draft: abort fluxio skill

source/RobotAPI/libraries/skills/manager/FluxioCompositeExecutor.cpp

@@ -28,7 +28,7 @@ namespace armarx::plugins
     FluxioCompositeExecutor::run(std::string executorName, armarx::aron::data::DictPtr parameters)
     {
         // std::string NewExecutorName = skill->name;
-        std::vector<std::string> subExecutions;
+        subExecutions.clear();
 
         if (skill == nullptr)
         {
@@ -263,6 +263,24 @@ namespace armarx::plugins
         statusUpdates.push_front(update);
     }
 
+    void
+    FluxioCompositeExecutor::abort()
+    {
+        ARMARX_WARNING << "Aborting skill " << skill->name;
+
+        if(plugin == nullptr)
+        {
+            ARMARX_WARNING << "Plugin is not set, cannot abort subskills.";
+            return;
+        }
+
+        // abort all subskills
+        for (const auto& eid : subExecutions)
+        {
+            plugin->abortFluxioSkill(eid);
+        }
+    }
+
     std::optional<std::vector<skills::FluxioSkillStatusUpdate>>
     FluxioCompositeExecutor::getStatusUpdate()
     {

source/RobotAPI/libraries/skills/manager/FluxioCompositeExecutor.h

@@ -18,8 +18,10 @@ namespace armarx::plugins
     {
     public:
         FluxioCompositeExecutor(std::string& id,
-                                SkillManagerComponentPlugin* plugin, skills::FluxioSkill* skill);
+                                SkillManagerComponentPlugin* plugin,
+                                skills::FluxioSkill* skill);
         void run(std::string executorName, armarx::aron::data::DictPtr parameters) override;
+        void abort() override;
         std::optional<std::vector<skills::FluxioSkillStatusUpdate>> getStatusUpdate() override;
 
         // TODO: abort etc.
@@ -27,5 +29,6 @@ namespace armarx::plugins
     private:
         std::optional<skills::SkillExecutionID> executionId = std::nullopt;
         skills::FluxioSkill* skill;
+        std::vector<std::string> subExecutions = {};
     };
 } // namespace armarx::plugins

source/RobotAPI/libraries/skills/manager/FluxioExecutor.h

@@ -19,6 +19,7 @@ namespace armarx::plugins
         FluxioExecutor(std::string& id, SkillManagerComponentPlugin* plugin, bool native) :
             native(native), id(id), plugin(plugin){};
         virtual void run(std::string executorName, armarx::aron::data::DictPtr parameters){};
+        virtual void abort(){};
 
         virtual std::optional<std::vector<skills::FluxioSkillStatusUpdate>>
         getStatusUpdate()

source/RobotAPI/libraries/skills/manager/FluxioNativeExecutor.cpp

@@ -31,6 +31,19 @@ namespace armarx::plugins
         this->executionId = eid;
     }
 
+    void
+    FluxioNativeExecutor::abort()
+    {
+        if (!this->executionId.has_value() || this->plugin == nullptr)
+        {
+            // error
+            ARMARX_WARNING << "Execution ID or plugin is not set";
+            return;
+        }
+
+        this->plugin->abortSkill(this->executionId.value());
+    }
+
     std::optional<std::vector<skills::FluxioSkillStatusUpdate>>
     FluxioNativeExecutor::getStatusUpdate()
     {

source/RobotAPI/libraries/skills/manager/FluxioNativeExecutor.h

@@ -20,6 +20,7 @@ namespace armarx::plugins
                              SkillManagerComponentPlugin* plugin,
                              skills::SkillID& skillId);
         void run(std::string executorName, armarx::aron::data::DictPtr parameters) override;
+        void abort() override;
         std::optional<std::vector<skills::FluxioSkillStatusUpdate>> getStatusUpdate() override;
 
         // TODO: abort etc.

