get_safety_configuration freezes with the latest controller firmware

[kirillmorozov]

What happened?

We have updated our H2017 robot to the latest firmware GF02110201 and our application that uses DRFL API stopped working.

During the troubleshooting I was able to pin down the problem to the get_safety_configuration method call.

I have also noticed that during the first boot after the update a message that tells something like "safety stop modes were update" is displayed, I think it might be related.

If I roll back to GV02110100 the problem goes away.

Steps to reproduce

Launch this snippet:

#include <chrono>
#include <iostream>
#include <ostream>
#include <string>
#include <thread>

#include "include/DRFLEx.h"

const std::string IP_ADDRESS = "192.168.137.100";

bool g_bHasControlAuthority = FALSE;

// This function is copied from DRFL examples with some of the lines commented
// out.
void OnMonitroingAccessControlCB(
    const MONITORING_ACCESS_CONTROL eTrasnsitControl) {
  switch (eTrasnsitControl) {
  case MONITORING_ACCESS_CONTROL_REQUEST:
    break;
  case MONITORING_ACCESS_CONTROL_GRANT:
    g_bHasControlAuthority = TRUE;
    break;
  case MONITORING_ACCESS_CONTROL_DENY:
  case MONITORING_ACCESS_CONTROL_LOSS:
    g_bHasControlAuthority = FALSE;
    break;
  default:
    break;
  }
}

int main() {
  DRAFramework::CDRFLEx robot;
  auto version = robot.get_library_version();
  std::cout << "Library version: " << version << std::endl;
  robot.set_on_monitoring_access_control(OnMonitroingAccessControlCB);
  bool success = robot.open_connection(IP_ADDRESS);
  if (!success) {
    std::cout << "Cannot open connection to robot @ " << IP_ADDRESS
              << std::endl;
    return 1;
  }
  SYSTEM_VERSION sysver;
  success = robot.get_system_version(&sysver);
  if (success) {
    std::cout << "Opened connection to " << sysver._szRobotModel
              << " controller version: " << sysver._szController << " @ "
              << IP_ADDRESS << " " << std::endl;
  }
  std::this_thread::sleep_for(std::chrono::milliseconds(1000));
  success = robot.manage_access_control(MANAGE_ACCESS_CONTROL_FORCE_REQUEST);
  if (!success) {
    std::cout << "Cannot get access control" << std::endl;
    return 1;
  }
  while (!g_bHasControlAuthority) {
  }
  std::cout << "Access control granted" << std::endl;
  std::cout << "Getting safety configuration" << std::endl;
  auto safety_configuration = robot.get_safety_configuration();
  std::cout << "Got safety configuration" << std::endl;
  robot.close_connection();
  std::cout << "Connection closed" << std::endl;
  return 0;
}

Versions

• DRFL: GL010118
• Controller: GF02110201