Fix rendering tests

[iche033]

#2084

Fixes the following rendering tests that are failing on Jammy CI:

• INTEGRATION_camera_lens_flare
• INTEGRATION_camera_video_record_system
• INTEGRATION_shader_param_system

[azeey]

I was able to reproduce the test failures locally on gz-sim7. Here's a backtrace in case it helps

(gdb) bt
#0  0x0000555555567597 in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release (this=0x7fffa1c28fb0) at /usr/include/c++/11/bits/shared_ptr_base.h:168
#1  0x00007fffa72cd304 in std::__shared_count<(__gnu_cxx::_Lock_policy)2>::~__shared_count (this=0x555557a75e30, __in_chrg=<optimized out>) at /usr/include/c++/11/bits/shared_ptr_base.h:705
#2  std::__shared_ptr<gz::rendering::v7::Material, (__gnu_cxx::_Lock_policy)2>::~__shared_ptr (this=0x555557a75e28, __in_chrg=<optimized out>) at /usr/include/c++/11/bits/shared_ptr_base.h:1154
#3  std::shared_ptr<gz::rendering::v7::Material>::~shared_ptr (this=0x555557a75e28, __in_chrg=<optimized out>) at /usr/include/c++/11/bits/shared_ptr.h:122
#4  gz::sim::v7::systems::ShaderParamPrivate::~ShaderParamPrivate (this=0x555557a75d90, __in_chrg=<optimized out>) at ~/ws/garden/src/gz-sim/src/systems/shader_param/ShaderParam.cc:48
#5  std::default_delete<gz::sim::v7::systems::ShaderParamPrivate>::operator() (this=<optimized out>, __ptr=0x555557a75d90) at /usr/include/c++/11/bits/unique_ptr.h:85
#6  std::default_delete<gz::sim::v7::systems::ShaderParamPrivate>::operator() (__ptr=0x555557a75d90, this=<optimized out>) at /usr/include/c++/11/bits/unique_ptr.h:79
#7  std::unique_ptr<gz::sim::v7::systems::ShaderParamPrivate, std::default_delete<gz::sim::v7::systems::ShaderParamPrivate> >::~unique_ptr (this=<optimized out>, __in_chrg=<optimized out>) at /usr/include/c++/11/bits/unique_ptr.h:361
#8  gz::sim::v7::systems::ShaderParam::~ShaderParam (this=<optimized out>, __in_chrg=<optimized out>) at ~/ws/garden/src/gz-sim/src/systems/shader_param/ShaderParam.cc:132
#9  0x00007fffa72d3319 in gz::sim::v7::systems::ShaderParam::~ShaderParam (this=0x5555574be160, __in_chrg=<optimized out>) at ~/ws/garden/src/gz-sim/src/systems/shader_param/ShaderParam.cc:130
#10 gz::plugin::detail::MakeInfo<gz::sim::v7::systems::ShaderParam, gz::sim::v7::System, gz::sim::v7::ISystemConfigure, gz::sim::v7::ISystemPreUpdate>()::{lambda(void*)#2}::operator()(void*) const (ptr=0x5555574be160, __closure=<optimized out>) at ~/ws/garden/install/include/gz/plugin2/gz/plugin/detail/Common.hh:167
#11 std::__invoke_impl<void, gz::plugin::detail::MakeInfo<gz::sim::v7::systems::ShaderParam, gz::sim::v7::System, gz::sim::v7::ISystemConfigure, gz::sim::v7::ISystemPreUpdate>()::{lambda(void*)#2}&, void*>(std::__invoke_other, gz::plugin::detail::MakeInfo<gz::sim::v7::systems::ShaderParam, gz::sim::v7::System, gz::sim::v7::ISystemConfigure, gz::sim::v7::ISystemPreUpdate>()::{lambda(void*)#2}&, void*&&) (__f=...) at /usr/include/c++/11/bits/invoke.h:61