source/RobotAPI/libraries/skills/manager/SkillManagerComponentPlugin.cpp

@@ -658,6 +658,63 @@ namespace armarx::plugins
         return executionId;
     }
 
+    void
+    SkillManagerComponentPlugin::abortFluxioSkill(const std::string& executionId)
+    {
+        const auto& executorIt = fluxioDC.fluxioExecutors.find(executionId);
+        if (executorIt == fluxioDC.fluxioExecutors.end())
+        {
+            ARMARX_WARNING << "Execution with id '" << executionId << "' not found.";
+            return;
+        }
+
+        FluxioExecutor* executorPtr = executorIt->second;
+        if (executorPtr->native)
+        {
+            FluxioNativeExecutor* castedExecutor = nullptr;
+            try
+            {
+                castedExecutor = dynamic_cast<FluxioNativeExecutor*>(executorPtr);
+                if (castedExecutor == nullptr)
+                {
+                    ARMARX_WARNING << "Executor with id '" << executionId
+                                   << "' is not a FluxioNativeExecutor.";
+                    return;
+                }
+            }
+            catch (const std::bad_cast& e)
+            {
+                ARMARX_WARNING << "Error while getting execution runner for fluxio skill with id "
+                               << executionId << ": " << e.what();
+                return;
+            }
+
+            castedExecutor->abort();
+        }
+        else
+        {
+            FluxioCompositeExecutor* castedExecutor = nullptr;
+            try
+            {
+                castedExecutor = dynamic_cast<FluxioCompositeExecutor*>(executorPtr);
+                if (castedExecutor == nullptr)
+                {
+                    ARMARX_WARNING << "Executor with id '" << executionId
+                                   << "' is not a FluxioCompositeExecutor.";
+                    return;
+                }
+            }
+            catch (const std::bad_cast& e)
+            {
+                ARMARX_WARNING << "Error while getting execution runner for fluxio skill with id "
+                               << executionId << ": " << e.what();
+                return;
+            }
+
+            castedExecutor->abort();
+        }
+    }
+
     std::optional<std::vector<skills::FluxioSkillStatusUpdate>>
     SkillManagerComponentPlugin::getFluxioSkillExecutionStatus(const std::string& executionId)
     {

source/RobotAPI/libraries/skills/manager/SkillManagerComponentPlugin.h

@@ -77,6 +77,8 @@ namespace armarx::plugins
         std::optional<std::string> executeFluxioSkill(std::string skillId,
                                                       std::string executorName = "Fluxio");
 
+        void abortFluxioSkill(const std::string& executionId);
+
         std::optional<std::vector<skills::FluxioSkillStatusUpdate>>
         getFluxioSkillExecutionStatus(const std::string& executionId);
 

source/RobotAPI/libraries/skills/manager/SkillManagerComponentPluginUser.cpp

@@ -169,6 +169,12 @@ namespace armarx
         return {};
     }
 
+    void
+    SkillManagerComponentPluginUser::abortFluxioSkill(const std::string& executionId, const Ice::Current& current)
+    {
+        this->plugin->abortFluxioSkill(executionId);
+    }
+
     IceUtil::Optional<skills::manager::dto::FluxioSkillStatusUpdateList>
     SkillManagerComponentPluginUser::getFluxioSkillExecutionStatus(const std::string& executionId,
                                                                    const Ice::Current& current)

source/RobotAPI/libraries/skills/manager/SkillManagerComponentPluginUser.h

@@ -71,6 +71,9 @@ namespace armarx
         IceUtil::Optional<std::string> executeFluxioSkill(const std::string& skillId,
                                        const Ice::Current& current) override;
 
+        void
+        abortFluxioSkill(const std::string& executionId, const Ice::Current& current) override;
+
         IceUtil::Optional<skills::manager::dto::FluxioSkillStatusUpdateList> getFluxioSkillExecutionStatus(const std::string& executionId, const Ice::Current& current) override;
 
         skills::manager::dto::FluxioSkillList getSkillList(const Ice::Current& current) override;