From 417fd767578d65a6eaed96cf74bea0dec11acd94 Mon Sep 17 00:00:00 2001
From: ARMAR-User <armar@user>
Date: Wed, 5 Mar 2025 11:50:49 +0100
Subject: [PATCH] fix: Check that device exists
---
.../RobotUnitModules/RobotUnitModuleControlThread.cpp | 10 +++++++++-
1 file changed, 9 insertions(+), 1 deletion(-)
diff --git a/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleControlThread.cpp b/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleControlThread.cpp
index 6b65c43ba..56713b984 100644
--- a/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleControlThread.cpp
+++ b/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleControlThread.cpp
@@ -40,6 +40,7 @@
#include <RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleRobotData.h>
#include <RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleUnits.h>
#include <RobotAPI/components/units/RobotUnit/SensorValues/SensorValueHolonomicPlatform.h>
+#include <RobotAPI/components/units/RobotUnit/util/ControlThreadOutputBuffer.h>
#include <RobotAPI/components/units/RobotUnit/util/DynamicsHelper.h>
#include "../Devices/RTThreadTimingsSensorDevice.h"
@@ -536,7 +537,14 @@ namespace armarx::RobotUnitModule
rtGetThreadTimingsSensorDevice().rtMarkRtReadSensorDeviceValuesStart();
for (const SensorDevicePtr& device : rtGetSensorDevices())
{
- device->rtReadSensorValues(sensorValuesTimestamp, timeSinceLastIteration);
+ if (device)
+ {
+ device->rtReadSensorValues(sensorValuesTimestamp, timeSinceLastIteration);
+ }
+ else
+ {
+ ARMARX_RT_LOGF_ERROR("Device is null!");
+ }
}
DevicesAttorneyForControlThread::UpdateRobotWithSensorValues(this, rtRobot, rtRobotNodes);
rtPostReadSensorDeviceValues(sensorValuesTimestamp, timeSinceLastIteration);
--
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