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Fixes a segfault during exit of SubT simulation #427

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merged 1 commit into from
May 20, 2020
Merged

Fixes a segfault during exit of SubT simulation #427

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14 changes: 8 additions & 6 deletions subt_ign/src/GameLogicPlugin.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -37,6 +37,7 @@
#include <ignition/gazebo/components/World.hh>
#include <ignition/gazebo/Conversions.hh>
#include <ignition/gazebo/EntityComponentManager.hh>
#include <ignition/gazebo/Events.hh>
#include <ignition/gazebo/Util.hh>

#include <ignition/common/Console.hh>
Expand Down Expand Up @@ -292,6 +293,9 @@ class subt::GameLogicPluginPrivate
{subt::ArtifactType::TYPE_VENT,
ignition::math::Vector3d(0, 0, 0.138369)}
};

/// \brief Event manager for pausing simulation
public: EventManager *eventManager;
};

//////////////////////////////////////////////////
Expand All @@ -313,8 +317,10 @@ GameLogicPlugin::~GameLogicPlugin()
void GameLogicPlugin::Configure(const ignition::gazebo::Entity & /*_entity*/,
const std::shared_ptr<const sdf::Element> &_sdf,
ignition::gazebo::EntityComponentManager & /*_ecm*/,
ignition::gazebo::EventManager & /*_eventMgr*/)
ignition::gazebo::EventManager & _eventMgr)
{
this->dataPtr->eventManager = &_eventMgr;

// Check if the game logic plugin has a <logging> element.
// The <logging> element can contain a <filename_prefix> child element.
// The <filename_prefix> is used to specify the log filename prefix. For
Expand Down Expand Up @@ -967,11 +973,7 @@ void GameLogicPluginPrivate::Finish()
{
// Pause simulation when finished. Always send this request, just to be
// safe.
ignition::msgs::WorldControl req;
req.set_pause(true);
this->node.Request<ignition::msgs::WorldControl, ignition::msgs::Boolean>(
std::string("/world/") + this->worldName + "/control", req,
[](const ignition::msgs::Boolean &, const bool) { });
this->eventManager->Emit<events::Pause>(true);

if (this->finished)
return;
Expand Down