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HALRobotics / Beta

HAL Robotics Framework beta release and associated documentation.
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Custom simulation with wait time #32

Closed romainduballet closed 6 years ago

romainduballet commented 6 years ago

Hi, I have a issue with a Custom Action action. To reproduce the issue : Create a Custom Action, with following input : Alias = StartHWC Expression = "StartHWC;" (in rapid code). Simulation = a Wait (HAL Component). The wait component is : Alias = StartHWCSimulation Duration = 1.0

After we combine this procedure with other motion action the simulation doesn't start. if we simply add the wait simulation instead, it works.

Best regards,

sebandraos commented 6 years ago

Thanks for pointing this out to us. This is an ambiguity with the current presentation and treatment of the "Simulation". We currently consider that a simulation should be run in parallel to the main execution thread. Obviously with a Wait this means that nothing visibly happens. We are looking into making this less ambiguous and allowing a simulation to block the current execution.

sebandraos commented 6 years ago

This should be fixed in the update coming this evening. Please feel free to reopen if the update doesn't solve the issue