port: 7 to main (#564)

Signed-off-by: Michael Carroll <[email protected]>

.github/workflows/triage.yml

@@ -10,10 +10,8 @@ jobs:
     runs-on: ubuntu-latest
     steps:
       - name: Add ticket to inbox
-        uses: technote-space/create-project-card-action@v1
+        uses: actions/[email protected]
         with:
-          PROJECT: Core development
-          COLUMN: Inbox
-          GITHUB_TOKEN: ${{ secrets.TRIAGE_TOKEN }}
-          CHECK_ORG_PROJECT: true
+          project-url: https://github.com/orgs/gazebosim/projects/7
+          github-token: ${{ secrets.TRIAGE_TOKEN }}
 

src/Helpers_TEST.cc

@@ -194,11 +194,11 @@ TEST(HelpersTest, GZ_UTILS_TEST_DISABLED_ON_WIN32(renderEngine))
   EXPECT_TRUE(renderEngineName().empty());
 
   // Set the render engine GUI name
-  mainWindow->SetRenderEngine("ogre");
+  mainWindow->SetRenderEngine("ogre2");
 
   // Has render engine
   EXPECT_FALSE(renderEngineName().empty());
-  EXPECT_EQ("ogre", renderEngineName());
+  EXPECT_EQ("ogre2", renderEngineName());
 
   // Set no render engine
   mainWindow->SetRenderEngine({});

src/plugins/minimal_scene/CMakeLists.txt

@@ -39,6 +39,6 @@ if (APPLE)
       MinimalSceneRhiMetal.mm
       PROPERTIES
       COMPILE_FLAGS
-          "-fobjc-arc"
+          "-fobjc-arc -Wno-nullability-completeness"
   )
 endif()

src/plugins/minimal_scene/MinimalScene.cc

@@ -840,6 +840,10 @@ void GzRenderer::Destroy()
 
     // TODO(anyone) If that was the last scene, terminate engine?
   }
+
+  // clean up in the rendering thread
+  this->dataPtr->camera.reset();
+  this->dataPtr->rayQuery.reset();
 }
 
 /////////////////////////////////////////////////

test/helpers/RenderEngineHelper.hh

@@ -0,0 +1,81 @@
+/*
+ * Copyright (C) 2023 Open Source Robotics Foundation
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+ */
+#ifndef GZ_GUI_RENDERENGINEHELPER_HH_
+#define GZ_GUI_RENDERENGINEHELPER_HH_
+
+#include <gtest/gtest.h>
+
+#include <memory>
+#include <string>
+
+#include <gz/rendering/RenderEngine.hh>
+#include <gz/rendering/RenderTypes.hh>
+
+#include "gz/gui/GuiEvents.hh"
+
+#include "TestHelper.hh"
+
+namespace gz
+{
+namespace gui
+{
+namespace testing
+{
+  /// \brief Get the render engine
+  /// This function should be called after the main window is
+  /// shown (mainWindow.show()). It blocks until render events
+  /// are received.
+  /// \return A pointer to the render engine or nullptr if it's not available.
+  static rendering::RenderEngine* getRenderEngine(
+      const std::string &_engine)
+  {
+    // Filter events
+    bool receivedPreRenderEvent{false};
+    bool receivedRenderEvent{false};
+    auto testHelper = std::make_unique<TestHelper>();
+    testHelper->forwardEvent = [&](QEvent *_event)
+    {
+      if (_event->type() == gui::events::PreRender::kType)
+      {
+        receivedPreRenderEvent = true;
+      }
+      if (_event->type() == gui::events::Render::kType)
+      {
+        receivedRenderEvent = true;
+      }
+    };
+
+    int sleep = 0;
+    int maxSleep = 30;
+    while (!receivedRenderEvent && sleep < maxSleep)
+    {
+      std::this_thread::sleep_for(std::chrono::milliseconds(100));
+      QCoreApplication::processEvents();
+      ++sleep;
+    }
+    EXPECT_TRUE(receivedPreRenderEvent);
+    EXPECT_TRUE(receivedRenderEvent);
+
+    // Check scene
+    auto engine = rendering::engine(_engine);
+    return engine;
+  }
+}
+}
+}
+
+#endif

