Fix crash on row change (#101)

tesseract-robotics · Feb 23, 2024 · c17bd1a · c17bd1a
1 parent 7a2171b
commit c17bd1a
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Showing 2 changed files with 34 additions and 16 deletions.
diff --git a/joint_trajectory/src/models/joint_trajectory_model.cpp b/joint_trajectory/src/models/joint_trajectory_model.cpp
@@ -125,16 +125,25 @@ bool JointTrajectoryModel::hasJointTrajectorySet(const boost::uuids::uuid& uuid)
 
 JointTrajectoryStateItem* findJointStateItem(QStandardItem* item)
 {
+  if (!item)
+    throw std::runtime_error("findJointStateItem: Invalid item selected");
+
   if (item->type() == static_cast<int>(StandardItemType::JOINT_TRAJECTORY_SET_STATE))
     return dynamic_cast<JointTrajectoryStateItem*>(item);
 
+  if (!item->parent())
+    throw std::runtime_error("findJointStateItem: Item without a parent selected");
+
   return findJointStateItem(item->parent());
 }
 
 tesseract_common::JointState JointTrajectoryModel::getJointState(const QModelIndex& row) const
 {
   QStandardItem* item = itemFromIndex(row);
 
+  if (!item)
+    throw std::runtime_error("getJointState: invalid item, cannot get joint state");
+
   if (item->type() == static_cast<int>(StandardItemType::JOINT_TRAJECTORY_SET_TRAJECTORY))
     throw std::runtime_error("Cannot get joint state from selected joint trajectory standard item");
 

diff --git a/joint_trajectory/src/widgets/joint_trajectory_widget.cpp b/joint_trajectory/src/widgets/joint_trajectory_widget.cpp
@@ -337,26 +337,35 @@ void JointTrajectoryWidget::onCurrentRowChanged(const QModelIndex& current, cons
     }
     default:
     {
-      events::JointTrajectoryToolbarState event(data_->model->getComponentInfo());
-      event.save_enabled = false;
-      event.remove_enabled = false;
-      event.plot_enabled = false;
-      QApplication::sendEvent(qApp, &event);
+      try
+      {
+        events::JointTrajectoryToolbarState event(data_->model->getComponentInfo());
+        event.save_enabled = false;
+        event.remove_enabled = false;
+        event.plot_enabled = false;
+        QApplication::sendEvent(qApp, &event);
 
-      const tesseract_common::JointState& state = data_->model->getJointState(current_index);
-      auto jts = data_->model->getJointTrajectorySet(current_index);
+        const tesseract_common::JointState& state = data_->model->getJointState(current_index);
+        auto jts = data_->model->getJointTrajectorySet(current_index);
 
-      if (jts.getEnvironment() != nullptr && jts.getEnvironment()->isInitialized())
-      {
-        if (data_->model->getComponentInfo()->hasParent() && data_->current_environment != jts.getEnvironment())
+        if (jts.getEnvironment() != nullptr && jts.getEnvironment()->isInitialized())
         {
-          auto env_wrapper =
-              std::make_shared<DefaultEnvironmentWrapper>(data_->model->getComponentInfo(), jts.getEnvironment());
-          EnvironmentManager::set(env_wrapper);
+          if (data_->model->getComponentInfo()->hasParent() && data_->current_environment != jts.getEnvironment())
+          {
+            auto env_wrapper =
+                std::make_shared<DefaultEnvironmentWrapper>(data_->model->getComponentInfo(), jts.getEnvironment());
+            EnvironmentManager::set(env_wrapper);
+          }
+
+          data_->current_environment = jts.getEnvironment();
+          data_->current_environment->setState(state.joint_names, state.position);
         }
-
-        data_->current_environment = jts.getEnvironment();
-        data_->current_environment->setState(state.joint_names, state.position);
+      }
+      catch (const std::runtime_error& ex)
+      {
+        std::stringstream sstr;
+        sstr << "Error in onCurrentRowChanged default, not updating env state: " << ex.what() << std::endl;
+        CONSOLE_BRIDGE_logDebug(sstr.str().c_str());
       }
 
       break;