use QTimer to update plugins #1095

jennuine · 2021-10-07T22:08:46Z

🦟 Bug fix

Summary

GuiRunner was creating a thread to call plugins' Update functions and accessing GUI items, which was not entirely thread safe since GUI operations should not be done off the Qt GUI thread. This has been replaced by using a QTimer to signal the UpdatePlugins function every 33 ms, which should now make all Update calls thread safe.

Checklist

Signed all commits for DCO
Added tests
Updated documentation (as needed)
Updated migration guide (as needed)
codecheck passed (See contributing)
All tests passed (See test coverage)
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Signed-off-by: Jenn Nguyen <jenn@openrobotics.org>

nkoenig · 2021-10-07T22:27:02Z

What steps would I take to cause the crash without this PR in place?

jennuine · 2021-10-07T22:35:42Z

I think the easiest way is to test this with a reliable crash is the jennuine/edit_material_colors branch that targets Dome. The following steps would then be:

ign gazebo -v 4 shapes.sdf
In the entity tree, expand the model > expand the link > click on the visual (for any of the shapes)
In the component inspector, expand the material element and start playing with the sliders

Without this PR, it will either crash on step (2) when you click on the visual or at some point in step (3)

codecov · 2021-10-07T22:51:51Z

Codecov Report

Merging #1095 (5bd0107) into ign-gazebo3 (d9195c4) will increase coverage by 0.19%.
The diff coverage is 77.82%.

❗ Current head 5bd0107 differs from pull request most recent head 164faf0. Consider uploading reports for the commit 164faf0 to get more accurate results

@@               Coverage Diff               @@
##           ign-gazebo3    #1095      +/-   ##
===============================================
+ Coverage        77.56%   77.75%   +0.19%     
===============================================
  Files              208      222      +14     
  Lines            11385    12683    +1298     
===============================================
+ Hits              8831     9862    +1031     
- Misses            2554     2821     +267

Impacted Files	Coverage Δ
include/ignition/gazebo/EntityComponentManager.hh	`100.00% <ø> (ø)`
include/ignition/gazebo/Link.hh	`100.00% <ø> (ø)`
include/ignition/gazebo/Server.hh	`100.00% <ø> (ø)`
...nclude/ignition/gazebo/components/ContactSensor.hh	`100.00% <ø> (ø)`
include/ignition/gazebo/components/Factory.hh	`96.05% <ø> (ø)`
...nclude/ignition/gazebo/components/LogicalCamera.hh	`100.00% <ø> (ø)`
include/ignition/gazebo/components/Sensor.hh	`100.00% <ø> (ø)`
...nclude/ignition/gazebo/components/Serialization.hh	`90.32% <ø> (ø)`
include/ignition/gazebo/gui/GuiSystem.hh	`0.00% <0.00%> (ø)`
.../plugins/component_inspector/ComponentInspector.cc	`7.24% <0.00%> (-2.24%)`	⬇️
... and 110 more

Continue to review full report at Codecov.

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src/gui/GuiRunner.cc

azeey · 2021-10-11T16:37:19Z

src/gui/plugins/component_inspector/ComponentInspector.cc

@@ -431,10 +436,9 @@ void ComponentInspector::Update(const UpdateInfo &,
    // Add component to list
    else
    {
-      // TODO(louise) Blocking here is not the best idea
      QMetaObject::invokeMethod(&this->dataPtr->componentsModel,


If we the Update function is called from the Qt thread, I would think we shouldn't need to use invokeMethod

I thought that as well but when I change this invokeMethod to be:

item = this->dataPtr->componentsModel.AddComponentType(typeId);

even after dfabb5c it seg faults here: https://github.com/ignitionrobotics/ign-gazebo/blob/95fad0d32e3c015bd377e76856fdd2c2129d033f/src/gui/plugins/component_inspector/ComponentInspector.cc#L648

I tried that, but it didn't crash for me for rolling_shapes.sdf. Which world did you try it on?

