correctly clear windows on exit to avoid panda assert

fspindle · Dec 13, 2024 · 4559f93 · 4559f93
1 parent 040b88a
commit 4559f93
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Showing 5 changed files with 121 additions and 2 deletions.
diff --git a/modules/ar/CMakeLists.txt b/modules/ar/CMakeLists.txt
@@ -191,3 +191,15 @@ vp_glob_module_sources()
 
 vp_module_include_directories(${opt_incs} SYSTEM ${opt_system_incs})
 vp_create_module(${opt_libs})
+
+
+set(opt_test_incs "")
+set(opt_test_libs "")
+
+if(WITH_CATCH2)
+  # catch2 is private
+  list(APPEND opt_test_incs ${CATCH2_INCLUDE_DIRS})
+  list(APPEND opt_test_libs ${CATCH2_LIBRARIES})
+endif()
+
+vp_add_tests(DEPENDS_ON visp_core PRIVATE_INCLUDE_DIRS ${opt_test_incs} PRIVATE_LIBRARIES ${opt_test_libs})
diff --git a/modules/ar/include/visp3/ar/vpPanda3DBaseRenderer.h b/modules/ar/include/visp3/ar/vpPanda3DBaseRenderer.h
@@ -58,12 +58,24 @@ class VISP_EXPORT vpPanda3DBaseRenderer
 {
 public:
   vpPanda3DBaseRenderer(const std::string &rendererName)
-    : m_name(rendererName), m_renderOrder(-100), m_window(nullptr), m_camera(nullptr)
+    : m_name(rendererName), m_renderOrder(-100), m_window(nullptr), m_camera(nullptr), m_isWindowOwner(false)
   {
     setVerticalSyncEnabled(false);
   }
 
-  virtual ~vpPanda3DBaseRenderer() = default;
+  virtual ~vpPanda3DBaseRenderer()
+  {
+    if (m_window != nullptr) {
+      for (GraphicsOutput *buffer: m_buffers) {
+        buffer->get_engine()->remove_window(buffer);
+      }
+    }
+    if (m_isWindowOwner) {
+      framework.close_window(m_window);
+    }
+
+    m_window = nullptr;
+  }
 
   /**
    * @brief Initialize the whole Panda3D framework. Create a new PandaFramework object and a new window.
@@ -278,6 +290,7 @@ class VISP_EXPORT vpPanda3DBaseRenderer
   PointerTo<Camera> m_camera;
   NodePath m_cameraPath; //! NodePath of the camera
   std::vector<GraphicsOutput *> m_buffers; //! Set of buffers that this renderer uses. This storage contains weak refs to those buffers and should not deallocate them.
+  bool m_isWindowOwner; // Whether this panda subrenderer is the "owner" of the window framework and should close all associated windows when getting destroyed
 };
 
 END_VISP_NAMESPACE

diff --git a/modules/ar/src/panda3d-simulator/vpPanda3DBaseRenderer.cpp b/modules/ar/src/panda3d-simulator/vpPanda3DBaseRenderer.cpp
@@ -61,6 +61,8 @@ void vpPanda3DBaseRenderer::initFramework()
     framework.open_framework();
   }
 
+  m_isWindowOwner = true;
+
   WindowProperties winProps;
   winProps.set_size(LVecBase2i(m_renderParameters.getImageWidth(), m_renderParameters.getImageHeight()));
   int flags = GraphicsPipe::BF_refuse_window;
@@ -83,6 +85,7 @@ void vpPanda3DBaseRenderer::initFramework()
 
 void vpPanda3DBaseRenderer::initFromParent(PointerTo<WindowFramework> window)
 {
+  m_isWindowOwner = false;
   m_window = window;
   setupScene();
   setupCamera();
@@ -91,6 +94,7 @@ void vpPanda3DBaseRenderer::initFromParent(PointerTo<WindowFramework> window)
 
 void vpPanda3DBaseRenderer::initFromParent(const vpPanda3DBaseRenderer &renderer)
 {
+  m_isWindowOwner = false;
   initFromParent(renderer.m_window);
 }
 

diff --git a/modules/ar/src/panda3d-simulator/vpPanda3DRendererSet.cpp b/modules/ar/src/panda3d-simulator/vpPanda3DRendererSet.cpp
@@ -50,6 +50,7 @@ void vpPanda3DRendererSet::initFramework()
     frameworkIsOpen = true;
     framework.open_framework();
   }
+  m_isWindowOwner = true;
 
   WindowProperties winProps;
   winProps.set_size(LVecBase2i(m_renderParameters.getImageWidth(), m_renderParameters.getImageHeight()));

diff --git a/modules/ar/test/catchPanda.cpp b/modules/ar/test/catchPanda.cpp
@@ -0,0 +1,89 @@
+/*
+ * ViSP, open source Visual Servoing Platform software.
+ * Copyright (C) 2005 - 2024 by Inria. All rights reserved.
+ *
+ * This software is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2 of the License, or
+ * (at your option) any later version.
+ * See the file LICENSE.txt at the root directory of this source
+ * distribution for additional information about the GNU GPL.
+ *
+ * For using ViSP with software that can not be combined with the GNU
+ * GPL, please contact Inria about acquiring a ViSP Professional
+ * Edition License.
+ *
+ * See https://visp.inria.fr for more information.
+ *
+ * This software was developed at:
+ * Inria Rennes - Bretagne Atlantique
+ * Campus Universitaire de Beaulieu
+ * 35042 Rennes Cedex
+ * France
+ *
+ * If you have questions regarding the use of this file, please contact
+ * Inria at visp@inria.fr
+ *
+ * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
+ * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
+ *
+ * Description:
+ * Test vpCameraParameters JSON parse / save.
+ */
+
+/*!
+  \example catchJsonCamera.cpp
+
+  Test saving and parsing JSON configuration for vpCameraParameters.
+*/
+
+#include <visp3/core/vpCameraParameters.h>
+#include <visp3/core/vpIoTools.h>
+
+#if defined(VISP_HAVE_PANDA3D) && defined(VISP_HAVE_CATCH2)
+#include <visp3/ar/vpPanda3DBaseRenderer.h>
+#include <visp3/ar/vpPanda3DRGBRenderer.h>
+#include <visp3/ar/vpPanda3DGeometryRenderer.h>
+#include <visp3/core/vpCameraParameters.h>
+#include <catch_amalgamated.hpp>
+
+#ifdef ENABLE_VISP_NAMESPACE
+using namespace VISP_NAMESPACE_NAME;
+#endif
+
+#include <random>
+
+SCENARIO("Instanciating multiple Panda3D renderers", "[Panda3D]")
+{
+  GIVEN("A single renderer")
+  {
+    vpCameraParameters cam(600, 600, 160, 120);
+    vpPanda3DRenderParameters renderParams(cam, 240, 320, 0.001, 1.0);
+    vpPanda3DGeometryRenderer r1(vpPanda3DGeometryRenderer::CAMERA_NORMALS);
+    r1.setRenderParameters(renderParams);
+    r1.initFramework();
+
+    WHEN("Creating another, uncoupled renderer")
+    {
+      // vpPanda3DGeometryRenderer r2(vpPanda3DGeometryRenderer::CAMERA_NORMALS);
+      // r2.setRenderParameters(renderParams);
+      // r2.initFramework();
+
+    }
+  }
+}
+
+int main(int argc, char *argv[])
+{
+  Catch::Session session; // There must be exactly one instance
+  session.applyCommandLine(argc, argv);
+
+  int numFailed = session.run();
+  return numFailed;
+}
+
+#else
+
+int main() { return EXIT_SUCCESS; }
+
+#endif