From 843b1137393344b88a76be3e95dbf80754d09b88 Mon Sep 17 00:00:00 2001
From: Mirko Waechter <mirko.waechter@kit.edu>
Date: Wed, 14 Nov 2018 16:54:12 +0100
Subject: [PATCH] fixed race condition in TCPControllerSubUnit
---
.../units/RobotUnit/Units/TCPControllerSubUnit.cpp | 14 ++++++++++++--
1 file changed, 12 insertions(+), 2 deletions(-)
diff --git a/source/RobotAPI/components/units/RobotUnit/Units/TCPControllerSubUnit.cpp b/source/RobotAPI/components/units/RobotUnit/Units/TCPControllerSubUnit.cpp
index 873814d8e..ef3cb1009 100644
--- a/source/RobotAPI/components/units/RobotUnit/Units/TCPControllerSubUnit.cpp
+++ b/source/RobotAPI/components/units/RobotUnit/Units/TCPControllerSubUnit.cpp
@@ -120,11 +120,21 @@ void TCPControllerSubUnit::setTCPVelocity(const std::string& nodeSetName, const
}
ARMARX_DEBUG << "CartesianSelection-Mode: " << (int)mode;
auto controllerName = this->getName() + "_" + tcp + "_" + nodeSetName + "_mode_" + std::to_string((int)mode);
- auto activeNJointControllers = robotUnit->getNJointControllersNotNull(robotUnit->getNJointControllerNames());
+ auto NJointControllers = robotUnit->getNJointControllerNames();
NJointCartesianVelocityControllerWithRampPtr tcpController;
bool nodeSetAlreadyControlled = false;
- for (NJointControllerPtr controller : activeNJointControllers)
+ for (auto& name : NJointControllers)
{
+ NJointControllerPtr controller;
+ try
+ {
+ controller = robotUnit->getNJointControllerNotNull(name);
+ }
+ catch (...)
+ {
+ continue;
+ }
+
tcpController = NJointCartesianVelocityControllerWithRampPtr::dynamicCast(controller);
if (!tcpController)
{
--
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