#12 std::__invoke_r<void, gz::plugin::detail::MakeInfo<gz::sim::v7::systems::ShaderParam, gz::sim::v7::System, gz::sim::v7::ISystemConfigure, gz::sim::v7::ISystemPreUpdate>()::{lambda(void*)#2}&, void*>(gz::plugin::detail::MakeInfo<gz::sim::v7::systems::ShaderParam, gz::sim::v7::System, gz::sim::v7::ISystemConfigure, gz::sim::v7::ISystemPreUpdate>()::{lambda(void*)#2}&, void*&&) (__fn=...) at /usr/include/c++/11/bits/invoke.h:111
#13 std::_Function_handler<void (void*), gz::plugin::detail::MakeInfo<gz::sim::v7::systems::ShaderParam, gz::sim::v7::System, gz::sim::v7::ISystemConfigure, gz::sim::v7::ISystemPreUpdate>()::{lambda(void*)#2}>::_M_invoke(std::_Any_data const&, void*&&) (__functor=..., __args#0=<optimized out>) at /usr/include/c++/11/bits/std_function.h:290
#14 0x00007ffff7538610 in std::function<void (void*)>::operator()(void*) const (this=0x5555574830c8, __args=0x5555574be160) at /usr/bin/../lib/gcc/x86_64-linux-gnu/11/../../../../include/c++/11/bits/std_function.h:590
#15 gz::plugin::PluginWithDlHandle::~PluginWithDlHandle (this=0x5555574830b0) at ~/ws/garden/src/gz-plugin/core/src/Plugin.cc:64
#16 0x00007ffff7538a25 in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release (this=0x5555574830a0) at /usr/bin/../lib/gcc/x86_64-linux-gnu/11/../../../../include/c++/11/bits/shared_ptr_base.h:168
#17 std::__shared_count<(__gnu_cxx::_Lock_policy)2>::~__shared_count (this=0x5555574b9888) at /usr/bin/../lib/gcc/x86_64-linux-gnu/11/../../../../include/c++/11/bits/shared_ptr_base.h:705
#18 std::__shared_ptr<void, (__gnu_cxx::_Lock_policy)2>::~__shared_ptr (this=0x5555574b9880) at /usr/bin/../lib/gcc/x86_64-linux-gnu/11/../../../../include/c++/11/bits/shared_ptr_base.h:1154
#19 gz::plugin::Plugin::Implementation::~Implementation (this=this@entry=0x5555574b9850) at ~/ws/garden/src/gz-plugin/core/src/Plugin.cc:107
#20 0x00007ffff7537216 in std::default_delete<gz::plugin::Plugin::Implementation>::operator() (this=<optimized out>, __ptr=0x5555574b9850) at /usr/bin/../lib/gcc/x86_64-linux-gnu/11/../../../../include/c++/11/bits/unique_ptr.h:85
#21 std::unique_ptr<gz::plugin::Plugin::Implementation, std::default_delete<gz::plugin::Plugin::Implementation> >::~unique_ptr (this=0x5555577d0a20) at /usr/bin/../lib/gcc/x86_64-linux-gnu/11/../../../../include/c++/11/bits/unique_ptr.h:361
#22 gz::plugin::Plugin::~Plugin (this=this@entry=0x5555577d0a18) at ~/ws/garden/src/gz-plugin/core/src/Plugin.cc:406
#23 0x00007ffff7e2a296 in gz::plugin::SpecializedPlugin<gz::sim::v7::System, gz::sim::v7::ISystemConfigure, gz::sim::v7::ISystemPreUpdate, gz::sim::v7::ISystemUpdate, gz::sim::v7::ISystemPostUpdate>::~SpecializedPlugin (this=this@entry=0x5555577d0a00, __in_chrg=<optimized out>, __vtt_parm=<optimized out>) at ~/ws/garden/install/include/gz/plugin2/gz/plugin/detail/SpecializedPlugin.hh:307
#24 0x00007ffff7e23594 in gz::plugin::SpecializedPlugin<gz::sim::v7::System, gz::sim::v7::ISystemConfigure, gz::sim::v7::ISystemPreUpdate, gz::sim::v7::ISystemUpdate, gz::sim::v7::ISystemPostUpdate>::~SpecializedPlugin (this=0x5555577d0a00, __in_chrg=<optimized out>, __vtt_parm=<optimized out>) at ~/ws/garden/install/include/gz/plugin2/gz/plugin/detail/SpecializedPlugin.hh:307
