Fix gazebo_scene_viewer for macOS and ensure exits cleanly

examples/gazebo_scene_viewer/CMakeLists.txt

@@ -17,6 +17,7 @@ if (NOT APPLE)
   find_package(GLEW REQUIRED)
   include_directories(SYSTEM ${GLEW_INCLUDE_DIRS})
   link_directories(${GLEW_LIBRARY_DIRS})
+  set(STD_CXX_FS_LIBRARIES "stdc++fs")
 endif()
 
 set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wno-deprecated-declarations")
@@ -33,7 +34,7 @@ target_link_libraries(gazebo_scene_viewer
   ${GLEW_LIBRARIES}
   ${GAZEBO_LIBRARIES}
   ${IGNITION-RENDERING_LIBRARIES}
-  stdc++fs
+  ${STD_CXX_FS_LIBRARIES}
 )
 
 add_executable(gazebo_scene_viewer2_demo
@@ -48,5 +49,5 @@ target_link_libraries(gazebo_scene_viewer2_demo
   ${GLEW_LIBRARIES}
   ${GAZEBO_LIBRARIES}
   ${IGNITION-RENDERING_LIBRARIES}
-  stdc++fs
+  ${STD_CXX_FS_LIBRARIES}
 )

examples/gazebo_scene_viewer/CameraWindow.cc

@@ -18,6 +18,7 @@
 
 #if __APPLE__
   #include <OpenGL/gl.h>
+  #include <OpenGL/OpenGL.h>
   #include <GLUT/glut.h>
 #else
   #include <GL/glew.h>
@@ -30,6 +31,7 @@
 #endif
 
 #include <gazebo/common/Console.hh>
+#include <gazebo/transport/TransportIface.hh>
 
 #include <ignition/rendering/Camera.hh>
 #include <ignition/rendering/Image.hh>
@@ -52,7 +54,11 @@ gz::ImagePtr g_image;
 
 bool g_initContext = false;
 
-#if not (__APPLE__ || _WIN32)
+#if __APPLE__
+  CGLContextObj g_context;
+  CGLContextObj g_glutContext;
+#elif _WIN32
+#else
   GLXContext g_context;
   Display *g_display;
   GLXDrawable g_drawable;
@@ -66,7 +72,10 @@ double g_offset = 0.0;
 //////////////////////////////////////////////////
 void GlutRun(std::vector<gz::CameraPtr> _cameras)
 {
-#if not (__APPLE__ || _WIN32)
+#if __APPLE__
+  g_context = CGLGetCurrentContext();
+#elif _WIN32
+#else
   g_context = glXGetCurrentContext();
   g_display = glXGetCurrentDisplay();
   g_drawable = glXGetCurrentDrawable();
@@ -77,7 +86,10 @@ void GlutRun(std::vector<gz::CameraPtr> _cameras)
   GlutInitContext();
   GlutPrintUsage();
 
-#if not (__APPLE__ || _WIN32)
+#if __APPLE__
+  g_glutContext = CGLGetCurrentContext();
+#elif _WIN32
+#else
   g_glutDisplay = glXGetCurrentDisplay();
   g_glutDrawable = glXGetCurrentDrawable();
   g_glutContext = glXGetCurrentContext();
@@ -89,7 +101,10 @@ void GlutRun(std::vector<gz::CameraPtr> _cameras)
 //////////////////////////////////////////////////
 void GlutDisplay()
 {
-#if not (__APPLE__ || _WIN32)
+#if __APPLE__
+  CGLSetCurrentContext(g_context);
+#elif _WIN32
+#else
   if (g_display)
   {
     glXMakeCurrent(g_display, g_drawable, g_context);
@@ -98,7 +113,10 @@ void GlutDisplay()
 
   g_cameras[g_cameraIndex]->Capture(*g_image);
 
-#if not (__APPLE__ || _WIN32)
+#if __APPLE__
+  CGLSetCurrentContext(g_glutContext);
+#elif _WIN32
+#else
   glXMakeCurrent(g_glutDisplay, g_glutDrawable, g_glutContext);
 #endif
 
@@ -116,7 +134,10 @@ void GlutDisplay()
 //////////////////////////////////////////////////
 void GlutIdle()
 {
-#if not (__APPLE__ || _WIN32)
+#if __APPLE__
+  CGLSetCurrentContext(g_context);
+#elif _WIN32
+#else
   if (g_display)
   {
     glXMakeCurrent(g_display, g_drawable, g_context);
@@ -128,7 +149,10 @@ void GlutIdle()
 
   manager->UpdateScenes();
 
