bug when parsing the mask of WBT Configuration block #237
Comments
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Ah, now the issue is clear to me. What is happening is that the mask is taking |
Yes, exactly, and by testing one by one, this is the only parameter affected by this behavior. Even if when looking at the mask, the value seems to be correctly evaluated: |
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Thanks, that is interesting. Indeed, if I recall correctly we saw this with someone at somepoint, but I forgot about this. |
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I added a few debug prints: diff --git a/sources/Simulink/src/SimulinkBlockInformationImpl.cpp b/sources/Simulink/src/SimulinkBlockInformationImpl.cpp
index 67df010..eae440c 100644
--- a/sources/Simulink/src/SimulinkBlockInformationImpl.cpp
+++ b/sources/Simulink/src/SimulinkBlockInformationImpl.cpp
@@ -14,6 +14,8 @@
#include <cassert>
#include <simstruc.h>
+#include <iostream>
+
using namespace blockfactory;
using namespace blockfactory::mex::impl;
@@ -410,7 +412,9 @@ bool SimulinkBlockInformationImpl::getStringParameterAtIndex(const ParameterInde
std::string& value) const
{
const mxArray* blockParam = ssGetSFcnParam(simstruct, idx);
- return mxpp::MxArray(blockParam).asString(value);
+ bool ok = mxpp::MxArray(blockParam).asString(value);
+ std::cerr << "SimulinkBlockInformationImpl::getStringParameterAtIndex" << idx << "," << value << std::endl;
+ return ok;
}
// =================================
@@ -435,6 +439,7 @@ bool SimulinkBlockInformationImpl::getVectorAtIndex(const ParameterIndex idx,
std::vector<double>& value) const
{
const mxArray* blockParam = ssGetSFcnParam(simstruct, idx);
+ std::cerr << "SimulinkBlockInformationImpl::getVectorAtIndex" << idx << "," << value[0] << std::endl;
return mxpp::MxArray(blockParam).asVectorDouble(value);
}diff --git a/toolbox/base/src/WholeBodySingleton.cpp b/toolbox/base/src/WholeBodySingleton.cpp
index c59a71ac..55746afb 100644
--- a/toolbox/base/src/WholeBodySingleton.cpp
+++ b/toolbox/base/src/WholeBodySingleton.cpp
@@ -18,6 +18,7 @@
#include <stddef.h>
#include <string>
#include <vector>
+#include <iostream>
using namespace wbt::base;
using namespace blockfactory::core;
@@ -158,6 +159,13 @@ bool fillConfiguration(std::shared_ptr<Configuration>& configurationPtr,
ok = ok && parameters.getParameter("ControlBoardsNames", controlBoardsNames);
ok = ok && parameters.getParameter("GravityVector", gravityVector);
ok = ok && parameters.getParameter("ConfBlockName", confBlockName);
+ std::cerr << "==================> ConfBlockName: " << confBlockName << std::endl;
+ std::cerr << "==================> RobotName: " << robotName << std::endl;
+ std::cerr << "==================> UrdfFile: " << urdfFile << std::endl;
+ std::cerr << "==================> LocalName: " << localName << std::endl;
+ std::cerr << "==================> gravityVector[2] " << gravityVector[2] << std::endl;
+
+
if (!ok) {
bfError << "The parameters passed do not contain all the required information to create a "
(With this, I get this output: |
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Today I did more debugging on the original model in which @lrapetti had the problem, and I could not find the root of the problem. It seems however that the value was returned not evaluated directly by MATLAB, as I was debugging directly the value returned by At this point, the next step is to reproduce the problem in a less complex case, to debug more easily. |
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Hi, When I try to simulate the system I get the following error: The system configuration on which I am working is the same reported by @LoreMoretti in this issue. |
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Description
It seems it is not possible to define the block parameters through the option
Configuration from: Mask.Platform
Simulation with Matlab/Simulink 2022b on Linux 22.04
Reproducibility
Just use any model which contains the WBT Configuration block, and in the block mask from the drop-down menu choose
Maskinstead ofWorkspace, and then fill in all the edit boxes of theDatatab.For example, let's assume that your object
WBToolbox.Configurationis contained in the field of a structure likeconfigSimulation.WBTConfigRobotSim, you will then have to fill theDatatab as followsIf you then run the Simulink model you should see an error ( as the one reported in Additional context).
If instead, the option from
Workspace, passing for exampleconfigSimulation.WBTConfigRobotSim(which stores theWBToolbox.Configurationobject), the simulation runs just fine.Screenshots
Additional information
2022b]Additional context
Here the error message:
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