Merge branch 'feature/skillMemoryGUI' of...

Merge branch 'feature/skillMemoryGUI' of git.h2t.iar.kit.edu:sw/armarx/robot-api into feature/skillMemoryGUI

source/RobotAPI/gui-plugins/SkillManagerPlugin/SkillManagerMonitorWidgetController.cpp

@@ -570,14 +570,67 @@ namespace armarx
     void
     SkillManagerMonitorWidgetController::stopAllExecutions()
     {
-        auto tree = widget.treeWidgetSkillExecutions;
-        ARMARX_INFO << "The user requested to stop all skill executions from GUI.";
-        for (ssize_t i = 0; i < tree->topLevelItemCount(); ++i)
+        QTreeWidget const* tree = widget.treeWidgetSkillExecutions;
+
+        int const max_retries = 3;
+        int left_retries = max_retries;
+        bool retry = false;
+
+        do
         {
-            auto item = static_cast<SkillExecutionInfoTreeWidgetItem*>(
-                widget.treeWidgetSkillExecutions->topLevelItem(i));
-            memory->abortSkillAsync(item->executionId.toManagerIce());
-        }
+            retry = false;
+
+            for (ssize_t i = 0; i < tree->topLevelItemCount(); ++i)
+            {
+                SkillExecutionInfoTreeWidgetItem const* item =
+                    dynamic_cast<SkillExecutionInfoTreeWidgetItem*>(
+                        widget.treeWidgetSkillExecutions->topLevelItem(i));
+
+                if (not item)
+                {
+                    // At this point, dynamic-casting failed and we don't know anything about the
+                    // type.
+                    ARMARX_ERROR << "Cannot stop unknown skill.";
+                    retry = true;
+                    continue;
+                }
+
+                try
+                {
+                    ARMARX_INFO << "Aborting skill '" << item->executionId.skillId.skillName
+                                << "'...";
+                    memory->abortSkillAsync(item->executionId.toManagerIce());
+                }
+                catch (Ice::Exception const& e)
+                {
+                    retry = true;
+                    ARMARX_ERROR << "Unhandeled Ice exception while aborting skill '"
+                                 << item->executionId.skillId.skillName << "'.";
+                }
+                catch (...)
+                {
+                    retry = true;
+                    ARMARX_ERROR << "Unhandled error while aborting skill '"
+                                 << item->executionId.skillId.skillName << "'.";
+                }
+            }
+
+            if (retry)
+            {
+                left_retries -= 1;
+
+                if (left_retries > 0)
+                {
+                    ARMARX_WARNING << "There where errors aborting skills.  Retrying...";
+                }
+                else
+                {
+                    ARMARX_ERROR << "Couldn't abort all skills after " << max_retries
+                                 << " tries.  Giving up.";
+                    retry = false;
+                }
+            }
+        } while (retry);
     }
 
     void