From 364f3f25283d3e5c685628bc9ceb7fd8b54bc210 Mon Sep 17 00:00:00 2001
From: Firat Yusuf Duran <uzivy@student.kit.edu>
Date: Thu, 27 Jun 2024 20:50:53 +0200
Subject: [PATCH] fix segfault
---
.../skills/manager/SkillManagerComponentPlugin.cpp | 13 +++++++++++++
.../manager/SkillManagerComponentPluginUser.cpp | 2 +-
2 files changed, 14 insertions(+), 1 deletion(-)
diff --git a/source/RobotAPI/libraries/skills/manager/SkillManagerComponentPlugin.cpp b/source/RobotAPI/libraries/skills/manager/SkillManagerComponentPlugin.cpp
index eb6222ba8..bd5dc3ee9 100644
--- a/source/RobotAPI/libraries/skills/manager/SkillManagerComponentPlugin.cpp
+++ b/source/RobotAPI/libraries/skills/manager/SkillManagerComponentPlugin.cpp
@@ -979,6 +979,14 @@ namespace armarx::plugins
s.parameters[failed.id] = failed;
s.parameters[aborted.id] = aborted;
+ const auto& parameters = std::make_shared<aron::type::Object>();
+ typesLock.lock();
+ if (fluxioDC.types.find(s.id) == fluxioDC.types.end())
+ {
+ fluxioDC.types[s.id] = parameters;
+ }
+ typesLock.unlock();
+
if (skillDescription.parametersType != nullptr)
{
// input parameters
@@ -1572,8 +1580,13 @@ namespace armarx::plugins
std::shared_lock l(fluxioDC.typesMutex);
for (const auto& [skillId, skillTypes] : fluxioDC.types)
{
+ if (skillTypes == nullptr) {
+ ARMARX_WARNING << "SkillTypes with id '" << skillId << "' not found.";
+ continue;
+ }
ret->addMemberType(skillId, skillTypes);
}
+ l.unlock();
ret->setObjectName("SkillTypes");
return ret;
}
diff --git a/source/RobotAPI/libraries/skills/manager/SkillManagerComponentPluginUser.cpp b/source/RobotAPI/libraries/skills/manager/SkillManagerComponentPluginUser.cpp
index cee17b6de..d8bbbc3c3 100644
--- a/source/RobotAPI/libraries/skills/manager/SkillManagerComponentPluginUser.cpp
+++ b/source/RobotAPI/libraries/skills/manager/SkillManagerComponentPluginUser.cpp
@@ -181,7 +181,7 @@ namespace armarx
aron::type::dto::AronObjectPtr
SkillManagerComponentPluginUser::getTypes(const Ice::Current& current)
{
- const auto res = this->plugin->getTypes();
+ const auto& res = this->plugin->getTypes();
return res->toAronObjectDTO();
}
--
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