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MolaViz: BUGFIX: shared_ptr were captured by lambdas, delaying proper…
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… dtors. Replaced by weak_ptr's
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@jlblancoc
jlblancoc committed May 3, 2024
1 parent 0579317 commit 8acf538
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Showing 2 changed files with 119 additions and 91 deletions.
3 changes: 2 additions & 1 deletion mola_viz/include/mola_viz/MolaViz.h
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Original file line number Diff line number Diff line change
Expand Up @@ -162,8 +162,9 @@ class MolaViz : public ExecutableBase, public VizInterface
double lastTimeUpdateDatasetUIs_ = 0;
struct DataPerDatasetUI
{
std::shared_ptr<mola::Dataset_UI> module;
std::weak_ptr<mola::Dataset_UI> module;

bool first_time_seen = true;
nanogui::Window* ui = nullptr;
nanogui::Label* lbPlaybackPosition = nullptr;
nanogui::Slider* slider = nullptr;
Expand Down
207 changes: 117 additions & 90 deletions mola_viz/src/MolaViz.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -100,9 +100,8 @@ void gui_handler_show_common_sensor_info(
fp.vfont_scale = 9;

// Computes the "y" coordinate of a text line by index
const auto line_y = [&fp](const int line) {
return 2 + line * (2 + fp.vfont_scale);
};
const auto line_y = [&fp](const int line)
{ return 2 + line * (2 + fp.vfont_scale); };

glView->addTextMessage(
2, line_y(TXT_ID_TIMESTAMP),
Expand Down Expand Up @@ -377,10 +376,7 @@ void gui_handler_point_cloud(
glPc->loadFromPointsMap(pointMapCol.get());
recolorizeAtEnd = false;
}
else
{
obj3D->unprojectInto(*glPc, pp);
}
else { obj3D->unprojectInto(*glPc, pp); }
}
gui_handler_show_common_sensor_info(*obj3D, w);
}
Expand Down Expand Up @@ -584,13 +580,16 @@ void MolaViz::spinOnce()
void MolaViz::dataset_ui_check_new_modules()
{
auto datasetUIs = findService<Dataset_UI>();

for (auto& module : datasetUIs)
{
const auto modUI = std::dynamic_pointer_cast<Dataset_UI>(module);
ASSERT_(modUI);

auto& e = datasetUIs_[module->getModuleInstanceName()];
if (e.module) continue; // an already known one
if (!e.first_time_seen) continue; // an already known one

e.first_time_seen = false;

e.module = modUI;

Expand All @@ -610,15 +609,22 @@ void MolaViz::dataset_ui_check_new_modules()
e.cbPaused = e.ui->add<nanogui::CheckBox>("Paused");
e.cbPaused->setChecked(modUI->datasetUI_paused());
e.cbPaused->setCallback(
[modUI](bool checked) { modUI->datasetUI_paused(checked); });
[e](bool checked)
{
auto mod = e.module.lock();
if (mod) mod->datasetUI_paused(checked);
});

e.lbPlaybackPosition = e.ui->add<nanogui::Label>("Progress: ");
e.lbPlaybackPosition->setFixedWidth(100);
e.slider = e.ui->add<nanogui::Slider>();
e.slider->setFixedWidth(300);
e.slider->setCallback([modUI](float pos) {
modUI->datasetUI_teleport(static_cast<size_t>(pos));
});
e.slider->setCallback(
[e](float pos)
{
auto mod = e.module.lock();
if (mod) mod->datasetUI_teleport(static_cast<size_t>(pos));
});

e.ui->add<nanogui::Label>("Playback rate:");
e.cmRate = e.ui->add<nanogui::ComboBox>();
Expand All @@ -636,10 +642,13 @@ void MolaViz::dataset_ui_check_new_modules()
break;
}
e.cmRate->setSelectedIndex(selIdx);
e.cmRate->setCallback([rates, modUI](int idx) {
const double rate = rates.at(idx);
modUI->datasetUI_playback_speed(rate);
});
e.cmRate->setCallback(
[rates, e](int idx)
{
const double rate = rates.at(idx);
auto mod = e.module.lock();
mod->datasetUI_playback_speed(rate);
});