#25 std::default_delete<gz::plugin::SpecializedPlugin<gz::sim::v7::System, gz::sim::v7::ISystemConfigure, gz::sim::v7::ISystemPreUpdate, gz::sim::v7::ISystemUpdate, gz::sim::v7::ISystemPostUpdate> >::operator() (__ptr=0x5555577d0a00, this=<optimized out>) at /usr/include/c++/11/bits/unique_ptr.h:85
#26 std::unique_ptr<gz::plugin::SpecializedPlugin<gz::sim::v7::System, gz::sim::v7::ISystemConfigure, gz::sim::v7::ISystemPreUpdate, gz::sim::v7::ISystemUpdate, gz::sim::v7::ISystemPostUpdate>, std::default_delete<gz::plugin::SpecializedPlugin<gz::sim::v7::System, gz::sim::v7::ISystemConfigure, gz::sim::v7::ISystemPreUpdate, gz::sim::v7::ISystemUpdate, gz::sim::v7::ISystemPostUpdate> > >::~unique_ptr (this=0x55555771e7a0, __in_chrg=<optimized out>) at /usr/include/c++/11/bits/unique_ptr.h:361
#27 gz::plugin::TemplatePluginPtr<gz::plugin::SpecializedPlugin<gz::sim::v7::System, gz::sim::v7::ISystemConfigure, gz::sim::v7::ISystemPreUpdate, gz::sim::v7::ISystemUpdate, gz::sim::v7::ISystemPostUpdate> >::~TemplatePluginPtr (this=0x55555771e7a0, __in_chrg=<optimized out>) at ~/ws/garden/install/include/gz/plugin2/gz/plugin/PluginPtr.hh:57
#28 gz::sim::v7::SystemInternal::~SystemInternal (this=0x55555771e7a0, __in_chrg=<optimized out>) at ~/ws/garden/src/gz-sim/src/SystemInternal.hh:39
#29 std::_Destroy<gz::sim::v7::SystemInternal> (__pointer=0x55555771e7a0) at /usr/include/c++/11/bits/stl_construct.h:151
#30 std::_Destroy_aux<false>::__destroy<gz::sim::v7::SystemInternal*> (__last=<optimized out>, __first=0x55555771e7a0) at /usr/include/c++/11/bits/stl_construct.h:163
#31 std::_Destroy<gz::sim::v7::SystemInternal*> (__last=<optimized out>, __first=<optimized out>) at /usr/include/c++/11/bits/stl_construct.h:196
#32 std::_Destroy<gz::sim::v7::SystemInternal*, gz::sim::v7::SystemInternal> (__last=0x55555771e920, __first=<optimized out>) at /usr/include/c++/11/bits/alloc_traits.h:848
#33 std::vector<gz::sim::v7::SystemInternal, std::allocator<gz::sim::v7::SystemInternal> >::~vector (this=0x555557ac1a90, __in_chrg=<optimized out>) at /usr/include/c++/11/bits/stl_vector.h:680
#34 gz::sim::v7::SystemManager::~SystemManager (this=0x555557ac1a90, __in_chrg=<optimized out>) at ~/ws/garden/src/gz-sim/src/SystemManager.hh:45
#35 std::default_delete<gz::sim::v7::SystemManager>::operator() (__ptr=0x555557ac1a90, this=<optimized out>) at /usr/include/c++/11/bits/unique_ptr.h:85
#36 0x00007ffff7e2426d in gz::sim::v7::SimulationRunner::~SimulationRunner (this=0x55555568ae80, __in_chrg=<optimized out>) at ~/ws/garden/src/gz-sim/src/SimulationRunner.cc:270
#37 0x00007ffff7e16e97 in std::default_delete<gz::sim::v7::SimulationRunner>::operator() (__ptr=<optimized out>, this=<optimized out>) at /usr/include/c++/11/bits/unique_ptr.h:79
#38 std::unique_ptr<gz::sim::v7::SimulationRunner, std::default_delete<gz::sim::v7::SimulationRunner> >::~unique_ptr (this=0x55555762d6e0, __in_chrg=<optimized out>) at /usr/include/c++/11/bits/unique_ptr.h:361
#39 std::_Destroy<std::unique_ptr<gz::sim::v7::SimulationRunner, std::default_delete<gz::sim::v7::SimulationRunner> > > (__pointer=0x55555762d6e0) at /usr/include/c++/11/bits/stl_construct.h:151
