render_system.cpp

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/*
 * Copyright (c) 2011, Willow Garage, Inc.
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
 *     * Redistributions of source code must retain the above copyright
 *       notice, this list of conditions and the following disclaimer.
 *     * Redistributions in binary form must reproduce the above copyright
 *       notice, this list of conditions and the following disclaimer in the
 *       documentation and/or other materials provided with the distribution.
 *     * Neither the name of the Willow Garage, Inc. nor the names of its
 *       contributors may be used to endorse or promote products derived from
 *       this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 * POSSIBILITY OF SUCH DAMAGE.
 */
 
#include <QMetaType>
 
// This is required for QT_MAC_USE_COCOA to be set
#include <QtCore/qglobal.h>
 
#include <QMoveEvent>
 
#if !defined(Q_OS_MAC) && !defined(Q_OS_WIN)
#include <X11/Xlib.h>
#include <X11/Xutil.h>
#include <GL/glx.h>
#endif
 
#if defined(Q_OS_MAC)
#include <OpenGL/gl.h>
#endif
 
// X.h #defines CursorShape to be "0".  Qt uses CursorShape in normal
// C++ way.  This wasn't an issue until ogre_logging.h (below)
// introduced a #include of <QString>.
#ifdef CursorShape
#undef CursorShape
#endif
 
#include <ros/package.h> // This dependency should be moved out of here, it is just used for a search path.
#include <ros/console.h>
 
#include <rviz/ogre_helpers/version_check.h>
#include <OgreRenderWindow.h>
#include <OgreSceneManager.h>
#include <Overlay/OgreOverlaySystem.h>
 
#include <rviz/env_config.h>
#include <rviz/ogre_helpers/ogre_logging.h>
 
#include <rviz/ogre_helpers/render_system.h>
 
#include <QMessageBox>
 
namespace rviz
{
RenderSystem* RenderSystem::instance_ = nullptr;
int RenderSystem::force_gl_version_ = 0;
bool RenderSystem::use_anti_aliasing_ = true;
bool RenderSystem::force_no_stereo_ = false;
 
RenderSystem* RenderSystem::get()
{
  if (instance_ == nullptr)
  {
    instance_ = new RenderSystem();
  }
  return instance_;
}
 
void RenderSystem::forceGlVersion(int version)
{
  force_gl_version_ = version;
  ROS_INFO_STREAM("Forcing OpenGl version " << (float)version / 100.0 << ".");
}
 
void RenderSystem::disableAntiAliasing()
{
  use_anti_aliasing_ = false;
  ROS_INFO("Disabling Anti-Aliasing");
}
 
void RenderSystem::forceNoStereo()
{
  force_no_stereo_ = true;
  ROS_INFO("Forcing Stereo OFF");
}
 
RenderSystem::RenderSystem() : ogre_overlay_system_(nullptr), stereo_supported_(false)
{
  OgreLogging::configureLogging();
 
  std::string rviz_path = ros::package::getPath(ROS_PACKAGE_NAME);
 
  setupDummyWindowId();
  ogre_root_ = new Ogre::Root(rviz_path + "/ogre_media/plugins.cfg");
  ogre_overlay_system_ = new Ogre::OverlaySystem();
  loadOgrePlugins();
  setupRenderSystem();
  ogre_root_->initialise(false);
  makeRenderWindow(dummy_window_id_, 1, 1);
  detectGlVersion();
  setupResources();
  Ogre::ResourceGroupManager::getSingleton().initialiseAllResourceGroups();
}
 
void RenderSystem::prepareOverlays(Ogre::SceneManager* scene_manager)
{
  if (ogre_overlay_system_)
    scene_manager->addRenderQueueListener(ogre_overlay_system_);
}
 
void RenderSystem::setupDummyWindowId()
{
#if defined(Q_OS_MAC) || defined(Q_OS_WIN)
  dummy_window_id_ = 0;
#else
  Display* display = XOpenDisplay(nullptr);
 
  if (display == nullptr)
  {
    ROS_WARN("$DISPLAY is invalid, falling back on default :0");
    display = XOpenDisplay(":0");
 
    if (display == nullptr)
    {
      ROS_FATAL("Can't open default or :0 display. Try setting DISPLAY environment variable.");
      throw std::runtime_error("Can't open default or :0 display!\n");
    }
  }
 
  int screen = DefaultScreen(display);
 
  int attribList[] = {GLX_RGBA, GLX_DOUBLEBUFFER, GLX_DEPTH_SIZE, 16, GLX_STENCIL_SIZE, 8, None};
 
  XVisualInfo* visual = glXChooseVisual(display, screen, (int*)attribList);
 
  dummy_window_id_ = XCreateSimpleWindow(display, RootWindow(display, screen), 0, 0, 1, 1, 0, 0, 0);
 
