Urgent Skill Manipulation Features in SkillMemoryGUI

Software orga documentation

Todos:

• Revert last changes regarding skill execution signature
• (Temporarily) remove "Re-run [..]", as it doesn't work after merge
• Add "Stop all" button
  • Change top layout: move all update related widgets to the left, Stop All-Button to the right
  • Change context menu text: Stop Skill -> Stop Execution
• Remove or fix search bar: it shouldn't freeze the GUI!
• Implement sorting
• Fix layout ???
• Clean up changes before merge (see comment)
• Merge master into branch

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

@@ -570,13 +570,67 @@ namespace armarx
     void
     SkillManagerMonitorWidgetController::stopAllExecutions()
     {
-        auto tree = widget.treeWidgetSkillExecutions;
-        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->abortSkill(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
@@ -585,8 +639,6 @@ namespace armarx
         std::scoped_lock l(updateMutex);
 
         /*
-         * Example skills are not fully specified; disabled check
-         *
         if (selectedSkill.skillExecutionId.skillId.fullySpecified())
         {
             ARMARX_INFO << "The user requested to stop a skill, which was not fully specified!";
@@ -598,11 +650,11 @@ namespace armarx
         {
             return;
         }
-        */
+*/
 
         ARMARX_INFO << "Stopping skill from GUI: " << selectedSkill.skillExecutionId.toString();
 
-        memory->abortSkill(selectedSkill.skillExecutionId.toManagerIce());
+        memory->abortSkillAsync(selectedSkill.skillExecutionId.toManagerIce());
     }
 
     void
@@ -639,14 +691,14 @@ namespace armarx
         if (!current->parent())
         {
             // no parent available. Perhaps provider clicked? Reset selected skill.
-            selectedSkill.skillId.providerId->providerName = "";
-            selectedSkill.skillId.skillName = "";
+            selectedSkill.skillId = SelectedSkill::UNK_SKILL_ID;
             return;
         }
 
         auto c = static_cast<SkillInfoTreeWidgetItem*>(current);
         auto skillDescription = c->skillDescription;
 
+
         if (selectedSkill.skillId == skillDescription.skillId)
         {
             // no change