-#if not (__APPLE__ || _WIN32)
+#if __APPLE__
+  CGLSetCurrentContext(g_glutContext);
+#elif _WIN32
+#else
   glXMakeCurrent(g_glutDisplay, g_glutDrawable, g_glutContext);
 #endif
 
@@ -140,6 +164,9 @@ void GlutKeyboard(unsigned char _key, int, int)
 {
   if (_key == KEY_ESC || _key == 'q' || _key == 'Q')
   {
+    // stop transport
+    gazebo::transport::stop();
+    gazebo::transport::fini();  
     exit(0);
   }
   else if (_key == KEY_TAB)
@@ -167,9 +194,6 @@ void GlutInitCamera(gz::CameraPtr _camera)
 //////////////////////////////////////////////////
 void GlutInitContext()
 {
-  int argc = 0;
-  char **argv = 0;
-  glutInit(&argc, argv);
   glutInitDisplayMode(GLUT_DOUBLE);
   glutInitWindowPosition(0, 0);
   glutInitWindowSize(imgw, imgh);

examples/gazebo_scene_viewer/GazeboDemo.cc

@@ -14,6 +14,16 @@
  * limitations under the License.
  *
  */
+
+#if defined(__APPLE__)
+  #include <OpenGL/gl.h>
+  #include <GLUT/glut.h>
+#elif not defined(_WIN32)
+  #include <GL/glew.h>
+  #include <GL/gl.h>
+  #include <GL/glut.h>
+#endif
+
 #include <iostream>
 #include <gazebo/common/Console.hh>
 #include <gazebo/transport/TransportIface.hh>
@@ -76,13 +86,23 @@ CameraPtr CreateCamera(const std::string &_engine)
   return camera;
 }
 
-int main(int, char**)
+int main(int _argc, char** _argv)
 {
+  glutInit(&_argc, _argv);
+
+  // Expose engine name to command line because we can't instantiate both
+  // ogre and ogre2 at the same time
+  std::string ogreEngine("ogre");
+  if (_argc > 1)
+  {
+    ogreEngine = _argv[1];
+  }
+
   Connect();
   std::vector<CameraPtr> cameras;
   std::vector<std::string> engineNames;
 
-  engineNames.push_back("ogre");
+  engineNames.push_back(ogreEngine);
   engineNames.push_back("optix");
 
   for (auto engineName : engineNames)

examples/gazebo_scene_viewer/GazeboWorldDemo.cc

@@ -14,6 +14,16 @@
  * limitations under the License.
  *
  */
+
+#if defined(__APPLE__)
+  #include <OpenGL/gl.h>
+  #include <GLUT/glut.h>
+#elif not defined(_WIN32)
+  #include <GL/glew.h>
+  #include <GL/gl.h>
+  #include <GL/glut.h>
+#endif
+
 #include <iostream>
 #include <ignition/common/Console.hh>
 #include <gazebo/transport/TransportIface.hh>
@@ -76,13 +86,23 @@ CameraPtr CreateCamera(const std::string &_engine)
   return camera;
 }
 
-int main(int, char**)
+int main(int _argc, char** _argv)
 {
+  glutInit(&_argc, _argv);
+
+  // Expose engine name to command line because we can't instantiate both
+  // ogre and ogre2 at the same time
+  std::string ogreEngine("ogre");
+  if (_argc > 1)
+  {
+    ogreEngine = _argv[1];
+  }
+
   Connect();
   std::vector<CameraPtr> cameras;
   std::vector<std::string> engineNames;
 
-  engineNames.push_back("ogre");
+  engineNames.push_back(ogreEngine);
   engineNames.push_back("optix");
 
   for (auto engineName : engineNames)

examples/gazebo_scene_viewer/SceneManager.cc

@@ -40,6 +40,7 @@ SceneManager::SceneManager() :
 //////////////////////////////////////////////////
 SceneManager::~SceneManager()
 {
+  this->Fini();
   delete this->pimpl;
 }
 
@@ -157,8 +158,8 @@ SceneManagerPrivate::SceneManagerPrivate() :
 //////////////////////////////////////////////////
 SceneManagerPrivate::~SceneManagerPrivate()
 {
-  delete currentSceneManager;
-  delete newSceneManager;
+    newSceneManager.reset();
+    currentSceneManager.reset();
 }
 
 //////////////////////////////////////////////////
@@ -224,7 +225,11 @@ void SceneManagerPrivate::Init()
 //////////////////////////////////////////////////
 void SceneManagerPrivate::Fini()
 {
-  // TODO(anyone): disconnect
+  // block all message receival during cleanup
+  std::lock_guard<std::mutex> generalLock(this->generalMutex);
+  std::lock_guard<std::mutex> poseLock(this->poseMutex);
+
+  this->transportNode->Fini();
 }
 
