merge conflict resolves

source/RobotAPI/interface/skills/SkillManagerInterface.ice

@@ -245,12 +245,17 @@ module armarx
                     provider::dto::ParameterUpdateResult 
                     updateSkillParameters(dto::SkillExecutionID executionId, aron::data::dto::Dict parameters); // add params to a skill
 
+                    // notify a skill to stop ASAP.
                     provider::dto::AbortSkillResult 
-                    abortSkill(dto::SkillExecutionID executionId); // notify a skill to stop ASAP.
+                    abortSkill(dto::SkillExecutionID executionId); 
 
                     provider::dto::AbortSkillResult
                     abortSkillAsync(dto::SkillExecutionID executionId);
 
+                    // notify all skills directly via ice interface instead of ugly workarounds in both c++ and python
+                    AbortSkillResultList abortAllSkills();
+                    AbortSkillResultList abortAllSkillsAsync();
+
                     //****************************//
                     //** Fluxio related methods **//
                     //****************************//
@@ -317,12 +322,6 @@ module armarx
 
                     optional(12) dto::FluxioSkillStatusUpdateList
                     getFluxioSkillExecutionStatus(string executionId) throws dto::FluxioException; // returns the status of a fluxio execution
-                    // notify a skill to stop ASAP.
-                    provider::dto::AbortSkillResult abortSkill(dto::SkillExecutionID executionId);
-                    provider::dto::AbortSkillResult abortSkillAsync(dto::SkillExecutionID executionId);
-                    // notify all skills directly via ice interface instead of ugly workarounds in both c++ and python
-                    AbortSkillResultList abortAllSkills();
-                    AbortSkillResultList abortAllSkillsAsync();
                 };
             }
         }

source/RobotAPI/libraries/skills/core/error/Exception.h

@@ -21,14 +21,6 @@
  *             GNU General Public License
  */
 #pragma once
-// STD/STL
-#include <map>
-#include <string>
-#include <vector>
-// ArmarX
-#include <ArmarXCore/core/exceptions/Exception.h>
-#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
-
 
 #include <string>
 

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

@@ -122,6 +122,71 @@ namespace armarx
         return ret;
     }
 
+    std::vector<skills::provider::dto::AbortSkillResult> SkillManagerComponentPluginUser::abortAllSkills(const Ice::Current &current)
+    {
+        ARMARX_IMPORTANT << "Stopping all running executions.";
+
+        std::vector<skills::provider::dto::AbortSkillResult> results;
+
+         skills::manager::dto::SkillStatusUpdateMap executions;
+
+        // we ALWAYS want the newest information when stopping all!
+        // e.g. there is some new skill not known to the GUI which we explicitely want to stop too.
+        // the stop-all function is often used in an emergency, so we'll live with the extra call...
+        try
+        {
+            executions = this->getSkillExecutionStatuses(current);
+        }
+        catch (...) // if any error occurs, we use the snapshot as backup. better to miss a skill
+            // than to not do anything.
+        {
+            executions =  this->getSkillExecutionStatuses(current);
+        }
+
+        for (auto& [executionId, status] : executions)
+        {
+            // select all running executions...
+            if (status.status != armarx::skills::core::dto::Execution::Aborted and status.status != armarx::skills::core::dto::Execution::Failed)
+            {
+                // ... and kill them.
+                results.push_back(this->abortSkill(executionId, current));
+            }
+        }
+        return results;
+    }
+
+    std::vector<skills::provider::dto::AbortSkillResult> SkillManagerComponentPluginUser::abortAllSkillsAsync(const Ice::Current &current)
+    {
+        ARMARX_IMPORTANT << "Stopping all running executions.";
+        std::vector<skills::provider::dto::AbortSkillResult> results;
+
+        skills::manager::dto::SkillStatusUpdateMap executions;
+
+        // we ALWAYS want the newest information when stopping all!
+        // e.g. there is some new skill not known to the GUI which we explicitely want to stop too.
+        // the stop-all function is often used in an emergency, so we'll live with the extra call...
+        try
+        {
+            executions = this->getSkillExecutionStatuses(current);
+        }
+        catch (...) // if any error occurs, we use the snapshot as backup. better to miss a skill
+            // than to not do anything.
+        {
+            executions =  this->getSkillExecutionStatuses(current);
+        }
+
+        for (auto& [executionId, status] : executions)
+        {
+            // select all running executions...
+            if (status.status != armarx::skills::core::dto::Execution::Aborted and status.status != armarx::skills::core::dto::Execution::Failed)
+            {
+                // ... and kill them.
+                results.push_back(this->abortSkillAsync(executionId, current));
+            }
+        }
+        return results;
+    }
+
     void
     SkillManagerComponentPluginUser::updateStatusForSkill(
         const skills::provider::dto::SkillStatusUpdate& statusUpdate,

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

@@ -56,6 +56,11 @@ namespace armarx
         abortSkillAsync(const skills::manager::dto::SkillExecutionID& id,
                         const Ice::Current& current) override;
 
+        std::vector<skills::provider::dto::AbortSkillResult> 
+        abortAllSkills(const Ice::Current& current) override;
+
+        std::vector<skills::provider::dto::AbortSkillResult> 
+        abortAllSkillsAsync(const Ice::Current& current) override;
 
         skills::manager::dto::SkillDescriptionMap
         getSkillDescriptions(const Ice::Current& current) override;