[BUG] Crash during primitive execution

[acf986]

Version information

• RDK: 0.9
• Robot software: unknown (we are using your hotfix firmware)
• OS: Ubuntu 20.04 - x86_64

Describe the bug Calling the following line causes the program to crash: flexiv::utility::parsePtStates(m_se->get_robot()->getPrimitiveStates(), "reachedTarget") == "1" This is line I copied from the official execute_primitive example.

Here the m_se->get_robot()->getPrimitiveStates() function call is a wrapper around the flexiv rdk's api:

  virtual std::vector<std::string> getPrimitiveStates() final
  {
    return robot_->getPrimitiveStates();
  }

Steps to reproduce

1. Execute a primitive that is long enough (with many waypoints)
2. There is a chance the error will happen, but need to try multiple times.

Expected behavior The code does not crash.

Screenshots I have valgrind my code and find the issue to be:

==102234== Invalid read of size 8
==102234==    at 0x4DE4804: std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >::size() const (in /usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.28)
==102234==    by 0x487D44: __gnu_cxx::__enable_if<std::__is_char<char>::__value, bool>::__type std::operator==<char>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&) (basic_string.h:6154)
==102234==    by 0x487A22: flexiv::utility::parsePtStates(std::vector<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::allocator<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > > > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&) (Utility.hpp:173)
==102234==    by 0x4833BD: CompPrimState::is_finished() (comp_prim_state.cpp:48)

Which leads to the function flexiv::utility::parsePtStates and the line 173 in Utility.hpp parsedState.front() == parseTarget It seems in this case the parsedState is a empty vector.

[pzhu-flexiv]

@acf986 Hi, this is a known bug and has been fixed in release v0.10, which will be released soon.

[acf986]

I am sorry, in the mean while, can you suggest any quick fix that we can apply ourself to safely avoid this issue?

[pzhu-flexiv]

@acf986 A simple workaround is to get again if the ptStates contains corrupted element.

auto ptStates = robot.getPrimitiveStates();
for (const auto& v : ptStates) {
    if (v.empty()) {
        // ptStates contains corrupted data, try again
        ptStates = robot.getPrimitiveStates();
        break;
    }
}