 //////////////////////////////////////////////////
@@ -456,6 +461,11 @@ void SceneManagerPrivate::OnLightUpdate(::ConstLightPtr &_lightMsg)
   // wait for update unlock before adding message
   std::lock_guard<std::mutex> lock(this->generalMutex);
 
+  if (this->currentSceneManager == nullptr || this->newSceneManager == nullptr)
+  {
+    return;
+  }
+
   this->currentSceneManager->OnLightUpdate(_lightMsg);
   this->newSceneManager->OnLightUpdate(_lightMsg);
 }
@@ -466,6 +476,11 @@ void SceneManagerPrivate::OnModelUpdate(::ConstModelPtr &_modelMsg)
   // wait for update unlock before adding message
   std::lock_guard<std::mutex> lock(this->generalMutex);
 
+  if (this->currentSceneManager == nullptr || this->newSceneManager == nullptr)
+  {
+    return;
+  }
+
   this->currentSceneManager->OnModelUpdate(_modelMsg);
   this->newSceneManager->OnModelUpdate(_modelMsg);
 }
@@ -476,6 +491,11 @@ void SceneManagerPrivate::OnJointUpdate(::ConstJointPtr &_jointMsg)
   // wait for update unlock before adding message
   std::lock_guard<std::mutex> lock(this->generalMutex);
 
+  if (this->currentSceneManager == nullptr || this->newSceneManager == nullptr)
+  {
+    return;
+  }
+
   this->currentSceneManager->OnJointUpdate(_jointMsg);
   this->newSceneManager->OnJointUpdate(_jointMsg);
 }
@@ -486,6 +506,11 @@ void SceneManagerPrivate::OnVisualUpdate(::ConstVisualPtr &_visualMsg)
   // wait for update unlock before adding message
   std::lock_guard<std::mutex> lock(this->generalMutex);
 
+  if (this->currentSceneManager == nullptr || this->newSceneManager == nullptr)
+  {
+    return;
+  }
+
   this->currentSceneManager->OnVisualUpdate(_visualMsg);
   this->newSceneManager->OnVisualUpdate(_visualMsg);
 }
@@ -496,6 +521,11 @@ void SceneManagerPrivate::OnSensorUpdate(::ConstSensorPtr &_sensorMsg)
   // wait for update unlock before adding message
   std::lock_guard<std::mutex> lock(this->generalMutex);
 
+  if (this->currentSceneManager == nullptr || this->newSceneManager == nullptr)
+  {
+    return;
+  }
+
   this->currentSceneManager->OnSensorUpdate(_sensorMsg);
   this->newSceneManager->OnSensorUpdate(_sensorMsg);
 }
@@ -506,6 +536,11 @@ void SceneManagerPrivate::OnPoseUpdate(::ConstPosesStampedPtr &_posesMsg)
   // wait for update unlock before adding message
   std::lock_guard<std::mutex> lock(this->poseMutex);
 
+  if (this->currentSceneManager == nullptr || this->newSceneManager == nullptr)
+  {
+    return;
+  }
+
   this->currentSceneManager->OnPoseUpdate(_posesMsg);
   this->newSceneManager->OnPoseUpdate(_posesMsg);
 }
@@ -516,6 +551,11 @@ void SceneManagerPrivate::OnRemovalUpdate(const std::string &_name)
   // wait for update unlock before adding message
   std::lock_guard<std::mutex> lock(this->poseMutex);
 
+  if (this->currentSceneManager == nullptr || this->newSceneManager == nullptr)
+  {
+    return;
+  }
+
   this->currentSceneManager->OnRemovalUpdate(_name);
   this->newSceneManager->OnRemovalUpdate(_name);
 }

examples/gazebo_scene_viewer/SceneManagerPrivate.hh

@@ -20,6 +20,7 @@
 #include <map>
 #include <string>
 #include <vector>
+#include <memory>
 
 #include <ignition/common/Time.hh>
 
@@ -110,9 +111,9 @@ namespace ignition
 
       private: void DemoteCurrentScenes();
 
-      private: CurrentSceneManager *currentSceneManager;
+      private: std::unique_ptr<CurrentSceneManager> currentSceneManager;
 
-      private: NewSceneManager *newSceneManager;
+      private: std::unique_ptr<NewSceneManager> newSceneManager;
 
       private: gazebo::transport::NodePtr transportNode;