From 6b5bff1e7ea107979d358c8834ef5a340ec6a11a Mon Sep 17 00:00:00 2001
From: Fabian Paus <fabian.paus@kit.edu>
Date: Wed, 18 Sep 2019 17:42:36 +0200
Subject: [PATCH] Check for nullptr in NJointController list and skip it
---
.../RobotUnitModules/RobotUnitModuleControlThread.cpp | 11 +++++++++--
1 file changed, 9 insertions(+), 2 deletions(-)
diff --git a/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleControlThread.cpp b/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleControlThread.cpp
index 3cc35d38b..056498070 100644
--- a/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleControlThread.cpp
+++ b/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleControlThread.cpp
@@ -203,10 +203,15 @@ namespace armarx::RobotUnitModule
for (std::size_t i = 0; i < actJC.size(); ++i)
{
+
postSwitchSetup_ActivatedJointControllers.at(i) = actJC.at(i);
postSwitchSetup_ActivatedJointToNJointControllerAssignement.at(i) = assig.at(i);
postSwitchSetup_ActivatedNJointControllers.at(i) = actNJC.at(i);
+ if (actNJC.at(i) == nullptr)
+ {
+ continue;
+ }
if (dynamic_cast<SynchronousNJointController*>(actNJC.at(i)))
{
_activatedSynchronousNJointControllersIdx.at(numSyncNj++) = i;
@@ -217,8 +222,10 @@ namespace armarx::RobotUnitModule
}
else
{
- throw std::logic_error{"NJoint controller that is neither SynchronousNJointController"
- " nor AsynchronousNJointController"};
+ ARMARX_RT_LOGF_ERROR("NJoint controller that is neither SynchronousNJointController"
+ " nor AsynchronousNJointController: %s", actNJC.at(i)->rtGetClassName().c_str());
+ // Throwing exceptions in a destructor causes std::abort to be called
+ //throw std::logic_error{};
}
}
for (
--
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