test/integration/camera_tracking.cc

@@ -60,7 +60,7 @@ TEST(MinimalSceneTest, GZ_UTILS_TEST_ENABLED_ONLY_ON_LINUX(Config))
   // Load plugins
   const char *pluginStr =
     "<plugin filename=\"MinimalScene\">"
-      "<engine>ogre</engine>"
+      "<engine>ogre2</engine>"
       "<scene>banana</scene>"
       "<ambient_light>1.0 0 0</ambient_light>"
       "<background_color>0 1 0</background_color>"
@@ -119,7 +119,7 @@ TEST(MinimalSceneTest, GZ_UTILS_TEST_ENABLED_ONLY_ON_LINUX(Config))
   EXPECT_TRUE(poseMsg.has_position());
   EXPECT_TRUE(poseMsg.has_orientation());
 
-  auto engine = rendering::engine("ogre");
+  auto engine = rendering::engine("ogre2");
   ASSERT_NE(nullptr, engine);
 
   auto scene = engine->SceneByName("banana");

test/integration/marker_manager.cc

@@ -32,6 +32,8 @@
 #include <gz/utils/ExtraTestMacros.hh>
 
 #include "test_config.hh"  // NOLINT(build/include)
+#include "../helpers/TestHelper.hh"
+#include "../helpers/RenderEngineHelper.hh"
 #include "gz/gui/Application.hh"
 #include "gz/gui/GuiEvents.hh"
 #include "gz/gui/MainWindow.hh"
@@ -115,7 +117,7 @@ TEST_F(MarkerManagerTestFixture,
 
   const char *pluginMinimalSceneStr =
     "<plugin filename=\"MinimalScene\">"
-      "<engine>ogre</engine>"
+      "<engine>ogre2</engine>"
       "<scene>scene</scene>"
     "</plugin>";
 
@@ -142,19 +144,10 @@ TEST_F(MarkerManagerTestFixture,
   // Show, but don't exec, so we don't block
   window->QuickWindow()->show();
 
-  // Check scene
-  auto engine = rendering::engine("ogre");
+  // get render engine after window is shown
+  auto engine = gz::gui::testing::getRenderEngine("ogre2");
   ASSERT_NE(nullptr, engine);
 
-  int sleep = 0;
-  int maxSleep = 30;
-  while (0 == engine->SceneCount() && sleep < maxSleep)
-  {
-    std::this_thread::sleep_for(std::chrono::milliseconds(100));
-    QCoreApplication::processEvents();
-    sleep++;
-  }
-
   EXPECT_EQ(1u, engine->SceneCount());
   scene = engine->SceneByName("scene");
   ASSERT_NE(nullptr, scene);
@@ -218,4 +211,7 @@ TEST_F(MarkerManagerTestFixture,
 
   // Cleanup
   plugins.clear();
+  scene.reset();
+
+  window->QuickWindow()->close();
 }

test/integration/minimal_scene.cc

@@ -28,6 +28,7 @@
 
 #include "test_config.hh"  // NOLINT(build/include)
 #include "../helpers/TestHelper.hh"
+#include "../helpers/RenderEngineHelper.hh"
 #include "gz/gui/Application.hh"
 #include "gz/gui/GuiEvents.hh"
 #include "gz/gui/Plugin.hh"
@@ -80,7 +81,7 @@ TEST(MinimalSceneTest, GZ_UTILS_TEST_ENABLED_ONLY_ON_LINUX(Config))
   // Load plugin
   const char *pluginStr =
     "<plugin filename=\"MinimalScene\">"
-      "<engine>ogre</engine>"
+      "<engine>ogre2</engine>"
       "<scene>banana</scene>"
       "<ambient_light>1.0 0 0</ambient_light>"
       "<background_color>0 1 0</background_color>"
@@ -106,37 +107,10 @@ TEST(MinimalSceneTest, GZ_UTILS_TEST_ENABLED_ONLY_ON_LINUX(Config))
   // Show, but don't exec, so we don't block
   win->QuickWindow()->show();
 
