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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 |
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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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