Changing QMetaObject::invokeMethod(&this->dataPtr->componentsModel, "RemoveComponentType",... to a regular functions seems to break functionality of the ComponentInspector even though it doesn't crash, so maybe it's better to leave it as is. It's using Qt::QueuedConnection, which I think means it's executed after the thread goes to sleep after calling all the UpdatePlugin functions. So the timing may be important to keep the functionality.

I tried that, but it didn't crash for me for rolling_shapes.sdf. Which world did you try it on?

I tested shapes.sdf, the crash happens after you select one of the entities in the entity tree.

Signed-off-by: Jenn Nguyen <jenn@openrobotics.org>

azeey · 2021-10-12T16:49:50Z

src/gui/GuiRunner.cc

@@ -137,7 +115,7 @@ void GuiRunner::OnState(const msgs::SerializedStepMap &_msg)

  // Update all plugins
  this->updateInfo = convert<UpdateInfo>(_msg.stats());
-  this->UpdatePlugins();
+  QMetaObject::invokeMethod(this, "UpdatePlugins", Qt::DirectConnection);


I think using Qt::DirectConnection is the same as calling the function directly and will have the same thread safety issues. Can you use Qt::QueuedConnection instead?

Actually, I think you'll need Qt::BlockingQueuedConnection because we'd want to wait until UpdatePlugins has finished before calling ClearNewlyCreatedEntities() and ProcessRemoveEntityRequests.

Thank you for pointing that out. I've updated it to use Qt::BlockingQueuedConnection de2e098 instead because we need UpdatePlugins to happen before these calls: https://github.com/ignitionrobotics/ign-gazebo/blob/dfabb5c38fced067d99edf09aeafa2d9ac991496/src/gui/GuiRunner.cc#L119-L120

(If we used Qt::QueuedConnection then try to remove an entity it will still appear in the scene.)

Since the signaling thread is a ign-transport thread and not the Qt thread, there should not be any deadlock issues.

Signed-off-by: Jenn Nguyen <jenn@openrobotics.org>

chapulina · 2021-10-12T22:39:54Z

src/gui/GuiRunner.cc

@@ -137,7 +115,8 @@ void GuiRunner::OnState(const msgs::SerializedStepMap &_msg)

  // Update all plugins
  this->updateInfo = convert<UpdateInfo>(_msg.stats());
-  this->UpdatePlugins();
+  QMetaObject::invokeMethod(this, "UpdatePlugins",
+      Qt::BlockingQueuedConnection);


I'm getting consistent crashes on shutdown if simulation is playing. Here's the backtrace:

#0 0x00007f0940fb1274 in std::_Rb_tree_increment(std::_Rb_tree_node_base*) () at /usr/lib/x86_64-linux-gnu/libstdc++.so.6 #1 0x00007f09422de761 in std::_Rb_tree_iterator<std::pair<std::set<unsigned long, std::less<unsigned long>, std::allocator<unsigned long> > const, ignition::gazebo::v3::detail::View> >::operator++() (this=<synthetic pointer>) at /usr/include/c++/9/bits/stl_tree.h:285 #2 ignition::gazebo::v3::EntityComponentManager::ClearNewlyCreatedEntities() (this=<optimized out>) at /home/chapulina/dev_focal/ws_citadel/src/ign-gazebo/src/EntityComponentManager.cc:177 #3 0x00007f0942544207 in ignition::gazebo::v3::GuiRunner::OnState(ignition::msgs::SerializedStepMap const&) (this= 0x5603a97b0300, _msg=...) at /home/chapulina/dev_focal/ws_citadel/src/ign-gazebo/src/gui/GuiRunner.cc:122 #4 0x00007f094255c6c9 in std::function<void (ignition::msgs::SerializedStepMap const&, ignition::transport::v8::MessageInfo const&)>::operator()(ignition::msgs::SerializedStepMap const&, ignition::transport::v8::MessageInfo const&) const (__args#1=..., __args#0=..., this=0x7f091c027b10) at /usr/include/c++/9/bits/std_function.h:683 #5 ignition::transport::v8::SubscriptionHandler<ignition::msgs::SerializedStepMap>::RunLocalCallback(google::protobuf::Message const&, ignition::transport::v8::MessageInfo const&) (this=0x7f091c027ab0, _msg=..., _info=...) at /home/chapulina/dev_focal/ws_citadel/install/include/ignition/transport8/ignition/transport/SubscriptionHandler.hh:220

