* Fixing segfault that could occur in GroupFixedList and was causing …

…issues in test_auctions/CI
jredmondson · Mar 19, 2019 · a730647 · a730647
1 parent 8fcb0f9
commit a730647
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Showing 4 changed files with 28 additions and 3 deletions.
diff --git a/scripts/simulation/unreal/greet/greet.mf b/scripts/simulation/unreal/greet/greet.mf
@@ -8,7 +8,7 @@
   {.prefix}.algorithm="waypoints";
   {.prefix}.algorithm.args.locations.size=2;
   {.prefix}.algorithm.args.locations.0=[0, swarm.size * 10 + .id * 10, 2];
-  {.prefix}.algorithm.args.locations.1=.guard;
+  {.prefix}.algorithm.args.locations.1=.origin;
   {.prefix}.algorithm.args.repeat=5;
 );
 

diff --git a/scripts/simulation/unreal/greet/greet_and_follow.mf b/scripts/simulation/unreal/greet/greet_and_follow.mf
@@ -8,7 +8,7 @@
   {.prefix}.algorithm="waypoints";
   {.prefix}.algorithm.args.locations.size=2;
   {.prefix}.algorithm.args.locations.0=[0, swarm.size * 10 + .id * 10, 2];
-  {.prefix}.algorithm.args.locations.1=.guard;
+  {.prefix}.algorithm.args.locations.1=.origin;
   {.prefix}.algorithm.args.repeat=5;
 );
 

diff --git a/src/gams/groups/GroupFixedList.cpp b/src/gams/groups/GroupFixedList.cpp
@@ -106,6 +106,7 @@ gams::groups::GroupFixedList::add_members(const AgentVector & members)
   fast_members_.insert(
     fast_members_.end(), members.begin(), members.end());
 
+  if (knowledge_)
   {
     knowledge::ContextGuard guard(*knowledge_);
 
@@ -185,6 +186,7 @@ gams::groups::GroupFixedList::remove_members(const AgentVector & members)
     }
   }
 
+  if (knowledge_)
   {
     knowledge::ContextGuard guard(*knowledge_);
 

diff --git a/tests/test_auctions.cpp b/tests/test_auctions.cpp
@@ -244,7 +244,6 @@ void test_minimum_distance_auction(knowledge::KnowledgeBase & knowledge)
   loggers::global_logger->log(
     loggers::LOG_ALWAYS, "Testing AuctionMinimumDistance\n");
 
-//  knowledge::KnowledgeBase knowledge;
   knowledge.clear(true);
 
   gams::groups::GroupFixedList group;
@@ -255,6 +254,9 @@ void test_minimum_distance_auction(knowledge::KnowledgeBase & knowledge)
   gams::pose::Position target;
   gams::platforms::NullPlatform platform(&knowledge, 0, &platforms, 0);
 
+  loggers::global_logger->log(
+    loggers::LOG_ALWAYS, "  Adding members to the group\n");
+
   // add some members to the group
   members.push_back("agent.0");
   members.push_back("agent.1");
@@ -263,16 +265,25 @@ void test_minimum_distance_auction(knowledge::KnowledgeBase & knowledge)
   members.push_back("agent.4");
   group.add_members(members);
 
+  loggers::global_logger->log(
+    loggers::LOG_ALWAYS, "  Initializing group variables in KB\n");
+
   // initialize agent variables so we can manipulate them directly
   gams::variables::init_vars(agents, knowledge, group);
 
+  loggers::global_logger->log(
+    loggers::LOG_ALWAYS, "  Creating bids\n");
+
   // setup some handy references for referring to individual bids
   containers::Double agent0bid("auction.guard_duty.0.agent.0", knowledge);
   containers::Double agent1bid("auction.guard_duty.0.agent.1", knowledge);
   containers::Double agent2bid("auction.guard_duty.0.agent.2", knowledge);
   containers::Double agent3bid("auction.guard_duty.0.agent.3", knowledge);
   containers::Double agent4bid("auction.guard_duty.0.agent.4", knowledge);
 
+  loggers::global_logger->log(
+    loggers::LOG_ALWAYS, "  Mimicking agent locations\n");
+
   // create some GPS locations
   position.latitude(42.0600);
   position.longitude(-72.0600);
@@ -294,16 +305,28 @@ void test_minimum_distance_auction(knowledge::KnowledgeBase & knowledge)
   position.longitude(-72.1000);
   position.to_container(agents[4].location);
 
+  loggers::global_logger->log(
+    loggers::LOG_ALWAYS, "  Initializing auction\n");
+
   auctions::AuctionMinimumDistance auction(
     "auction.guard_duty", "agent.0", &knowledge, &platform);
 
+  loggers::global_logger->log(
+    loggers::LOG_ALWAYS, "  Adding group\n");
+
   auction.add_group(&group);
 
   // set the target position
 
+  loggers::global_logger->log(
+    loggers::LOG_ALWAYS, "  Setting target and calculating bids\n");
+
   auction.set_target(position);
   auction.calculate_bids();
 
+  loggers::global_logger->log(
+    loggers::LOG_ALWAYS, "  Electing leader based on proximity\n");
+
   std::string closest = auction.get_leader();
 
   if (closest == "agent.0")