Check compile-time versus run-time version of mc_rtc

jrl-umi3218 · Jan 2, 2020 · e8b2319 · e8b2319
1 parent a8e91b6
commit e8b2319
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Showing 2 changed files with 15 additions and 2 deletions.
diff --git a/src/MCControl.cpp b/src/MCControl.cpp
@@ -24,6 +24,7 @@
 
 #include <mc_rbdyn/rpy_utils.h>
 #include <mc_rtc/logging.h>
+#include <mc_rtc/version.h>
 
 #include <RBDyn/FK.h>
 #include <RBDyn/FV.h>
@@ -51,6 +52,18 @@ static const char* mccontrol_spec[] =
   };
 // </rtc-template>
 
+namespace
+{
+  bool init_controller()
+  {
+    if(mc_rtc::MC_RTC_VERSION != mc_rtc::version())
+    {
+      LOG_ERROR("MCControl was compiled with " << mc_rtc::MC_RTC_VERSION << " but mc_rtc is at version " << mc_rtc::version() << ", you might face subtle issues and should recompile mc_openrtm")
+    }
+    return false;
+  }
+}
+
 MCControl::MCControl(RTC::Manager* manager)
     // <rtc-template block="initializer">
   : RTC::DataFlowComponentBase(manager),
@@ -71,7 +84,7 @@ MCControl::MCControl(RTC::Manager* manager)
     m_rpyOutOut("rpyOut", m_rpyOut),
     m_MCControlServicePortPort("MCControlServicePort"),
     m_service0(this),
-    init(false)
+    init(init_controller())
     // </rtc-template>
 // clang-format on
 {

diff --git a/src/MCControl.h b/src/MCControl.h
@@ -169,8 +169,8 @@ class MCControl : public RTC::DataFlowComponentBase
   std::map<std::string, std::vector<std::pair<size_t, size_t>>> gripper_out_index;
 
 public:
-  mc_control::MCGlobalController controller;
   bool init;
+  mc_control::MCGlobalController controller;
 };
 
 extern "C"