markWindowForReLayout(DEFAULT_WINDOW_NAME);
}
Expand All @@ -649,19 +658,26 @@ void MolaViz::dataset_ui_update()
{
for (auto& kv : datasetUIs_)
{
this->enqueue_custom_nanogui_code([&kv]() {
auto& e = kv.second; // lambda capture structured bind is >C++20
if (!e.module) return;

const size_t pos = e.module->datasetUI_lastQueriedTimestep();
const size_t N = e.module->datasetUI_size();

e.lbPlaybackPosition->setCaption(mrpt::format("%zu / %zu", pos, N));
e.slider->setRange(std::make_pair<float>(0, N));
e.slider->setValue(pos);
e.slider->setHighlightedRange(
std::make_pair<float>(0.f, pos * 1.0f / (N)));
});
this->enqueue_custom_nanogui_code(
[&kv]()
{
auto& e =
kv.second; // lambda capture structured bind is >C++20
if (e.module.expired()) return;

auto mod = e.module.lock();
if (!mod) return;

const size_t pos = mod->datasetUI_lastQueriedTimestep();
const size_t N = mod->datasetUI_size();

e.lbPlaybackPosition->setCaption(
mrpt::format("%zu / %zu", pos, N));
e.slider->setRange(std::make_pair<float>(0, N));
e.slider->setValue(pos);
e.slider->setHighlightedRange(
std::make_pair<float>(0.f, pos * 1.0f / (N)));
});
}
}

Expand Down Expand Up @@ -720,39 +736,41 @@ void MolaViz::gui_thread()
auto w = create_and_add_window(DEFAULT_WINDOW_NAME);

// Tasks pending to be run before each refresh:
w->setLoopCallback([this]() {
ProfilerEntry pe(profiler_, "loopCallback lambda");

// Get a copy of the tasks:
task_queue_t tasks;
auto lck = mrpt::lockHelper(guiThreadPendingTasksMtx_);
tasks = std::move(guiThreadPendingTasks_);
guiThreadPendingTasks_ = task_queue_t();
auto winsToReLayout = guiThreadMustReLayoutTheseWindows_;
guiThreadMustReLayoutTheseWindows_.clear();
lck.unlock();

// Run them:
auto& hc = HandlersContainer::Instance();
auto lckHandlers = mrpt::lockHelper(hc.guiHandlersMtx_);
for (auto& t : tasks)
w->setLoopCallback(
[this]()
{
try
ProfilerEntry pe(profiler_, "loopCallback lambda");

// Get a copy of the tasks:
task_queue_t tasks;
auto lck = mrpt::lockHelper(guiThreadPendingTasksMtx_);
tasks = std::move(guiThreadPendingTasks_);
guiThreadPendingTasks_ = task_queue_t();
auto winsToReLayout = guiThreadMustReLayoutTheseWindows_;
guiThreadMustReLayoutTheseWindows_.clear();
lck.unlock();

// Run them:
auto& hc = HandlersContainer::Instance();
auto lckHandlers = mrpt::lockHelper(hc.guiHandlersMtx_);
for (auto& t : tasks)
{
t();
}
catch (const std::exception& e)
{
MRPT_LOG_ERROR_STREAM(
"Exception in task sent to GUI thread:\n"
<< e.what());
try
{
t();
}
catch (const std::exception& e)
{
MRPT_LOG_ERROR_STREAM(
"Exception in task sent to GUI thread:\n"
<< e.what());
}
}
}
lckHandlers.unlock();
lckHandlers.unlock();

for (const auto& winName : winsToReLayout)
windows_.at(winName).win->performLayout();
});
for (const auto& winName : winsToReLayout)
windows_.at(winName).win->performLayout();
});

