RunTimeError Example

記錄錯誤：
雖然編譯可以完成，
但對於 telemetryInfo_pro 這個變量的生命週期 沒有掌握好 (mavone.cpp:214)
導致 Segmentation fault

mavone/mavone.cpp

@@ -15,6 +15,7 @@
 #include <memory>
 #include <thread>
 #include <vector>
+#include <map>
 
 using namespace mavsdk;
 using std::chrono::seconds;
@@ -30,11 +31,16 @@ struct MavInitParameter {
 struct systemHandlerInfo {
     int systemID;
     std::thread systemThread;
-    
+    std::future<std::map<std::string, float>> telemetryInfo_fut;
 
 };
 
 
+
+
+
+
+
 int initializeParameters(const std::string& filePath, MavInitParameter& initSetting) {
     std::ifstream configFile(filePath);
     if (!configFile) {
@@ -79,42 +85,78 @@ int initializeParameters(const std::string& filePath, MavInitParameter& initSett
  * Important multi-threaded functions, 
  * handling system initialization, receiving messages and sending messages.
  */
- 
-
-
-void systemHandler(System& system){
-
+void systemHandler(System& system, std::promise<std::map<std::string, float>>& telemetryInfo_pro) {
     // Initialization
     auto telemetry = Telemetry{system};
     auto action = Action{system};
     std::cout << "System " << static_cast<int>(system.get_system_id()) << " get in Thread.(debug)" << std::endl; // debug
-    telemetry.subscribe_position([&system](Telemetry::Position position) {
-        std::cout << "System ID: " << static_cast<int>(system.get_system_id()) << " Altitude: " << position.relative_altitude_m << " m\n"; // debug
-        // Feed To mysql
-    });
 
+    // Store telemetry information
+    std::map<std::string, float> telemetryInfo; 
+
+    // dev del S
+        std::cout << "mark tA" << std::endl;
+        std::future<std::map<std::string, float>> telemetryInfo_future = telemetryInfo_pro.get_future(); // dev del
+
+        std::cout << "mark tB" << std::endl;
+        if (!telemetryInfo_future.valid()) {
+            std::cout << "telemetryInfo_pro is not valid" << std::endl;
+        }
+
+        telemetryInfo["test"] = 3.14;
+        telemetryInfo_pro.set_value(telemetryInfo);
+        std::cout << "mark tC" << std::endl;
+        if (!telemetryInfo_future.valid()) {
+            std::cout << "telemetryInfo_pro is not valid" << std::endl;
+        }
+
+        
+
+    // dev del E
+
+    telemetry.subscribe_position([&system, &telemetryInfo, &telemetryInfo_pro](Telemetry::Position position) {
+        std::cout << "System ID: " << static_cast<int>(system.get_system_id()) << " Altitude: " << position.relative_altitude_m << " m\n"; // debug
+
+        // Store telemetry information
+        telemetryInfo["altitude"] = position.relative_altitude_m;
+        // Add more telemetry information as needed
+
+        // Set the telemetry information in the promise
+        std::cout << "mark tsA" << std::endl;
+        telemetryInfo_pro.set_value(telemetryInfo);
+        std::cout << "mark tsB" << std::endl;
+
+
+        sleep_for(seconds(1)); // debug
+    });
 
     sleep_for(seconds(5)); // debug
 
     std::cout << "Thread Out " << static_cast<int>(system.get_system_id()) << std::endl;
-}
 
 
+}
+
 int main(int argc, char** argv)
 {
 
-    if (argc != 2) {
-        std::cout << "Config File Needed! ex. config.txt" << std::endl;
-        return 1;
-    }
+    // if (argc != 2) {
+    //     std::cout << "Config File Needed! ex. config.txt" << std::endl;
+    //     return 1;
+    // }
 
     // Program Initial Read Setting from config file
     struct MavInitParameter initSetting;
-    auto i = initializeParameters(argv[1], initSetting);
+    // auto i = initializeParameters(argv[1], initSetting);
+    auto i = initializeParameters("config.txt", initSetting);
     if (i == 1){
         std::cerr << "Failed to open config file: " << argv[1] << std::endl;
     }
 
+
+
+
+
     // Start MAVSDK Server and connect to it.
     Mavsdk mavsdk;
     ConnectionResult connection_result = mavsdk.add_any_connection(initSetting.connectPort);
@@ -149,15 +191,32 @@ int main(int argc, char** argv)
 
         // 
         // std::map<string, float> telemetryInfo;
-        auto telemetryInfo_pro = std::promise<std::map<string, float>>{};
-        auto telemetryInfo_fut = telemetryInfo_pro.get_future();
+        auto telemetryInfo_pro = std::promise<std::map<std::string, float>>{};
+        // auto telemetryInfo_fut = telemetryInfo_pro.get_future();
+
+
+        // dev del S
+
+            auto telemetryInfo_pro1 = std::promise<std::map<std::string, float>>{};
+            auto telemetryInfo_fut1 = telemetryInfo_pro.get_future();
+
+            std::thread worker([&telemetryInfo_pro1]() {
+                // 執行任務並將結果回傳至 promise
+                std::map<std::string, float> result;
+                result["test"]=3.14;
+                telemetryInfo_pro1.set_value(result);
+            });
+            worker.join();
+        // dev del E
+
 
         // Let handler progrem deal with System  
-        std::thread systemHandleThread([&new_system]() {systemHandler(new_system);});
+        std::thread systemHandleThread([&new_system, &telemetryInfo_pro]() {systemHandler(new_system, telemetryInfo_pro);});
 
         systemHandlerInfos.push_back(systemHandlerInfo{
             static_cast<int>(new_system.get_system_id()),
-            std::move(systemHandleThread)
+            std::move(systemHandleThread),
+            std::move(telemetryInfo_fut1)
         });
     });
 
@@ -169,9 +228,13 @@ int main(int argc, char** argv)
     //   -- 從 systemHandlerInfos 中 輪巡所有 system 檢查並處理是否有需要丟到 mysql 的資料
     //   -- 從 mysql 抓到指令 丟到 systemHandlerInfo
 
-
-
-
+    // for (const auto& info : systemHandlerInfos) {
+    //     // Access info.systemID, info.systemHandleThread, info.telemetryInfo_fut
+    //     // Perform operations on each object in systemHandlerInfos
+    //     info.telemetryInfo_fut.wait();
+    //     auto x = info.telemetryInfo_fut.get();
+    //     std::cout << "mark D :" << info.systemID << "; " << x["altitude"] << std::endl;
+    // }
 
 
 // ==============================================================================