-  // Filter events
-  bool receivedPreRenderEvent{false};
-  bool receivedRenderEvent{false};
-  auto testHelper = std::make_unique<TestHelper>();
-  testHelper->forwardEvent = [&](QEvent *_event)
-  {
-    if (_event->type() == events::PreRender::kType)
-    {
-      receivedPreRenderEvent = true;
-    }
-    if (_event->type() == events::Render::kType)
-    {
-      receivedRenderEvent = true;
-    }
-  };
-
-  // Check scene
-  auto engine = rendering::engine("ogre");
+  // get render engine after window is shown
+  auto engine = gz::gui::testing::getRenderEngine("ogre2");
   ASSERT_NE(nullptr, engine);
 
-  int sleep = 0;
-  int maxSleep = 30;
-  while (!receivedRenderEvent && sleep < maxSleep)
-  {
-    std::this_thread::sleep_for(std::chrono::milliseconds(100));
-    QCoreApplication::processEvents();
-    ++sleep;
-  }
-  EXPECT_TRUE(receivedPreRenderEvent);
-  EXPECT_TRUE(receivedRenderEvent);
-
   EXPECT_EQ(1u, engine->SceneCount());
   auto scene = engine->SceneByName("banana");
   ASSERT_NE(nullptr, scene);
@@ -170,7 +144,7 @@ TEST(MinimalSceneTest, GZ_UTILS_TEST_ENABLED_ONLY_ON_LINUX(Config))
   EXPECT_TRUE(app.RemovePlugin(pluginName));
   plugins.clear();
 
+
+  scene.reset();
   win->QuickWindow()->close();
-  engine->DestroyScene(scene);
-  EXPECT_TRUE(rendering::unloadEngine(engine->Name()));
 }

test/integration/transport_scene_manager.cc

@@ -32,6 +32,7 @@
 
 #include "test_config.hh"  // NOLINT(build/include)
 #include "../helpers/TestHelper.hh"
+#include "../helpers/RenderEngineHelper.hh"
 #include "gz/gui/Application.hh"
 #include "gz/gui/GuiEvents.hh"
 #include "gz/gui/Plugin.hh"
@@ -123,7 +124,7 @@ TEST(TransportSceneManagerTest, GZ_UTILS_TEST_ENABLED_ONLY_ON_LINUX(Config))
   // Load plugins
   const char *pluginStr =
     "<plugin filename=\"MinimalScene\">"
-      "<engine>ogre</engine>"
+      "<engine>ogre2</engine>"
       "<scene>banana</scene>"
       "<ambient_light>1.0 0 0</ambient_light>"
       "<background_color>0 1 0</background_color>"
@@ -154,8 +155,8 @@ TEST(TransportSceneManagerTest, GZ_UTILS_TEST_ENABLED_ONLY_ON_LINUX(Config))
   // Show, but don't exec, so we don't block
   win->QuickWindow()->show();
 
-  // Get scene
-  auto engine = rendering::engine("ogre");
+  // get render engine after window is shown
+  auto engine = gz::gui::testing::getRenderEngine("ogre2");
   ASSERT_NE(nullptr, engine);
 
   int sleep = 0;
@@ -259,8 +260,7 @@ TEST(TransportSceneManagerTest, GZ_UTILS_TEST_ENABLED_ONLY_ON_LINUX(Config))
   }
   plugins.clear();
 
+  scene.reset();
   win->QuickWindow()->close();
-  engine->DestroyScene(scene);
-  EXPECT_TRUE(rendering::unloadEngine(engine->Name()));
 }