Bugfixes

include/Module.h

@@ -61,7 +61,7 @@ class Module {
     uint8_t m_device_id;
     ModuleType m_module_type;
     Messaging::ConnectionType m_connection_type;
-    uint8_t m_leader;
+    std::atomic<uint8_t> m_leader{0};
     std::chrono::time_point<std::chrono::system_clock> m_last_updated;
     std::vector<neighbour> m_neighbours;
     std::shared_ptr<MessagingInterface> m_messaging_interface;

include/libcontrol.h

@@ -123,7 +123,7 @@ class RobotController {
     std::thread m_configuration_loop;
     std::thread m_sensor_loop;
     std::thread m_expiry_looop;
-    uint8_t m_selected_leader = 0;
+    std::atomic<uint8_t> m_selected_leader{0};
 
     void metadata_loop();
     void transmit_loop();

src/lib_c_control.cpp

@@ -170,7 +170,9 @@ LIB_API bool remote_call_c(uint8_t function_tag, uint8_t module, const uint8_t *
 }
 
 LIB_API const uint8_t *get_leaders(int *length) {
-    static const auto leaders = robot_controller->get_leaders();
+    static std::vector<uint8_t> leaders;
+    leaders = robot_controller->get_leaders();
     *length = leaders.size();
+    spdlog::info("Returning {} leaders", *length);
     return leaders.data();
 }

src/libcontrol.cpp

@@ -113,7 +113,7 @@ std::vector<Flatbuffers::ModuleInstance> RobotController::getModuleList() {
     std::vector<Flatbuffers::ModuleInstance> out;
     std::shared_lock lock(m_module_lock);
     for (auto const &[key, value] : m_id_to_module) {
-        out.push_back({key, value->get_type(), value->get_leader()});
+        out.push_back({key, value->get_type(), 0, value->get_leader()});
     }
     return out;
 }
@@ -305,6 +305,7 @@ std::vector<uint8_t> RobotController::get_leaders() {
     std::shared_lock lock(m_module_lock);
     std::unordered_set<uint8_t> out{};
 
+    spdlog::info("number of modules {}", m_id_to_module.size());
     for (const auto m : map_to_values(m_id_to_module)) {
         out.insert(m->get_leader());
     }