< TerminatedSkillStatusUpdate > join ( const SkillExecutionID & executionId,
armarx::Duration max_wait_time = armarx::Duration::Seconds(1),
armarx::Frequency check_frequency = armarx::Frequency::Hertz(20) ) const

poll execution status and block until its null or terminated

Definition at line 116 of file SkillProxy.cpp.

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◆ operator=()

SkillProxy & operator= ( const SkillProxy & )
delete
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◆ updateSubSkillStatus()

void updateSubSkillStatus ( const skills::SkillStatusUpdate & statusUpdate)

Definition at line 177 of file SkillProxy.cpp.

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Member Data Documentation

◆ callbackId

SkillUpdateManager::CallbackID callbackId
protected

Definition at line 132 of file SkillProxy.h.

◆ lastUpdates

std::unordered_map<std::string, SkillStatusUpdate> lastUpdates
protected

Definition at line 131 of file SkillProxy.h.

◆ lastUpdatesMutex

std::mutex lastUpdatesMutex
mutableprotected

Definition at line 130 of file SkillProxy.h.

◆ manager

manager::dti::SkillManagerInterfacePrx manager
protected

Definition at line 127 of file SkillProxy.h.

◆ skillDescription

SkillDescription skillDescription
protected

Definition at line 128 of file SkillProxy.h.

The documentation for this class was generated from the following files: