Solves crash on RayQuery #433

agalbachicar · 2021-06-21T13:56:49Z

Connected to #405

Solves the crash because of using the RayQuery not in the Render thread but exposes a new error in the plugin. The following backtrace shows that it happens in the ignition::gui::Plugin instead of MaliputViewerPlugin.

This PR lacks of the correction in elevation for the double asphalt mesh. Will be fixed before marking this PR as ready for review.

Backtrace of the error:

Thread 20 "ignition::gui::" received signal SIGSEGV, Segmentation fault.
[Switching to Thread 0x7fff84859700 (LWP 22414)]
0x00007fffcc90c7f0 in Ogre::Math::calculateBasicFaceNormalWithoutNormalize(Ogre::Vector3 const&, Ogre::Vector3 const&, Ogre::Vector3 const&) ()
   from /usr/lib/x86_64-linux-gnu/libOgreMain.so.1.9.0
(gdb) backtrace
#0  0x00007fffcc90c7f0 in Ogre::Math::calculateBasicFaceNormalWithoutNormalize(Ogre::Vector3 const&, Ogre::Vector3 const&, Ogre::Vector3 const&) ()
   from /usr/lib/x86_64-linux-gnu/libOgreMain.so.1.9.0
#1  0x00007fffcc90c8c1 in Ogre::Math::intersects(Ogre::Ray const&, Ogre::Vector3 const&, Ogre::Vector3 const&, Ogre::Vector3 const&, bool, bool) ()
   from /usr/lib/x86_64-linux-gnu/libOgreMain.so.1.9.0
#2  0x00007fffccfa4a18 in ignition::rendering::v3::OgreRayQuery::ClosestPoint() ()
   from /usr/lib/x86_64-linux-gnu/ign-rendering-3/engine-plugins/libignition-rendering-ogre.so
#3  0x00007fffd82c6a54 in ignition::gui::plugins::IgnRenderer::ScreenToScene(ignition::math::v6::Vector2<int> const&) const ()
   from /usr/lib/x86_64-linux-gnu/ign-gui-3/plugins/libScene3D.so
#4  0x00007fffd82c6be9 in ignition::gui::plugins::IgnRenderer::BroadcastHoverPos() () from /usr/lib/x86_64-linux-gnu/ign-gui-3/plugins/libScene3D.so
#5  0x00007fffd82cfd12 in ignition::gui::plugins::IgnRenderer::HandleMouseEvent() () from /usr/lib/x86_64-linux-gnu/ign-gui-3/plugins/libScene3D.so
#6  0x00007fffd82cfe43 in ignition::gui::plugins::IgnRenderer::Render() () from /usr/lib/x86_64-linux-gnu/ign-gui-3/plugins/libScene3D.so
#7  0x00007fffd82d081b in ignition::gui::plugins::RenderThread::RenderNext() () from /usr/lib/x86_64-linux-gnu/ign-gui-3/plugins/libScene3D.so
#8  0x00007ffff6b110c2 in QObject::event(QEvent*) () from /usr/lib/x86_64-linux-gnu/libQt5Core.so.5
#9  0x00007ffff6ae176a in QCoreApplication::notify(QObject*, QEvent*) () from /usr/lib/x86_64-linux-gnu/libQt5Core.so.5
#10 0x00007ffff6ae18d8 in QCoreApplication::notifyInternal2(QObject*, QEvent*) () from /usr/lib/x86_64-linux-gnu/libQt5Core.so.5
#11 0x00007ffff6ae404d in QCoreApplicationPrivate::sendPostedEvents(QObject*, int, QThreadData*) () from /usr/lib/x86_64-linux-gnu/libQt5Core.so.5
#12 0x00007ffff6b3b263 in ?? () from /usr/lib/x86_64-linux-gnu/libQt5Core.so.5
#13 0x00007ffff1f4b537 in g_main_context_dispatch () from /usr/lib/x86_64-linux-gnu/libglib-2.0.so.0
#14 0x00007ffff1f4b770 in ?? () from /usr/lib/x86_64-linux-gnu/libglib-2.0.so.0
#15 0x00007ffff1f4b7fc in g_main_context_iteration () from /usr/lib/x86_64-linux-gnu/libglib-2.0.so.0
#16 0x00007ffff6b3a88f in QEventDispatcherGlib::processEvents(QFlags<QEventLoop::ProcessEventsFlag>) () from /usr/lib/x86_64-linux-gnu/libQt5Core.so.5
#17 0x00007ffff6adf90a in QEventLoop::exec(QFlags<QEventLoop::ProcessEventsFlag>) () from /usr/lib/x86_64-linux-gnu/libQt5Core.so.5
#18 0x00007ffff68fe23a in QThread::exec() () from /usr/lib/x86_64-linux-gnu/libQt5Core.so.5
#19 0x00007ffff690317d in ?? () from /usr/lib/x86_64-linux-gnu/libQt5Core.so.5
#20 0x00007ffff3ba26db in start_thread (arg=0x7fff84859700) at pthread_create.c:463
#21 0x00007ffff5d7e71f in clone () at ../sysdeps/unix/sysv/linux/x86_64/clone.S:95

Steps to reproduce:

Open maliput_viewer2.sh
Select an xodr map.
Press the load button.
Drag on the empty space to move the camera around.
Hover (but not click) on top of the RoadGeometry a few times until the application crashes.

It can also be reproduced with yaml files.

the render processing from the UI processing.

scpeters · 2021-06-22T05:59:55Z

I've also posted the BroadcastHoverPos backtrace in gazebosim/gz-gui#209 (comment)

…t distance.

francocipollone

LGTM. Just two comments.
I will try this locally asap to confirm the same behavior as before.

francocipollone · 2021-06-28T14:09:27Z

delphyne_gui/visualizer/maliput_viewer_plugin/maliput_viewer_model.hh

+  /// \brief Get the maliput::api::RoadPositionResult associated with a point in
+  ///        world space if exists.
+  /// \param[in] _position World position of point that intersected with a plane
+  /// \return maliput::api::RoadPositionResult associated with that position.


nit: Missing throw case.

Solved in f07e3cd

francocipollone · 2021-06-28T14:23:25Z

delphyne_gui/visualizer/maliput_viewer_plugin/maliput_viewer_plugin.cc

-      if (renderMeshesOption.executeLabelRendering) {
-        RenderLabels(model->Labels());
-        renderMeshesOption.executeLabelRendering = false;
-      }


Sorry, I can't figure out why this should be removed.

Confirmed. Because of this labels aren't being rendered

Solved in 1116d64

Thanks!

francocipollone · 2021-06-28T14:59:27Z

delphyne_gui/visualizer/maliput_viewer_plugin/maliput_viewer_plugin.cc

-      if (renderMeshesOption.executeLabelRendering) {
-        RenderLabels(model->Labels());
-        renderMeshesOption.executeLabelRendering = false;
-      }


Confirmed. Because of this labels aren't being rendered

agalbachicar

All comments were addressed. PTAL.

agalbachicar · 2021-06-29T12:02:38Z

delphyne_gui/visualizer/maliput_viewer_plugin/maliput_viewer_model.hh

+  /// \brief Get the maliput::api::RoadPositionResult associated with a point in
+  ///        world space if exists.
+  /// \param[in] _position World position of point that intersected with a plane
+  /// \return maliput::api::RoadPositionResult associated with that position.


Solved in f07e3cd

agalbachicar · 2021-06-29T12:04:06Z

delphyne_gui/visualizer/maliput_viewer_plugin/maliput_viewer_plugin.cc

-      if (renderMeshesOption.executeLabelRendering) {
-        RenderLabels(model->Labels());
-        renderMeshesOption.executeLabelRendering = false;
-      }


Solved in 1116d64

Thanks!

francocipollone

LGTM

agalbachicar added 2 commits June 21, 2021 10:09

Adds a method to retrieve a RoadPositionResult.

6ceee97

Listens to the LeftClickToScene event and decouples

dc71221

the render processing from the UI processing.

agalbachicar mentioned this pull request Jun 21, 2021

maliput_viewer2.sh crash with OGRE EXCEPTION: Vertex Buffer: Out of memory in GLHardwareVertexBuffer::lock #405

Closed

Solves the arrow issue and computes the camera to click Inertial poin…

6c9bc24

…t distance.

agalbachicar requested a review from francocipollone June 28, 2021 11:11

agalbachicar marked this pull request as ready for review June 28, 2021 11:11

Merge branch 'main' into agalbachicar/#405_crash_on_rayquery

9c1572e

francocipollone approved these changes Jun 28, 2021

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francocipollone requested changes Jun 28, 2021

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agalbachicar added 2 commits June 29, 2021 09:01

Restores removed code.

1116d64

Adds precondition in new method.

f07e3cd

agalbachicar commented Jun 29, 2021

View reviewed changes

agalbachicar requested a review from francocipollone June 29, 2021 12:04

francocipollone approved these changes Jun 29, 2021

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agalbachicar merged commit 94bdc34 into main Jun 29, 2021

agalbachicar deleted the agalbachicar/#405_crash_on_rayquery branch June 29, 2021 12:41

francocipollone mentioned this pull request Sep 30, 2021

maliput_viewer: Crash when hovering or selecting lanes #466

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Solves crash on RayQuery #433

Solves crash on RayQuery #433

agalbachicar commented Jun 21, 2021 •

edited

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scpeters commented Jun 22, 2021

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Solves crash on RayQuery #433

Solves crash on RayQuery #433

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agalbachicar commented Jun 21, 2021 • edited Loading

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agalbachicar commented Jun 21, 2021 •

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