sm_coretest_exceptions_1

Core test for user code that throws. It is not a reference state machine; it exists to run the core’s exception handling on demand and to pin what the core does when a state, a client behavior or an update() throws.

What it does

StA ──▶ SsPlain[ StRest ] ──▶ SsEscalate[ StInner ] ──▶ StRetry ──▶ StA      (500 ms timers)
  │                               │
  │                               └── EvStInitializationFailure<SsEscalate> ──▶ StSafe ──▶ StA
  └── EvCbInitializationFailure<CbSyncThrow | CbAsyncThrow, OrThrow> ──▶ StSafe

The environment variable SM_CORETEST_THROW_SITE names the one site that throws in a run; each throw is announced with a THROWING at <site> line. With none, the default, nothing throws.

Sites the core logs and continues from

All in StA and its behaviors. The machine keeps cycling.

Failed client behavior initializations

A client behavior whose runtimeConfigure or onEntry throws is logged and EvCbInitializationFailure<TBehavior, TOrthogonal> is posted, carrying the behavior’s name and the exception text. For an asynchronous behavior both happen on its own thread at the moment of the throw. The other behaviors of the state go on. StA reacts to the event by going to StSafe.

Failed state initializations

A state whose runtimeConfigure or onEntry throws is logged (exception in state initialization), none of its client behaviors, state reactors or event generators is started or later exited, its onExit does not run, and EvStInitializationFailure<TState> is posted. The event is addressed to the failing state first; if no state reacts, the state machine posts it again addressed to each container state in turn, and with no reaction anywhere it calls its onUnhandledStInitializationFailure, whose default logs and leaves the machine where it is.

The test’s state machine overrides the hook to log HOOK onUnhandledStInitializationFailure.

Run

SM_CORETEST_THROW_SITE=inner_entry ros2 launch sm_coretest_exceptions_1 sm_coretest_exceptions_1.launch.py

The launch file tees the node output to /tmp/sm_coretest_exceptions_1_latest.log.

In the gate

.github/scripts/sanitizer_core_tests.sh runs all fourteen sites for 8 s each under TSan, ASan and a plain build. It fails if a continuing site stops cycling, if a reaction does not reach StSafe once per throw, if an unhandled failure does not call the hook exactly once, if any run ends with an uncaught exception, or on a sanitizer report with a SMACC2 frame.