Issues with Dynamic Casting and Segmentation Fault

Requests regarding how to set up experiments in ARGoS.
Rluna319
Posts: 5
Joined: Sat Sep 17, 2022 9:33 pm

Issues with Dynamic Casting and Segmentation Fault

Postby Rluna319 » Wed Sep 27, 2023 1:15 pm

Hello,

I am currently encountering an issue related to dynamic casting and segmentation faults in my ARGoS simulation. I have already browsed through previous forum posts and attempted to implement the solutions provided, but the issue persists.

Problem Description:
I am working on a foraging simulation where I use multiple controllers. Initially, I was getting a std::bad_cast error, which, according to previous forum posts, seemed to be due to using dynamic casting with references. I followed the advice to switch to using pointers for dynamic casting as suggested.

Code:
Here is an extended snippet of my code where I loop through the controllers, perform dynamic casting, and print out type IDs:

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for(argos::CSpace::TMapPerType::iterator it = footbots.begin(); it != footbots.end(); it++) { argos::CFootBotEntity& footBot = *argos::any_cast<argos::CFootBotEntity*>(it->second); BaseController* c = dynamic_cast<BaseController*>(&footBot.GetControllableEntity().GetController()); if(c != nullptr) { cout << "Type of BaseController pointer: " << typeid(c).name() << endl; CPFA_controller* c2 = dynamic_cast<CPFA_controller*>(c); Detractor_controller* c3 = dynamic_cast<Detractor_controller*>(c); if(c2 != nullptr) { c2->SetLoopFunctions(this); cout << "CPFA_controller cast successful" << endl; } else { cout << "CPFA_controller cast failed" << endl; cout << "Actual type of c2: " << typeid(c2).name() << endl; } if(c3 != nullptr) { c3->SetLoopFunctions(this); cout << "Detractor_controller cast successful" << endl; } else { cout << "Detractor_controller cast failed" << endl; cout << "Actual type of c3: " << typeid(c3).name() << endl; } } else { cout << "BaseController cast failed" << endl; } }
After running the above snippet, I get the following type of output (formatted here for readability):

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Type of BaseController pointer: P14BaseController CPFA_controller cast successful Detractor_controller cast failed Actual type of c3: P20Detractor_controller Type of BaseController pointer: P14BaseController CPFA_controller cast successful Detractor_controller cast failed Actual type of c3: P20Detractor_controller ... Type of BaseController pointer: P14BaseController CPFA_controller cast failed Actual type of c2: P15CPFA_controller Detractor_controller cast successful Type of BaseController pointer: P14BaseController CPFA_controller cast failed Actual type of c2: P15CPFA_controller Detractor_controller cast successful
The output suggests that some casts to CPFA_controller are successful, while others are failing. Similarly, some casts to Detractor_controller are failing as well. This inconsistency is puzzling, especially since the pointer does not appear to be null when inspected with GDB.

GDB Output:

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Thread 1 "argos3" hit Breakpoint 1, ... (gdb) print c $9 = (CPFA_controller *) 0xbb754be082d0ba00 (gdb) print typeid(c) $10 = {_vptr.type_info = 0x7ffff7e9bc38 <vtable for __cxxabiv1::__pointer_type_info+16>, __name = 0x7ffff276a110 <typeinfo name for CPFA_controller*> "P15CPFA_controller"}
Shortly after this is where the segmentation fault occurs.

GDB Output:

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hread 1 "argos3" received signal SIGSEGV, Segmentation fault. 0x00007ffff2740022 in CPFA_controller::IsHoldingFood (this=0x0) at /home/Ryan/Foraging_Swarm_Defense/CPFA/source/CPFA/CPFA_controller.cpp:161 161 return isHoldingFood; (gdb) bt #0 0x00007ffff2740022 in CPFA_controller::IsHoldingFood() (this=0x0) at /home/Ryan/Foraging_Swarm_Defense/CPFA/source/CPFA/CPFA_controller.cpp:161 #1 0x00007ffff2600406 in CPFA_qt_user_functions::DrawOnRobot(argos::CFootBotEntity&) (this=0x555555b9cd80, entity=...) at /home/Ryan/Foraging_Swarm_Defense/CPFA/source/CPFA/CPFA_qt_user_functions.cpp:19 #2 0x00007ffff260258b in argos::CQTOpenGLUserFunctions::Thunk<CPFA_qt_user_functions, argos::CFootBotEntity>(argos::CEntity&) (this=0x555555b9cd80, c_entity=...) at /usr/include/argos3/plugins/simulator/visualizations/qt-opengl/qtopengl_user_functions.h:477 #3 0x00007ffff6840616 in argos::CQTOpenGLWidget::paintGL() () at /usr/lib/argos3/libargos3plugin_simulator_qtopengl.so #4 0x00007ffff5ea5e05 in () at /lib/x86_64-linux-gnu/libQt5Widgets.so.5 #5 0x00007ffff5e832b6 in QWidget::event(QEvent*) () at /lib/x86_64-linux-gnu/libQt5Widgets.so.5 #6 0x00007ffff5e40a66 in QApplicationPrivate::notify_helper(QObject*, QEvent*) () at /lib/x86_64-linux-gnu/libQt5Widgets.so.5 #7 0x00007ffff5e4a0f0 in QApplication::notify(QObject*, QEvent*) () at /lib/x86_64-linux-gnu/libQt5Widgets.so.5 #8 0x00007ffff6818157 in argos::CQTOpenGLApplication::notify(QObject*, QEvent*) () at /usr/lib/argos3/libargos3plugin_simulator_qtopengl.so #9 0x00007ffff542880a in QCoreApplication::notifyInternal2(QObject*, QEvent*) () at /lib/x86_64-linux-gnu/libQt5Core.so.5 #10 0x00007ffff5e7bf4a in QWidgetPrivate::sendPaintEvent(QRegion const&) () at /lib/x86_64-linux-gnu/libQt5Widgets.so.5 #11 0x00007ffff5ea5c2f in QOpenGLWidget::resizeEvent(QResizeEvent*) () at /lib/x86_64-linux-gnu/libQt5Widgets.so.5 #12 0x00007ffff6842687 in argos::CQTOpenGLWidget::resizeEvent(QResizeEvent*) () at /usr/lib/argos3/libargos3plugin_simulator_qtopengl.so #13 0x00007ffff5e83947 in QWidget::event(QEvent*) () at /lib/x86_64-linux-gnu/libQt5Widgets.so.5 #14 0x00007ffff5e40a66 in QApplicationPrivate::notify_helper(QObject*, QEvent*) () at /lib/x86_64-linux-gnu/libQt5Widgets.so.5 #15 0x00007ffff5e4a0f0 in QApplication::notify(QObject*, QEvent*) () at /lib/x86_64-linux-gnu/libQt5Widgets.so.5 #16 0x00007ffff6818157 in argos::CQTOpenGLApplication::notify(QObject*, QEvent*) () at /usr/lib/argos3/libargos3plugin_simulator_qtopengl.so #17 0x00007ffff542880a in QCoreApplication::notifyInternal2(QObject*, QEvent*) () at /lib/x86_64-linux-gnu/libQt5Core.so.5 #18 0x00007ffff5e7be6e in QWidgetPrivate::sendPendingMoveAndResizeEvents(bool, bool) () at /lib/x86_64-linux-gnu/libQt5Widgets.so.5 #19 0x00007ffff5e7fbd7 in QWidgetPrivate::show_helper() () at /lib/x86_64-linux-gnu/libQt5Widgets.so.5 #20 0x00007ffff5e82d6b in QWidgetPrivate::setVisible(bool) () at /lib/x86_64-linux-gnu/libQt5Widgets.so.5 #21 0x00007ffff5e7fb61 in QWidgetPrivate::showChildren(bool) () at /lib/x86_64-linux-gnu/libQt5Widgets.so.5 #22 0x00007ffff5e7fbf3 in QWidgetPrivate::show_helper() () at /lib/x86_64-linux-gnu/libQt5Widgets.so.5 #23 0x00007ffff5e82d6b in QWidgetPrivate::setVisible(bool) () at /lib/x86_64-linux-gnu/libQt5Widgets.so.5 #24 0x00007ffff5e7fb61 in QWidgetPrivate::showChildren(bool) () at /lib/x86_64-linux-gnu/libQt5Widgets.so.5 #25 0x00007ffff5e7fbf3 in QWidgetPrivate::show_helper() () at /lib/x86_64-linux-gnu/libQt5Widgets.so.5 #26 0x00007ffff5e82d6b in QWidgetPrivate::setVisible(bool) () at /lib/x86_64-linux-gnu/libQt5Widgets.so.5 #27 0x00007ffff6836612 in argos::CQTOpenGLRender::Execute() () at /usr/lib/argos3/libargos3plugin_simulator_qtopengl.so
Steps Taken:
  • Switched from dynamic casting with references to pointers.
  • Checked for null pointers before accessing methods.
  • Validated object lifetimes.
Despite these steps, the issue remains unresolved. I would greatly appreciate any guidance or suggestions for resolving this issue.

Thank you in advance for your help.

Best regards,
Ryan

pincy
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Joined: Thu Mar 08, 2012 8:04 pm
Location: Boston, MA
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Re: Issues with Dynamic Casting and Segmentation Fault

Postby pincy » Thu Sep 28, 2023 2:30 am

I don't have sufficient information to know what is going on, since the crucial piece of the puzzle is how you define your three controller classes. From the output, I can infer that
  • you have a BaseController that extends CCI_Controller
  • you have CPFA_controller that extends BaseController
  • you have a Detractor_controller that extends BaseController
Again from the output, it seems that CPFA_controller and Detractor_controller do not extend each other (which is a good thing). If what I am getting is correct, then the casts make sense and the output you get is correct.

From what you show me, I wouldn't diagnose the segfault as a casting problem. It's likely that the issue is elsewhere, but without the full source code I can't exactly tell.
I made ARGoS.

Rluna319
Posts: 5
Joined: Sat Sep 17, 2022 9:33 pm

Re: Issues with Dynamic Casting and Segmentation Fault

Postby Rluna319 » Sun Oct 08, 2023 3:32 pm

Thank you for your response. I apologize for the delay in my reply. You are correct in your understanding of the class hierarchy:

- BaseController extends CCI_Controller
- CPFA_controller extends BaseController
- Detractor_controller extends BaseController
- CPFA_controller and Detractor_controller do not extend each other

I would hate to overburden you with the full source code but here is the link to the repo for your reference:
https://github.com/MARSLab-UTRGV/Foraging_Swarm_Defense. The branch with the issue in reference is ryan-dev.

Another important note is that if I run the code with visualization off, I do not encounter the segmentation fault.

Along with the debug messages received through GDB:

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#0 0x00007ffff2732042 in CPFA_controller::IsHoldingFood (this=0x0) at /home/ryan/swarm-def/CPFA/source/CPFA/CPFA_controller.cpp:161 #1 0x00007ffff25fb3f6 in CPFA_qt_user_functions::DrawOnRobot (this=0x555555b01930, entity=...) at /home/ryan/swarm-def/CPFA/source/CPFA/CPFA_qt_user_functions.cpp:19 c = 0x0 #2 0x00007ffff25fd57b in argos::CQTOpenGLUserFunctions::Thunk<CPFA_qt_user_functions, argos::CFootBotEntity> ( this=0x555555b01930, c_entity=...) at /usr/include/argos3/plugins/simulator/visualizations/qt-opengl/qtopengl_user_functions.h:477 cImpl = @0x555555b01930: {<argos::CQTOpenGLUserFunctions> = {<No data fields>}, loopFunctions = @0x5555555fac20} cEntity = @0x5555556fc720: <incomplete type> cFunctionHolder = @0x555555b52760: {<argos::CQTOpenGLUserFunctions::CFunctionHolder> = {<No data fields>}, Function = (void (CPFA_qt_user_functions::*)(CPFA_qt_user_functions * const, argos::CFootBotEntity &)) 0x7ffff25fb37c <CPFA_qt_user_functions::DrawOnRobot(argos::CFootBotEntity&)>}
The error only starts when CPFA_controller::IsHoldingFood() is called from within CPFA_qt_user_functions::DrawOnRobot().

When called in CPFA_loop_functions::Init(argos::TConfigurationNode &node) as follows:

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for(argos::CSpace::TMapPerType::iterator it = footbots.begin(); it != footbots.end(); it++) { argos::CFootBotEntity& footBot = *argos::any_cast<argos::CFootBotEntity*>(it->second); BaseController* c = dynamic_cast<BaseController*>(&footBot.GetControllableEntity().GetController()); if(c != nullptr) { // cout << "Type of BaseController pointer: " << typeid(c).name() << endl; CPFA_controller* c2 = dynamic_cast<CPFA_controller*>(c); Detractor_controller* c3 = dynamic_cast<Detractor_controller*>(c); if(c2 != nullptr) { c2->SetLoopFunctions(this); // cout << "CPFA_controller cast successful" << endl; bool isHolding = c2->IsHoldingFood(); if(isHolding)cout << "Robot holding food." << endl; else cout << "Robot NOT holding food." << endl; cout << "Bot count = " << bot_count << endl; bot_count++; } else { // cout << "CPFA_controller cast failed" << endl; // cout << "Actual type of c2: " << typeid(c2).name() << endl; } if(c3 != nullptr) { c3->SetLoopFunctions(this); // cout << "Detractor_controller cast successful" << endl; bool isHolding = c3->IsHoldingFood(); if(isHolding)cout << "Robot holding food." << endl; else cout << "Robot NOT holding food." << endl; cout << "Bot count = " << bot_count << endl; bot_count++; } else { // cout << "Detractor_controller cast failed" << endl; // cout << "Actual type of c3: " << typeid(c3).name() << endl; } } else { // cout << "BaseController cast failed" << endl; } }
There is no segmentation fault. IsHoldingFood() returns False for all controllers as expected, as that is the initialized value.

CPFA_controller.h:

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#ifndef CPFA_CONTROLLER_H #define CPFA_CONTROLLER_H #include <source/Base/BaseController.h> #include <source/Base/Pheromone.h> #include <source/CPFA/CPFA_loop_functions.h> /* Definition of the LEDs actuator */ #include <argos3/plugins/robots/generic/control_interface/ci_leds_actuator.h> // Ryan Luna 12/28/22 #include <source/Base/QuarantineZone.h> #include <source/Base/Food.h> #include <source/Base/Attacker_Nest.h> using namespace std; using namespace argos; static unsigned int num_targets_collected = 0; class CPFA_loop_functions; class CPFA_controller : public BaseController { public: CPFA_controller(); // CCI_Controller inheritence functions void Init(argos::TConfigurationNode &node); void ControlStep(); void Reset(); bool IsHoldingFood(); bool IsHoldingFakeFood(); // Ryan Luna 11/12/22 bool IsUsingSiteFidelity(); bool IsInTheNest(); bool IsInTheBadNest(); Real FoodDistanceTolerance; void SetLoopFunctions(CPFA_loop_functions* lf); size_t GetSearchingTime();//qilu 09/26/2016 size_t GetTravelingTime();//qilu 09/26/2016 string GetStatus();//qilu 09/26/2016 size_t startTime;//qilu 09/26/2016 /* quarantine zone functions */ // Ryan Luna 12/28/22 void ClearZoneList(); void ClearLocalFoodList(); void AddZone(QZone newZone); void AddLocalFood(Food newFood); void RemoveZone(QZone Z); void RemoveLocalFood(Food F); bool TargetInQZone(CVector2 target); private: /* quarantine zone variables */ // Ryan Luna 12/28/22 vector<QZone> QZoneList; vector<Food> LocalFoodList; Food FoodBeingHeld; // Ryan Luna 1/24/23 string controllerID;//qilu 07/26/2016 CPFA_loop_functions* LoopFunctions; argos::CRandom::CRNG* RNG; /* pheromone trail variables */ std::vector<argos::CVector2> TrailToShare; std::vector<argos::CVector2> TrailToFollow; std::vector<argos::CRay3> MyTrail; /* robot position variables */ argos::CVector2 SiteFidelityPosition; bool updateFidelity; //qilu 09/07/2016 vector<CRay3> myTrail; CColor TrailColor; bool isInformed; bool isWronglyInformed; bool isHoldingFood; bool isHoldingFakeFood; // Ryan Luna 11/12/22 bool isUsingSiteFidelity; bool isGivingUpSearch; bool QZoneStrategy; // to turn ON/OFF Quarantine Zones size_t ResourceDensity; size_t MaxTrailSize; size_t SearchTime;//for informed search size_t BadFoodCount; // Ryan Luna 01/30/23 size_t BadFoodLimit; // Ryan Luna 01/30/23 QZone* CurrentZone; // Ryan Luna 01/30/23 bool UseQZones; // Ryan Luna 02/05/23 size_t MergeMode; size_t searchingTime; //qilu 09/26 size_t travelingTime;//qilu 09/26 Real FFdetectionAcc; Real RFdetectionAcc; /* Detractor related stuff */ bool captured; size_t captureTime; /* iAnt CPFA state variable */ enum CPFA_state { DEPARTING = 0, SEARCHING = 1, RETURNING = 2, SURVEYING = 3, CAPTURED = 4, // new CPFA state for defined behavior after being captured } CPFA_state; /* iAnt CPFA state functions */ void CPFA(); void Departing(); void Searching(); void Returning(); void Surveying(); void Captured(); /* CPFA helper functions */ void SetRandomSearchLocation(); void SetHoldingFood(); void SetLocalResourceDensity(); void SetFidelityList(argos::CVector2 newFidelity); void SetFidelityList(); bool SetTargetPheromone(); argos::Real GetExponentialDecay(argos::Real value, argos::Real time, argos::Real lambda); argos::Real GetBound(argos::Real value, argos::Real min, argos::Real max); argos::Real GetPoissonCDF(argos::Real k, argos::Real lambda); void UpdateTargetRayList(); CVector2 previous_position; string results_path; string results_full_path; bool isUsingPheromone; unsigned int survey_count; /* Pointer to the LEDs actuator */ CCI_LEDsActuator* m_pcLEDs; }; #endif /* CPFA_CONTROLLER_H */
CPFA_controller::IsHoldingFood()

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bool CPFA_controller::IsHoldingFood() { return isHoldingFood; }
Detractor_controller.h:

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#ifndef DETRACTOR_CONTROLLER_H #define DETRACTOR_CONTROLLER_H #include <source/Base/BaseController.h> #include <source/Base/Pheromone.h> #include <source/CPFA/CPFA_loop_functions.h> /* Definition of the LEDs actuator */ #include <argos3/plugins/robots/generic/control_interface/ci_leds_actuator.h> // Ryan Luna 12/28/22 #include <source/Base/QuarantineZone.h> #include <source/Base/Food.h> using namespace std; using namespace argos; class CPFA_loop_functions; class Detractor_controller : public BaseController { public: Detractor_controller(); // CCI_Controller inheritence functions void Init(argos::TConfigurationNode &node); void ControlStep(); void Reset(); bool IsHoldingFood(); bool IsHoldingFakeFood(); // Ryan Luna 11/12/22 bool IsUsingSiteFidelity(); bool IsInTheNest(); bool IsInTheBadNest(); Real FoodDistanceTolerance; void SetLoopFunctions(CPFA_loop_functions* lf); size_t GetSearchingTime();//qilu 09/26/2016 size_t GetTravelingTime();//qilu 09/26/2016 string GetStatus();//qilu 09/26/2016 string GetDetractorStatus(); size_t startTime;//qilu 09/26/2016 /* quarantine zone functions */ // Ryan Luna 12/28/22 void ClearZoneList(); void ClearLocalFoodList(); void AddZone(QZone newZone); void AddLocalFood(Food newFood); void RemoveZone(QZone Z); void RemoveLocalFood(Food F); bool TargetInQZone(CVector2 target); private: /* quarantine zone variables */ // Ryan Luna 12/28/22 vector<QZone> QZoneList; vector<Food> LocalFoodList; Food FoodBeingHeld; // Ryan Luna 1/24/23 string controllerID;//qilu 07/26/2016 CPFA_loop_functions* LoopFunctions; argos::CRandom::CRNG* RNG; /* pheromone trail variables */ std::vector<argos::CVector2> TrailToShare; std::vector<argos::CVector2> TrailToFollow; std::vector<argos::CRay3> MyTrail; /* robot position variables */ argos::CVector2 SiteFidelityPosition; bool updateFidelity; //qilu 09/07/2016 vector<CRay3> myTrail; CColor TrailColor; bool isInformed; bool isWronglyInformed; bool isHoldingFood; bool isHoldingFakeFood; // Ryan Luna 11/12/22 bool isUsingSiteFidelity; bool isGivingUpSearch; bool QZoneStrategy; // to turn ON/OFF Quarantine Zones size_t ResourceDensity; size_t MaxTrailSize; size_t SearchTime;//for informed search size_t BadFoodCount; // Ryan Luna 01/30/23 size_t BadFoodLimit; // Ryan Luna 01/30/23 QZone* CurrentZone; // Ryan Luna 01/30/23 bool UseQZones; // Ryan Luna 02/05/23 size_t MergeMode; size_t searchingTime; //qilu 09/26 size_t travelingTime;//qilu 09/26 Real FFdetectionAcc; Real RFdetectionAcc; /* iAnt Detractor state variable */ enum CPFA_state { DEPARTING = 0, SEARCHING = 1, RETURNING = 2, SURVEYING = 3 } CPFA_state; enum Detractor_state { _HOME_ = 0, // robot is at its home (attacker) nest _DEPARTING_ = 1, // departing from the attacker nest to the defender nest _DELIVERING_ = 2, // delivering fake food and deploying false pheromone trail _RETURNING_ = 3, // returning to the attacker nest from the defender nest after delivering fake food } Detractor_state; bool isDetractor; // boolean to set at initialization to determine if robot is a detractor or not argos::CVector2 badNestPos; // location of the attacker nest (used when laying pheromone trails back to bad nest position. /* iAnt CPFA state functions */ void CPFA(); void Departing(); void Searching(); void Returning(); void Surveying(); /* iAnt Detractor state functions */ void Detract(); void Home_d(); void Departing_d(); void Delivering_d(); void Returning_d(); /* CPFA/Detractor helper functions */ void SetRandomSearchLocation(); void SetHoldingFood(); void SetLocalResourceDensity(); void SetFidelityList(argos::CVector2 newFidelity); void SetFidelityList(); bool SetTargetPheromone(); argos::Real GetExponentialDecay(argos::Real value, argos::Real time, argos::Real lambda); argos::Real GetBound(argos::Real value, argos::Real min, argos::Real max); argos::Real GetPoissonCDF(argos::Real k, argos::Real lambda); void UpdateTargetRayList(); CVector2 previous_position; string results_path; string results_full_path; bool isUsingPheromone; unsigned int survey_count; /* Pointer to the LEDs actuator */ CCI_LEDsActuator* m_pcLEDs; }; #endif /* DETRACTOR_CONTROLLER_H */
BaseController.h:

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#ifndef BASECONTROLLER_H #define BASECONTROLLER_H #include <argos3/core/utility/logging/argos_log.h> #include <argos3/core/control_interface/ci_controller.h> #include <argos3/plugins/robots/generic/control_interface/ci_positioning_sensor.h> #include <argos3/plugins/robots/generic/control_interface/ci_differential_steering_actuator.h> #include <argos3/plugins/robots/foot-bot/control_interface/ci_footbot_proximity_sensor.h> #include <argos3/core/simulator/loop_functions.h> #include <cmath> #include <stack> /** * BaseController * @author Antonio Griego */ class BaseController : public argos::CCI_Controller { public: BaseController(); /* navigation functions */ argos::CRadians GetHeading(); argos::CVector2 GetPosition(); argos::CVector2 GetTarget(); unsigned int GetCollisionTime();//qilu 09/26/2016 void SetTarget(argos::CVector2 t); void SetStartPosition(argos::CVector3 sp); argos::CVector3 GetStartPosition(); size_t GetMovementState(); void Stop(); void Move(); bool Wait(); void Wait(size_t wait_time_in_seconds); /* time calculation functions */ size_t SimulationTick(); size_t SimulationTicksPerSecond(); argos::Real SimulationSecondsPerTick(); argos::Real SimulationTimeInSeconds(); void SetIsHeadingToNest(bool n); bool IsAtTarget(); protected: argos::CRandom::CRNG* RNG; unsigned int collision_counter; float DestinationNoiseStdev; // for introducing error in destination positions float PositionNoiseStdev; // for introducing error in current position size_t WaitTime; size_t collisionDelay; bool collisionFlag; argos::CRadians TargetAngleTolerance; argos::Real NestDistanceTolerance; argos::CRadians NestAngleTolerance; argos::Real TargetDistanceTolerance; argos::Real SearchStepSize; argos::CRange<argos::Real> ForageRangeX; argos::CRange<argos::Real> ForageRangeY; argos::CRange<argos::Real> GoStraightAngleRangeInDegrees; // base controller movement parameters argos::Real RobotForwardSpeed; argos::Real RobotRotationSpeed; argos::Real TicksToWaitWhileMoving; // foot-bot components: sensors and actuators argos::CCI_PositioningSensor* compassSensor; argos::CCI_DifferentialSteeringActuator* wheelActuator; argos::CCI_FootBotProximitySensor* proximitySensor; // controller state variables enum MovementState { STOP = 0, LEFT = 1, RIGHT = 2, FORWARD = 3, BACK = 4 } CurrentMovementState; /* movement definition variables */ struct Movement { size_t type; argos::Real magnitude; }; Movement previous_movement; argos::CVector2 previous_pattern_position; std::stack<Movement> MovementStack; private: argos::CLoopFunctions& LF; argos::CVector3 StartPosition; argos::CVector2 TargetPosition; /* private navigation helper functions */ void SetNextMovement(); void SetTargetAngleDistance(argos::Real newAngleToTurnInDegrees); void SetTargetTravelDistance(argos::Real newTargetDistance); void SetLeftTurn(argos::Real newTargetAngle); void SetRightTurn(argos::Real newTargetAngle); void SetMoveForward(argos::Real newTargetDistance); void SetMoveBack(argos::Real newTargetDistance); void PushMovement(size_t moveType, argos::Real moveSize); void PopMovement(); /* collision detection functions */ bool CollisionDetection(); argos::CVector2 GetCollisionVector(); bool heading_to_nest; }; #endif /* IANTBASECONTROLLER_H */
The CPFA and Detractor controllers are quite similar. The Detractor controller is a slightly modified version of the CPFA controller.

I will also add that this error happens during the initialization steps, before the visualization window pops up.

pincy
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Re: Issues with Dynamic Casting and Segmentation Fault

Postby pincy » Mon Oct 16, 2023 5:36 pm

Thanks, with all this info I can look into the problem. I'll set some time aside tomorrow.
I made ARGoS.


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