Set the verification result to not Ok, when the arbitrator catched an…

… exception
KIT-MRT · Nov 19, 2024 · d367189 · d367189
1 parent b9e2d6f
commit d367189
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Showing 2 changed files with 3 additions and 2 deletions.
diff --git a/include/arbitration_graphs/internal/arbitrator_impl.hpp b/include/arbitration_graphs/internal/arbitrator_impl.hpp
@@ -115,7 +115,7 @@ SubCommandT Arbitrator<CommandT, SubCommandT, VerifierT, VerificationResultT>::g
             command = getAndVerifyCommand(bestOption, time);
         } catch (const std::exception& e) {
             VLOG(1) << bestOption->behavior_->name_ << " threw an exception during getAndVerifyCommand(): " << e.what();
-            bestOption->verificationResult_.reset();
+            bestOption->verificationResult_.cache(time, VerificationResultT{false});
             bestOption->behavior_->loseControl(time);
             continue;
         }

diff --git a/test/handle_exceptions.cpp b/test/handle_exceptions.cpp
@@ -33,9 +33,10 @@ TEST_F(ExceptionHandlingTest, HandleException) {
 
     // Since the high priority behavior is broken, we should get the low priority behavior as fallback
     EXPECT_EQ("LowPriority", testPriorityArbitrator.getCommand(time));
-    EXPECT_FALSE(testPriorityArbitrator.options().at(0)->verificationResult_.cached(time));
+    ASSERT_TRUE(testPriorityArbitrator.options().at(0)->verificationResult_.cached(time));
     ASSERT_TRUE(testPriorityArbitrator.options().at(1)->verificationResult_.cached(time));
 
+    EXPECT_FALSE(testPriorityArbitrator.options().at(0)->verificationResult_.cached(time)->isOk());
     EXPECT_TRUE(testPriorityArbitrator.options().at(1)->verificationResult_.cached(time)->isOk());
 
     testPriorityArbitrator.loseControl(time);