Problem with service ports...

joystick.cs

// In OnExecute() function in joystick RTC i have something like this:


            if (this.naoPosesConsumer.IsValid)
            {

                if (this.joystick.ButtonPressed(7))
                {
                    this.naoPosesConsumer.Proxy.InitialPose();
                }
            }

NaoPosesInitialisation.cs

using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;

using OpenRTM.Core;
using Aldebaran.Proxies;

namespace NaoMotionRTC
{
    class NaoPosesInitialisation: INaoPosesInitialisation
    {
        private MotionProxy motion;

        public void setMotionProxy(MotionProxy motion)
        {
            this.motion = motion;
        }

        public void InitialPose()
        {
            if (this.motion != null)
            {
                Console.WriteLine("InitialPose called.");

                // exception raised here O.o
                if (this.motion.walkIsActive())
                {
                    this.motion.stopWalk();
                }

                float HeadYawAngle = 0;
                float HeadPitchAngle = 0;
                
                // etc... settings for angles.

                this.motion.angleInterpolationWithSpeed("Body", angles.ToArray(), 0.3f);
            }
            else
            {
                Console.WriteLine("[InitialPose()] Motion proxy is not connected. Call setMotionProxy() method first.");
            }
        }



        public void StandPose()
        {
            throw new NotImplementedException();
        }
    }
}