Hopefully fixed by 5bd0107

Reorganize code so that the `ecm` and `updateInfo` variables are only accessed from the Qt thread. Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org>

…into jennuine/thread_safe_update Signed-off-by: Jenn Nguyen <jenn@openrobotics.org>

Signed-off-by: Jenn Nguyen <jenn@openrobotics.org>

chapulina

Great work, awesome idea to use QTimer 👍 Thank you for addressing those Blocking here is not the best idea TODOs! 😄

I stress-tested this with various component inspectors and joint position control, and it seems to be pretty stable at runtime!

I'm still getting shutdown crashes though 😕 It's easy to reproduce with this world:

https://app.ignitionrobotics.org/OpenRobotics/fuel/worlds/NAO%20joint%20control

The crashes don't come with useful backtraces and just point to

#2    Object "/usr/lib/x86_64-linux-gnu/libQt5Qml.so.5", at 0x7f9e9cbea418, in QQmlPropertyCache::~QQmlPropertyCache()

I suspect this is more about the destruction order within these plugins than the update loop itself, so I think it can be addressed later.

use QTimer to update plugins

95fad0d

Signed-off-by: Jenn Nguyen <jenn@openrobotics.org>

jennuine requested a review from chapulina October 7, 2021 22:08

jennuine self-assigned this Oct 7, 2021

jennuine added bug Something isn't working 🏰 citadel Ignition Citadel labels Oct 7, 2021

osrf-triage added this to Inbox in Core development Oct 7, 2021

chapulina moved this from Inbox to In review in Core development Oct 7, 2021

nkoenig self-requested a review October 7, 2021 22:37

azeey reviewed Oct 11, 2021

View reviewed changes

use invokeMethod for UpdatePlugins in transport thread

dfabb5c

Signed-off-by: Jenn Nguyen <jenn@openrobotics.org>

chapulina mentioned this pull request Oct 11, 2021

Prepare release 3.10.0 #1102

Merged

7 tasks

azeey reviewed Oct 12, 2021

View reviewed changes

BlockingQueuedConnection for UpdatePlugins in transport thread

de2e098

Signed-off-by: Jenn Nguyen <jenn@openrobotics.org>

chapulina reviewed Oct 12, 2021

View reviewed changes

azeey and others added 3 commits October 13, 2021 15:22

More thread safety fixes

5bd0107

Reorganize code so that the `ecm` and `updateInfo` variables are only accessed from the Qt thread. Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org>

Merge branch 'ign-gazebo3' of github.com:ignitionrobotics/ign-gazebo …

7b01eca

…into jennuine/thread_safe_update Signed-off-by: Jenn Nguyen <jenn@openrobotics.org>

removed jointsModel mutex

164faf0

Signed-off-by: Jenn Nguyen <jenn@openrobotics.org>

chapulina approved these changes Oct 15, 2021

View reviewed changes

chapulina merged commit 27ac724 into ign-gazebo3 Oct 15, 2021

Core development automation moved this from In review to Done Oct 15, 2021

chapulina deleted the jennuine/thread_safe_update branch October 15, 2021 19:40

chapulina moved this from Done to Highlights in Core development Oct 16, 2021

chapulina mentioned this pull request Nov 16, 2021

Gazebo GUI segfault on exit - Plugin::Update called after plugin removed #1212

Closed

j-rivero removed this from Highlights in Core development May 6, 2022

azeey mentioned this pull request Jan 19, 2024

gui_system_plugin: clarify description in README #2253

Merged

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use QTimer to update plugins #1095

use QTimer to update plugins #1095

jennuine commented Oct 7, 2021

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codecov bot commented Oct 7, 2021 •

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use QTimer to update plugins #1095

use QTimer to update plugins #1095

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jennuine commented Oct 7, 2021

🦟 Bug fix

Summary

Checklist

nkoenig commented Oct 7, 2021

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