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Cherry-Pick #1317: Fix segfault at exit #1441

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merged 1 commit into from
Apr 13, 2022
Merged

Cherry-Pick #1317: Fix segfault at exit #1441

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2 changes: 1 addition & 1 deletion include/ignition/gazebo/EntityComponentManager.hh
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Original file line number Diff line number Diff line change
Expand Up @@ -773,7 +773,7 @@ namespace ignition
/// \tparam ComponentTypeTs All the component types that define a view.
/// \return A pointer to the view.
private: template<typename ...ComponentTypeTs>
detail::View<ComponentTypeTs...> *FindView() const;
detail::View *FindView() const;

/// \brief Find a view based on the provided component type ids.
/// \param[in] _types The component type ids that serve as a key into
Expand Down
3 changes: 1 addition & 2 deletions include/ignition/gazebo/detail/BaseView.hh
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Expand Up @@ -18,7 +18,6 @@
#define IGNITION_GAZEBO_DETAIL_BASEVIEW_HH_

#include <cstddef>
#include <memory>
#include <set>
#include <unordered_map>
#include <vector>
Expand Down Expand Up @@ -69,7 +68,7 @@ struct ComponentTypeHasher
class IGNITION_GAZEBO_VISIBLE BaseView
{
/// \brief Destructor
public: virtual ~BaseView() = default;
public: virtual ~BaseView();

/// \brief See if an entity is a part of the view
/// \param[in] _entity The entity
Expand Down
69 changes: 59 additions & 10 deletions include/ignition/gazebo/detail/EntityComponentManager.hh
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Expand Up @@ -372,6 +372,50 @@ void EntityComponentManager::EachNoCache(typename identity<std::function<
}
}

namespace detail
{
/// \brief Helper template to call a callback function with each of the
/// components in the _data vector expanded as arguments to the callback
/// function.
/// \tparam ComponentTypeTs The actual types of each of the components.
/// \tparam FuncT The type of the callback function.
/// \tparam BaseComponentT Either "BaseComponent" or "const BaseComponent"
/// \tparam Is Index sequence that will be used to iterate through the vector
/// _data.
/// \param[in] _f The callback function
/// \param[in] _entity The entity associated with the components.
/// \param[in] _data A vector of component pointers that will be expanded to
/// become the arguments of the callback function _f.
/// \return The value of return by the function _f.
template <typename... ComponentTypeTs, typename FuncT, typename BaseComponentT,
std::size_t... Is>
constexpr bool applyFunctionImpl(const FuncT &_f, const Entity &_entity,
const std::vector<BaseComponentT *> &_data,
std::index_sequence<Is...>)
{
return _f(_entity, static_cast<ComponentTypeTs *>(_data[Is])...);
}

/// \brief Helper template to call a callback function with each of the
/// components in the _data vector expanded as arguments to the callback
/// function.
/// \tparam ComponentTypeTs The actual types of each of the components.
/// \tparam FuncT The type of the callback function.
/// \tparam BaseComponentT Either "BaseComponent" or "const BaseComponent"
/// \param[in] _f The callback function
/// \param[in] _entity The entity associated with the components.
/// \param[in] _data A vector of component pointers that will be expanded to
/// become the arguments of the callback function _f.
/// \return The value of return by the function _f.
template <typename... ComponentTypeTs, typename FuncT, typename BaseComponentT>
constexpr bool applyFunction(const FuncT &_f, const Entity &_entity,
const std::vector<BaseComponentT *> &_data)
{
return applyFunctionImpl<ComponentTypeTs...>(
_f, _entity, _data, std::index_sequence_for<ComponentTypeTs...>{});
}
} // namespace detail

//////////////////////////////////////////////////
template<typename ...ComponentTypeTs>
void EntityComponentManager::Each(typename identity<std::function<
Expand All @@ -385,7 +429,8 @@ void EntityComponentManager::Each(typename identity<std::function<
// function.
for (const Entity entity : view->Entities())
{
if (!std::apply(_f, view->EntityComponentConstData(entity)))
const auto &data = view->EntityComponentData(entity);
if (!detail::applyFunction<const ComponentTypeTs...>(_f, entity, data))
{
break;
}
Expand All @@ -405,7 +450,8 @@ void EntityComponentManager::Each(typename identity<std::function<
// function.
for (const Entity entity : view->Entities())
{
if (!std::apply(_f, view->EntityComponentData(entity)))
const auto &data = view->EntityComponentData(entity);
if (!detail::applyFunction<ComponentTypeTs...>(_f, entity, data))
{
break;
}
Expand Down Expand Up @@ -434,7 +480,8 @@ void EntityComponentManager::EachNew(typename identity<std::function<
// function.
for (const Entity entity : view->NewEntities())
{
if (!std::apply(_f, view->EntityComponentData(entity)))
const auto &data = view->EntityComponentData(entity);
if (!detail::applyFunction<ComponentTypeTs...>(_f, entity, data))
{
break;
}
Expand All @@ -455,7 +502,8 @@ void EntityComponentManager::EachNew(typename identity<std::function<
// function.
for (const Entity entity : view->NewEntities())
{
if (!std::apply(_f, view->EntityComponentConstData(entity)))
const auto &data = view->EntityComponentData(entity);
if (!detail::applyFunction<const ComponentTypeTs...>(_f, entity, data))
{
break;
}
Expand All @@ -476,7 +524,8 @@ void EntityComponentManager::EachRemoved(typename identity<std::function<
// function.
for (const Entity entity : view->ToRemoveEntities())
{
if (!std::apply(_f, view->EntityComponentConstData(entity)))
const auto &data = view->EntityComponentData(entity);
if (!detail::applyFunction<const ComponentTypeTs...>(_f, entity, data))
{
break;
}
Expand All @@ -485,15 +534,15 @@ void EntityComponentManager::EachRemoved(typename identity<std::function<

//////////////////////////////////////////////////
template<typename ...ComponentTypeTs>
detail::View<ComponentTypeTs...> *EntityComponentManager::FindView() const
detail::View *EntityComponentManager::FindView() const
{
auto viewKey = std::vector<ComponentTypeId>{ComponentTypeTs::typeId...};

auto baseViewMutexPair = this->FindView(viewKey);
auto baseViewPtr = baseViewMutexPair.first;
if (nullptr != baseViewPtr)
{
auto view = static_cast<detail::View<ComponentTypeTs...>*>(baseViewPtr);
auto view = static_cast<detail::View*>(baseViewPtr);

std::unique_ptr<std::lock_guard<std::mutex>> viewLock;
if (this->LockAddingEntitiesToViews())
Expand Down Expand Up @@ -527,7 +576,7 @@ detail::View<ComponentTypeTs...> *EntityComponentManager::FindView() const
}

// create a new view if one wasn't found
detail::View<ComponentTypeTs...> view;
detail::View view(std::set<ComponentTypeId>{ComponentTypeTs::typeId...});

for (const auto &vertex : this->Entities().Vertices())
{
Expand All @@ -547,8 +596,8 @@ detail::View<ComponentTypeTs...> *EntityComponentManager::FindView() const
}

baseViewPtr = this->AddView(viewKey,
std::make_unique<detail::View<ComponentTypeTs...>>(view));
return static_cast<detail::View<ComponentTypeTs...>*>(baseViewPtr);
std::make_unique<detail::View>(std::move(view)));
return static_cast<detail::View *>(baseViewPtr);
}

//////////////////////////////////////////////////
Expand Down
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