From 758344298030c8e0178ad085adb276ebbc5defc5 Mon Sep 17 00:00:00 2001
From: Fabian Reister <fabian.reister@kit.edu>
Date: Tue, 11 May 2021 12:01:25 +0200
Subject: [PATCH] fix: kinematicunit might not be available on startup and
causes a nullptr exception.
---
.../server/description/Segment.cpp | 25 ++++++++++++++++++-
1 file changed, 24 insertions(+), 1 deletion(-)
diff --git a/source/RobotAPI/libraries/armem_robot_state/server/description/Segment.cpp b/source/RobotAPI/libraries/armem_robot_state/server/description/Segment.cpp
index 011d37e33..9fb1d9f45 100644
--- a/source/RobotAPI/libraries/armem_robot_state/server/description/Segment.cpp
+++ b/source/RobotAPI/libraries/armem_robot_state/server/description/Segment.cpp
@@ -1,8 +1,10 @@
#include "Segment.h"
+#include <IceUtil/Time.h>
#include <RobotAPI/libraries/armem_robot/aron/RobotDescription.aron.generated.h>
#include <sstream>
+#include "ArmarXCore/core/exceptions/local/ExpressionException.h"
#include "ArmarXCore/core/logging/Logging.h"
#include <ArmarXCore/core/time/TimeUtil.h>
@@ -20,6 +22,7 @@
#include <RobotAPI/libraries/armem_robot/aron/Robot.aron.generated.h>
#include <RobotAPI/libraries/armem_robot/aron_conversions.h>
#include <RobotAPI/libraries/armem_robot/robot_conversions.h>
+#include <thread>
namespace armarx::armem::server::robot_state::description
{
@@ -93,7 +96,27 @@ namespace armarx::armem::server::robot_state::description
void Segment::updateRobotDescription()
{
- auto kinematicUnit = robotUnit->getKinematicUnit();
+ ARMARX_CHECK_NOT_NULL(robotUnit);
+
+ const auto waitForKinematicUnit = [&]()
+ {
+ while (true)
+ {
+ auto kinematicUnit = robotUnit->getKinematicUnit();
+
+ if (kinematicUnit)
+ {
+ ARMARX_INFO << "Kinematic unit is now available.";
+ return kinematicUnit;
+ }
+
+ ARMARX_INFO << "Waiting for kinematic unit ...";
+ std::this_thread::sleep_for(std::chrono::seconds(1));
+ }
+ };
+
+ auto kinematicUnit = waitForKinematicUnit();
+ ARMARX_CHECK_NOT_NULL(kinematicUnit);
const auto robotName = kinematicUnit->getRobotName();
--
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