setting validated to false when changing start state

uleroboticsgroup · Nov 4, 2024 · 4f4af19 · 4f4af19
1 parent 691496f
commit 4f4af19
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Showing 2 changed files with 7 additions and 2 deletions.
diff --git a/yasmin/src/yasmin/state_machine.cpp b/yasmin/src/yasmin/state_machine.cpp
@@ -107,6 +107,9 @@ void StateMachine::set_start_state(std::string state_name) {
   YASMIN_LOG_DEBUG("Setting start state to '%s'", state_name.c_str());
 
   this->start_state = state_name;
+
+  // Mark state machine as no validated
+  this->validated.store(false);
 }
 
 std::string StateMachine::get_start_state() { return this->start_state; }
@@ -354,8 +357,7 @@ std::string StateMachine::execute() {
   std::shared_ptr<blackboard::Blackboard> blackboard =
       std::make_shared<blackboard::Blackboard>();
 
-  std::string outcome = this->operator()(blackboard);
-  return outcome;
+  return this->operator()(blackboard);
 }
 
 std::string StateMachine::operator()() {

diff --git a/yasmin/yasmin/state_machine.py b/yasmin/yasmin/state_machine.py
@@ -147,6 +147,9 @@ def set_start_state(self, state_name: str) -> None:
 
         self._start_state: str = state_name
 
+        ## Mark state machine as no validated
+        self._validated = False
+
     def get_start_state(self) -> str:
         """
         Retrieves the name of the current starting state.