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Merged
bpapaspyros merged 3 commits into from
Jun 14, 2024
Merged

fix(modulo-controllers): correctly handle nullptr #118

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43c7893
fix(modulo_controllers): correctly handle nullptr
bpapaspyros Jun 13, 2024
67d5b18
docs: update changelog
bpapaspyros Jun 13, 2024
6ec40d8
docs: update CHANGELOG.md
bpapaspyros Jun 14, 2024
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3 changes: 2 additions & 1 deletion CHANGELOG.md
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Original file line number Diff line number Diff line change
Expand Up @@ -18,7 +18,8 @@ Release Versions:

- fix(modulo-controllers): improve log message (#110)
- fix(modulo-components): add missing space in log message (#113)
- feat(modulo-controller): add missing docs (#112)
- feat(modulo-controllers): add missing docs (#112)
- fix(modulo-controllers): correctly handle nullptr in read_input (#118)

## 4.2.1

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18 changes: 10 additions & 8 deletions source/modulo_controllers/include/modulo_controllers/ControllerInterface.hpp
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Expand Up @@ -745,12 +745,12 @@ inline std::optional<T> ControllerInterface::read_input(const std::string& name)
return {};
}
auto message =
*std::get<realtime_tools::RealtimeBuffer<std::shared_ptr<modulo_core::EncodedState>>>(inputs_.at(name).buffer)
.readFromNonRT();
**std::get<realtime_tools::RealtimeBuffer<std::shared_ptr<modulo_core::EncodedState>>>(inputs_.at(name).buffer)
.readFromNonRT();
std::shared_ptr<state_representation::State> state;
try {
auto message_pair = input_message_pairs_.at(name);
message_pair->read<modulo_core::EncodedState, state_representation::State>(*message);
message_pair->read<modulo_core::EncodedState, state_representation::State>(message);
state = message_pair->get_message_pair<modulo_core::EncodedState, state_representation::State>()->get_data();
} catch (const std::exception& ex) {
RCLCPP_WARN_THROTTLE(
Expand All @@ -761,12 +761,14 @@ inline std::optional<T> ControllerInterface::read_input(const std::string& name)
if (state->is_empty()) {
return {};
}
try {
return *std::dynamic_pointer_cast<T>(state);
} catch (const std::exception& ex) {
auto cast_ptr = std::dynamic_pointer_cast<T>(state);
if (cast_ptr != nullptr) {
return *cast_ptr;
} else {
RCLCPP_WARN_THROTTLE(
get_node()->get_logger(), *get_node()->get_clock(), 1000, "Could not cast input '%s' to desired state type: %s",
name.c_str(), ex.what());
get_node()->get_logger(), *get_node()->get_clock(), 1000,
"Dynamic cast of message on input '%s' from type '%s' to type '%s' failed.", name.c_str(),
get_state_type_name(state->get_type()), get_state_type_name(T().get_type()));
}
return {};
}
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