  GLXContext context = glXCreateContext(display, visual, nullptr, 1);
 
  glXMakeCurrent(display, dummy_window_id_, context);
#endif
}
 
void RenderSystem::loadOgrePlugins()
{
  std::string plugin_prefix = get_ogre_plugin_path() + "/";
#ifdef Q_OS_MAC
  plugin_prefix += "lib";
#endif
  ogre_root_->loadPlugin(plugin_prefix + "RenderSystem_GL");
  ogre_root_->loadPlugin(plugin_prefix + "Plugin_OctreeSceneManager");
  ogre_root_->loadPlugin(plugin_prefix + "Plugin_ParticleFX");
#if OGRE_VERSION >= OGRE_VERSION_CHECK(1, 11, 0)
  ogre_root_->loadPlugin(plugin_prefix + "Codec_FreeImage");
#endif
}
 
void RenderSystem::detectGlVersion()
{
  bool mesa_workaround = false;
  if (force_gl_version_)
  {
    gl_version_ = force_gl_version_;
  }
  else
  {
    Ogre::RenderSystem* renderSys = ogre_root_->getRenderSystem();
    const Ogre::RenderSystemCapabilities* caps = renderSys->createRenderSystemCapabilities();
    ROS_INFO("OpenGL device: %s", caps->getDeviceName().c_str());
    int major = caps->getDriverVersion().major;
    int minor = caps->getDriverVersion().minor;
    gl_version_ = major * 100 + minor * 10;
 
#ifdef __linux__
    std::string gl_version_string = (const char*)glGetString(GL_VERSION);
    // The "Mesa 2" string is intended to match "Mesa 20.", "Mesa 21." and so on
    mesa_workaround = gl_version_string.find("Mesa 2") != std::string::npos && gl_version_ >= 320;
#else
    mesa_workaround = false;
#endif
  }
 
  switch (gl_version_)
  {
  case 200:
    glsl_version_ = 110;
    break;
  case 210:
    glsl_version_ = 120;
    break;
  case 300:
    glsl_version_ = 130;
    break;
  case 310:
    glsl_version_ = 140;
    break;
  case 320:
    glsl_version_ = 150;
    break;
  default:
    if (gl_version_ > 320)
    {
      glsl_version_ = gl_version_;
    }
    else
    {
      glsl_version_ = 0;
    }
    break;
  }
  if (mesa_workaround)
  { // https://github.com/ros-visualization/rviz/issues/1508
    ROS_INFO("OpenGl version: %.1f (GLSL %.1f) limited to GLSL 1.4 on Mesa system.",
             (float)gl_version_ / 100.0, (float)glsl_version_ / 100.0);
 
    gl_version_ = 310;
    glsl_version_ = 140;
    return;
  }
  ROS_INFO("OpenGl version: %.1f (GLSL %.1f).", (float)gl_version_ / 100.0, (float)glsl_version_ / 100.0);
}
 
void RenderSystem::setupRenderSystem()
{
  Ogre::RenderSystem* renderSys;
  // Get the list of available renderers.
  const Ogre::RenderSystemList* rsList = &(ogre_root_->getAvailableRenderers());
 
  // Look for the OpenGL one, which we require.
  renderSys = nullptr;
  for (unsigned int i = 0; i < rsList->size(); i++)
  {
    renderSys = rsList->at(i);
    if (renderSys->getName().compare("OpenGL Rendering Subsystem") == 0)
    {
      break;
    }
  }
 
  if (renderSys == nullptr)
  {
    throw std::runtime_error("Could not find the opengl rendering subsystem!\n");
  }
 
  // We operate in windowed mode
  renderSys->setConfigOption("Full Screen", "No");
 
  //  renderSys->setConfigOption("RTT Preferred Mode", "FBO");
 
  // Set the Full Screen Anti-Aliasing factor.
  if (use_anti_aliasing_)
  {
    renderSys->setConfigOption("FSAA", "4");
  }
 
