State machine run not cleanly exiting

Can someone educate me on the difference between "run" and "handle" for an Orocos state machine. In the attached test, using "run" in the state machine causes the following critical error when quitting. Using "handle" does not. Why?


2.808 [CRITICAL][Slave1] StateMachineProcessor failed to bring StateMachine Master into the final state. Program stalled in state 'RUN_SLAVES' line number 18


TIA
Stephen

AttachmentSize
slave-activity2.cpp1.33 KB
master.osd937 bytes

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State machine run not cleanly exiting

On Thu, Apr 22, 2010 at 17:05, S Roderick <kiwi [dot] net [..] ...> wrote:
> Can someone educate me on the difference between "run" and "handle" for an Orocos state machine. In the attached test, using "run" in the state machine causes the following critical error when quitting. Using "handle" does not. Why?
>
> &#10;&gt; 2.808 [CRITICAL][Slave1] StateMachineProcessor failed to bring StateMachine Master into the final state. Program stalled in state &#039;RUN_SLAVES&#039; line number 18&#10;&gt;

Line 18 is a comment ?

I didn't test it yet, but it's probably a bug in the stop() code.
There should be no difference. I think it's because a handle can be
interrupted always that this works, but given that update() is a
method, it doesn't make sense that run stalls... it's certainly
unintended behavior.

Thanks for the test case, It's in my queue, but fix won't come before
end next week...

Peter

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