From ea734f993af7fbda48dbdaf07daee8116b96c098 Mon Sep 17 00:00:00 2001
From: Christoph Pohl <christoph.pohl@kit.edu>
Date: Tue, 8 Aug 2023 10:58:51 +0200
Subject: [PATCH] Fix segfault of KinematicUnitGuiPlugin when jointStatuses are
not reported
Signed-off-by: ARMAR-DE <>
---
.../KinematicUnitGuiPlugin.cpp | 20 ++++++++++++-------
1 file changed, 13 insertions(+), 7 deletions(-)
diff --git a/source/RobotAPI/gui-plugins/KinematicUnitPlugin/KinematicUnitGuiPlugin.cpp b/source/RobotAPI/gui-plugins/KinematicUnitPlugin/KinematicUnitGuiPlugin.cpp
index 5437d499d..dd14b34d3 100644
--- a/source/RobotAPI/gui-plugins/KinematicUnitPlugin/KinematicUnitGuiPlugin.cpp
+++ b/source/RobotAPI/gui-plugins/KinematicUnitPlugin/KinematicUnitGuiPlugin.cpp
@@ -260,7 +260,7 @@ void KinematicUnitWidgetController::onConnectComponent()
QMetaObject::invokeMethod(this, "resetSlider");
enableMainWidgetAsync(true);
-
+
updateTask = new RunningTask<KinematicUnitWidgetController>(this, &KinematicUnitWidgetController::runUpdate);
updateTask->start();
}
@@ -557,7 +557,7 @@ void KinematicUnitWidgetController::kinematicUnitZeroVelocity()
void KinematicUnitWidgetController::resetSlider()
{
const auto selectedControlMode = getSelectedControlMode();
-
+
if (selectedControlMode == eVelocityControl || selectedControlMode == eTorqueControl)
{
resetSliderToZeroPosition();
@@ -743,11 +743,11 @@ ControlMode KinematicUnitWidgetController::getSelectedControlMode() const
return ControlMode::eTorqueControl;
}
- // if no button is checked, then the joint is likely initialized but no controller has been loaded yet
+ // if no button is checked, then the joint is likely initialized but no controller has been loaded yet
// (well, the no movement controller should be active)
return ControlMode::eUnknown;
-
+
}
void KinematicUnitWidgetController::setControlModeTorque()
@@ -1160,8 +1160,14 @@ void KinematicUnitWidgetController::updateJointStatusesTable(const NameStatusMap
for (unsigned int i = 0; i < rn.size(); i++)
{
- NameStatusMap::const_iterator it;
- it = reportedJointStatuses.find(rn[i]->getName());
+
+ auto it = reportedJointStatuses.find(rn[i]->getName());
+ if (it == reportedJointStatuses.end())
+ {
+ ARMARX_WARNING << deactivateSpam(5) << "Joint Status for " <<
+ rn[i]->getName() << " was not reported!";
+ continue;
+ }
JointStatus currentStatus = it->second;
QString state = translateStatus(currentStatus.operation);
@@ -1580,7 +1586,7 @@ void RangeValueDelegate::paint(QPainter* painter, const QStyleOptionViewItem& op
}
}
-KinematicUnitWidgetController::~KinematicUnitWidgetController()
+KinematicUnitWidgetController::~KinematicUnitWidgetController()
{
kinematicUnitInterfacePrx = nullptr;
--
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