  ogre_root_->setRenderSystem(renderSys);
}
 
void RenderSystem::setupResources()
{
  std::string rviz_path = ros::package::getPath(ROS_PACKAGE_NAME);
  Ogre::ResourceGroupManager::getSingleton().addResourceLocation(
      rviz_path + "/ogre_media", "FileSystem", Ogre::ResourceGroupManager::DEFAULT_RESOURCE_GROUP_NAME);
  Ogre::ResourceGroupManager::getSingleton().addResourceLocation(
      rviz_path + "/ogre_media/textures", "FileSystem",
      Ogre::ResourceGroupManager::DEFAULT_RESOURCE_GROUP_NAME);
  Ogre::ResourceGroupManager::getSingleton().addResourceLocation(
      rviz_path + "/ogre_media/fonts", "FileSystem",
      Ogre::ResourceGroupManager::DEFAULT_RESOURCE_GROUP_NAME, true);
  Ogre::ResourceGroupManager::getSingleton().addResourceLocation(
      rviz_path + "/ogre_media/models", "FileSystem",
      Ogre::ResourceGroupManager::DEFAULT_RESOURCE_GROUP_NAME);
  Ogre::ResourceGroupManager::getSingleton().addResourceLocation(
      rviz_path + "/ogre_media/materials", "FileSystem",
      Ogre::ResourceGroupManager::DEFAULT_RESOURCE_GROUP_NAME);
  Ogre::ResourceGroupManager::getSingleton().addResourceLocation(
      rviz_path + "/ogre_media/materials/scripts", "FileSystem",
      Ogre::ResourceGroupManager::DEFAULT_RESOURCE_GROUP_NAME);
  Ogre::ResourceGroupManager::getSingleton().addResourceLocation(
      rviz_path + "/ogre_media/materials/glsl120", "FileSystem",
      Ogre::ResourceGroupManager::DEFAULT_RESOURCE_GROUP_NAME);
  Ogre::ResourceGroupManager::getSingleton().addResourceLocation(
      rviz_path + "/ogre_media/materials/glsl120/nogp", "FileSystem",
      Ogre::ResourceGroupManager::DEFAULT_RESOURCE_GROUP_NAME);
  Ogre::ResourceGroupManager::getSingleton().addResourceLocation(
      rviz_path + "/ogre_media/materials/glsl120/include", "FileSystem",
      Ogre::ResourceGroupManager::DEFAULT_RESOURCE_GROUP_NAME);
  // Add resources that depend on a specific glsl version.
  // Unfortunately, Ogre doesn't have a notion of glsl versions so we can't go
  // the 'official' way of defining multiple schemes per material and let Ogre decide which one to use.
  if (getGlslVersion() >= 150)
  {
    Ogre::ResourceGroupManager::getSingleton().addResourceLocation(
        rviz_path + "/ogre_media/materials/glsl150", "FileSystem",
        Ogre::ResourceGroupManager::DEFAULT_RESOURCE_GROUP_NAME);
    Ogre::ResourceGroupManager::getSingleton().addResourceLocation(
        rviz_path + "/ogre_media/materials/scripts150", "FileSystem",
        Ogre::ResourceGroupManager::DEFAULT_RESOURCE_GROUP_NAME);
  }
  else if (getGlslVersion() >= 120)
  {
    Ogre::ResourceGroupManager::getSingleton().addResourceLocation(
        rviz_path + "/ogre_media/materials/scripts120", "FileSystem",
        Ogre::ResourceGroupManager::DEFAULT_RESOURCE_GROUP_NAME);
  }
  else
  {
    std::string s = "Your graphics driver does not support OpenGL 2.1. Please enable software rendering "
                    "before running RViz (e.g. type 'export LIBGL_ALWAYS_SOFTWARE=1').";
    QMessageBox msgBox;
    msgBox.setText(s.c_str());
    msgBox.exec();
    throw std::runtime_error(s);
  }
 
  // Add paths exported to the "media_export" package.
  std::vector<std::string> media_paths;
  ros::package::getPlugins("media_export", "ogre_media_path", media_paths);
  std::string delim(":");
  for (std::vector<std::string>::iterator iter = media_paths.begin(); iter != media_paths.end(); ++iter)
  {
    if (!iter->empty())
    {
      std::string path;
      int pos1 = 0;
      int pos2 = iter->find(delim);
      while (pos2 != (int)std::string::npos)
      {
        path = iter->substr(pos1, pos2 - pos1);
        ROS_DEBUG("adding resource location: '%s'\n", path.c_str());
        Ogre::ResourceGroupManager::getSingleton().addResourceLocation(
            path, "FileSystem", Ogre::ResourceGroupManager::DEFAULT_RESOURCE_GROUP_NAME);
        pos1 = pos2 + 1;
        pos2 = iter->find(delim, pos2 + 1);
      }
      path = iter->substr(pos1, iter->size() - pos1);
      ROS_DEBUG("adding resource location: '%s'\n", path.c_str());
      Ogre::ResourceGroupManager::getSingleton().addResourceLocation(
          path, "FileSystem", Ogre::ResourceGroupManager::DEFAULT_RESOURCE_GROUP_NAME);
    }
  }
}
 
