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Impossible to call a method through a port in the entry of the starting state of a state machine [message #1808439]

Mon, 24 June 2019 15:55

Yoann Farré

Messages: 235
Registered: November 2017

Senior Member

Hello,

I detected an issue with the generation of state machine in C++ code. When the state in which the state machine is initialized contains a call to an operation through a port, the program crash at runtime. The code is well compiled. No issue for other states, no issue for calling intern operations.

Example of code :
broadcast->myOperation();

I built a minimal model to reproduce this issue (DemoIssue). If I remove the call through the port, no more issue. It is probably due to the fact that at the instantiation of the class and the initialisation of the state machine, the port is not yet initialized and we found a nullptr.

Regards.

Yoann.

Attachment: DemoIssue.zip
(Size: 11.74KB, Downloaded 70 times)

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Re: Impossible to call a method through a port in the entry of the starting state of a state machine [message #1808793 is a reply to message #1808439]

Mon, 01 July 2019 17:22

Ansgar Radermacher

Messages: 461
Registered: March 2011
Location: Paris Saclay, France

Senior Member

Hi Yoann,

I could reproduce the issue. The problem is that the state-machine starts executing the entry action of the first state immediately after being instantiated (startBehavior is called from the constructor). This happens before the connections between the component instances are set-up (done by the "main" function). Since connections are not setup, the call via the reference fails.
In the context of Papyrus-for-Robotics, we will do a proper life-cycle handling, i.e. handling component states such as "unconfigured", "configured", "active", in addition to the user defined state-machine (see also ROS2 life cycle). The latter should probably not be started before the component becomes active. I'll check if we can do that in a way that the standard designer code generation functions profit as well.

Ansgar

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Re: Impossible to call a method through a port in the entry of the starting state of a state machine [message #1808808 is a reply to message #1808793]

Tue, 02 July 2019 06:57

Yoann Farré

Messages: 235
Registered: November 2017

Senior Member

Hi Ansgar,

Thank you for your reply. The lifecycle that you propose seems to be more appropriate to handle this case. When do you think this will be implemented in Papyrus For Robotics, (and so maybe for standard designer code generation feature)?

Regards.

Yoann.

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