// A call to "nanogui::leave()" is required to end the infinite loop
// in mainloop:
Expand All @@ -775,7 +793,8 @@ std::future<bool> MolaViz::subwindow_update_visualization(
using return_type = bool;

auto task = std::make_shared<std::packaged_task<return_type()>>(
[this, obj, subWindowTitle, parentWindow]() {
[this, obj, subWindowTitle, parentWindow]()
{
try
{
const char* objClassName = obj->GetRuntimeClass()->className;
Expand Down Expand Up @@ -850,7 +869,8 @@ std::future<nanogui::Window*> MolaViz::create_subwindow(
using return_type = nanogui::Window*;

auto task = std::make_shared<std::packaged_task<return_type()>>(
[this, subWindowTitle, parentWindow]() {
[this, subWindowTitle, parentWindow]()
{
MRPT_LOG_DEBUG_STREAM(
"create_subwindow() title='"
<< subWindowTitle << "' inside toplevel '" << parentWindow
Expand All @@ -871,39 +891,43 @@ std::future<nanogui::Window*> MolaViz::create_subwindow(
// Reduce size button:
subw->buttonPanel()
->add<nanogui::Button>("", ENTYPO_ICON_RESIZE_100_PERCENT)
->setCallback([subw, topWin]() {
if (auto glControl =
dynamic_cast<mrpt::gui::MRPT2NanoguiGLCanvas*>(
subw->children().at(1));
glControl)
->setCallback(
[subw, topWin]()
{
auto s = glControl->size();
s.x() *= 0.75;
s.y() *= 0.75;
glControl->setSize(s);
glControl->setFixedSize(s);
}
topWin->performLayout();
});
if (auto glControl =
dynamic_cast<mrpt::gui::MRPT2NanoguiGLCanvas*>(
subw->children().at(1));
glControl)
{
auto s = glControl->size();
s.x() *= 0.75;
s.y() *= 0.75;
glControl->setSize(s);
glControl->setFixedSize(s);
}
topWin->performLayout();
});

// Enlarge button:
subw->buttonPanel()
->add<nanogui::Button>("", ENTYPO_ICON_RESIZE_FULL_SCREEN)
->setCallback([subw, topWin]() {
if (auto glControl =
dynamic_cast<mrpt::gui::MRPT2NanoguiGLCanvas*>(
subw->children().at(1));
glControl)
->setCallback(
[subw, topWin]()
{
auto s = glControl->size();
s.x() *= 1.25;
s.y() *= 1.25;
glControl->setSize(s);
glControl->setFixedSize(s);
}

topWin->performLayout();
});
if (auto glControl =
dynamic_cast<mrpt::gui::MRPT2NanoguiGLCanvas*>(
subw->children().at(1));
glControl)
{
auto s = glControl->size();
s.x() *= 1.25;
s.y() *= 1.25;
glControl->setSize(s);
glControl->setFixedSize(s);
}

topWin->performLayout();
});

return subw;
});
Expand All @@ -922,7 +946,8 @@ std::future<bool> MolaViz::update_3d_object(
using return_type = bool;

auto task = std::make_shared<std::packaged_task<return_type()>>(
[this, objName, obj, viewportName, parentWindow]() {
[this, objName, obj, viewportName, parentWindow]()
{
MRPT_LOG_DEBUG_STREAM(
"update_3d_object() objName='" << objName << "'");

Expand Down Expand Up @@ -973,7 +998,8 @@ std::future<bool> MolaViz::update_viewport_look_at(
using return_type = bool;

auto task = std::make_shared<std::packaged_task<return_type()>>(
[this, lookAt, viewportName, parentWindow]() {
[this, lookAt, viewportName, parentWindow]()
{
MRPT_LOG_DEBUG_STREAM(
"update_viewport_look_at() lookAt=" << lookAt.asString());

Expand Down Expand Up @@ -1001,7 +1027,8 @@ std::future<bool> MolaViz::output_console_message(
using return_type = bool;

auto task = std::make_shared<std::packaged_task<return_type()>>(
[this, msg, parentWindow]() {
[this, msg, parentWindow]()
{
MRPT_LOG_DEBUG_STREAM("output_console_message() msg=" << msg);

ASSERT_(windows_.count(parentWindow));
Expand Down

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