// On Intel graphics chips under X11, there sometimes comes a
// BadDrawable error during Ogre render window creation.  It is not
// consistent, happens sometimes but not always.  Underlying problem
// seems to be a driver bug.  My workaround here is to notice when
// that specific BadDrawable error happens on request 136 minor 3
// (which is what the problem looks like when it happens) and just try
// over and over again until it works (or until 100 failures, which
// makes it seem like it is a different bug).
static bool x_baddrawable_error = false;
#ifdef Q_WS_X11
static int (*old_error_handler)(Display*, XErrorEvent*);
int checkBadDrawable(Display* display, XErrorEvent* error)
{
  if (error->error_code == BadDrawable && error->request_code == 136 && error->minor_code == 3)
  {
    x_baddrawable_error = true;
    return 0;
  }
  else
  {
    // If the error does not exactly match the one from the driver bug,
    // handle it the normal way so we see it.
    return old_error_handler(display, error);
  }
}
#endif // Q_WS_X11
 
Ogre::RenderWindow* RenderSystem::makeRenderWindow(WindowIDType window_id,
                                                   unsigned int width,
                                                   unsigned int height,
                                                   double pixel_ratio)
{
  static int windowCounter = 0; // Every RenderWindow needs a unique name, oy.
 
  Ogre::NameValuePairList params;
  Ogre::RenderWindow* window = nullptr;
 
  params["externalWindowHandle"] = Ogre::StringConverter::toString(window_id);
  params["parentWindowHandle"] = Ogre::StringConverter::toString(window_id);
 
  params["externalGLControl"] = true;
 
  // Enable antialiasing
  if (use_anti_aliasing_)
  {
    params["FSAA"] = "4";
  }
 
// Set the macAPI for Ogre based on the Qt implementation
#if defined(Q_OS_MAC)
  params["macAPI"] = "cocoa";
  params["macAPICocoaUseNSView"] = "true";
#endif
  params["contentScalingFactor"] = std::to_string(pixel_ratio);
 
  std::ostringstream stream;
  stream << "OgreWindow(" << windowCounter++ << ")";
 
 
// don't bother trying stereo if Ogre does not support it.
#if !OGRE_STEREO_ENABLE
  force_no_stereo_ = true;
#endif
 
  // attempt to create a stereo window
  bool is_stereo = false;
  if (!force_no_stereo_)
  {
    params["stereoMode"] = "Frame Sequential";
    window = tryMakeRenderWindow(stream.str(), width, height, &params, 100);
    params.erase("stereoMode");
 
    if (window)
    {
#if OGRE_STEREO_ENABLE
      is_stereo = window->isStereoEnabled();
#endif
      if (!is_stereo)
      {
        // Created a non-stereo window.  Discard it and try again (below)
        // without the stereo parameter.
        ogre_root_->detachRenderTarget(window);
        window->destroy();
        window = nullptr;
        stream << "x";
        is_stereo = false;
      }
    }
  }
 
  if (window == nullptr)
  {
    window = tryMakeRenderWindow(stream.str(), width, height, &params, 100);
  }
 
  if (window == nullptr)
  {
    ROS_ERROR("Unable to create the rendering window after 100 tries.");
    assert(false);
  }
 
  if (window)
  {
    window->setActive(true);
    // window->setVisible(true);
    window->setAutoUpdated(false);
  }
 
  stereo_supported_ = is_stereo;
 
  ROS_INFO_ONCE("Stereo is %s", stereo_supported_ ? "SUPPORTED" : "NOT SUPPORTED");
 
  return window;
}
 
Ogre::RenderWindow* RenderSystem::tryMakeRenderWindow(const std::string& name,
                                                      unsigned int width,
                                                      unsigned int height,
                                                      const Ogre::NameValuePairList* params,
                                                      int max_attempts)
{
  Ogre::RenderWindow* window = nullptr;
  int attempts = 0;
 
#ifdef Q_WS_X11
  old_error_handler = XSetErrorHandler(&checkBadDrawable);
#endif
 
  while (window == nullptr && (attempts++) < max_attempts)
  {
    try
    {
      window = ogre_root_->createRenderWindow(name, width, height, false, params);
 
      // If the driver bug happened, tell Ogre we are done with that
      // window and then try again.
      if (x_baddrawable_error)
      {
        ogre_root_->detachRenderTarget(window);
        window = nullptr;
        x_baddrawable_error = false;
      }
    }
    catch (const std::exception& ex)
    {
      std::cerr << "rviz::RenderSystem: error creating render window: " << ex.what() << std::endl;
      window = nullptr;
    }
  }
 
#ifdef Q_WS_X11
  XSetErrorHandler(old_error_handler);
#endif
 
  if (window && attempts > 1)
  {
    ROS_INFO("Created render window after %d attempts.", attempts);
  }
 
  return window;
}
 
 
} // end namespace rviz