#40 std::_Destroy_aux<false>::__destroy<std::unique_ptr<gz::sim::v7::SimulationRunner, std::default_delete<gz::sim::v7::SimulationRunner> >*> (__last=<optimized out>, __first=0x55555762d6e0) at /usr/include/c++/11/bits/stl_construct.h:163
#41 std::_Destroy<std::unique_ptr<gz::sim::v7::SimulationRunner, std::default_delete<gz::sim::v7::SimulationRunner> >*> (__last=<optimized out>, __first=<optimized out>) at /usr/include/c++/11/bits/stl_construct.h:196
#42 std::_Destroy<std::unique_ptr<gz::sim::v7::SimulationRunner, std::default_delete<gz::sim::v7::SimulationRunner> >*, std::unique_ptr<gz::sim::v7::SimulationRunner, std::default_delete<gz::sim::v7::SimulationRunner> > > (__last=0x55555762d6e8, __first=<optimized out>) at /usr/include/c++/11/bits/alloc_traits.h:848
#43 std::vector<std::unique_ptr<gz::sim::v7::SimulationRunner, std::default_delete<gz::sim::v7::SimulationRunner> >, std::allocator<std::unique_ptr<gz::sim::v7::SimulationRunner, std::default_delete<gz::sim::v7::SimulationRunner> > > >::~vector (this=0x555555664940, __in_chrg=<optimized out>) at /usr/include/c++/11/bits/stl_vector.h:680
#44 gz::sim::v7::ServerPrivate::~ServerPrivate (this=this@entry=0x555555664930, __in_chrg=<optimized out>) at ~/ws/garden/src/gz-sim/src/ServerPrivate.cc:110
#45 0x00007ffff7e083a5 in std::default_delete<gz::sim::v7::ServerPrivate>::operator() (this=<optimized out>, __ptr=0x555555664930) at /usr/include/c++/11/bits/unique_ptr.h:85
#46 std::default_delete<gz::sim::v7::ServerPrivate>::operator() (__ptr=0x555555664930, this=<optimized out>) at /usr/include/c++/11/bits/unique_ptr.h:79
#47 std::unique_ptr<gz::sim::v7::ServerPrivate, std::default_delete<gz::sim::v7::ServerPrivate> >::~unique_ptr (this=<optimized out>, __in_chrg=<optimized out>) at /usr/include/c++/11/bits/unique_ptr.h:361
#48 gz::sim::v7::Server::~Server (this=<optimized out>, __in_chrg=<optimized out>) at ~/ws/garden/src/gz-sim/src/Server.cc:191
#49 0x00005555555649bd in ShaderParamTest_ShaderParam_Test::TestBody (this=<optimized out>) at ~/ws/garden/src/gz-sim/test/integration/shader_param_system.cc:110
#50 0x000055555559dcff in testing::internal::HandleSehExceptionsInMethodIfSupported<testing::Test, void> (location=0x5555555a0639 "the test body", method=<optimized out>, object=0x555555660e50) at ~/ws/garden/src/gz-sim/test/gtest_vendor/src/gtest.cc:2599
#51 testing::internal::HandleExceptionsInMethodIfSupported<testing::Test, void> (object=object@entry=0x555555660e50, method=<optimized out>, location=location@entry=0x5555555a0639 "the test body") at ~/ws/garden/src/gz-sim/test/gtest_vendor/src/gtest.cc:2635
#52 0x000055555558dde6 in testing::Test::Run (this=0x555555660e50) at ~/ws/garden/src/gz-sim/test/gtest_vendor/src/gtest.cc:2674
#53 testing::Test::Run (this=0x555555660e50) at ~/ws/garden/src/gz-sim/test/gtest_vendor/src/gtest.cc:2664
#54 0x000055555558e02d in testing::TestInfo::Run (this=0x555555660480) at ~/ws/garden/src/gz-sim/test/gtest_vendor/src/gtest.cc:2853
#55 0x000055555558e733 in testing::TestSuite::Run (this=0x555555609290) at ~/ws/garden/src/gz-sim/test/gtest_vendor/src/gtest.cc:3012
#56 0x000055555559394c in testing::TestSuite::Run (this=<optimized out>) at ~/ws/garden/src/gz-sim/test/gtest_vendor/src/gtest.cc:2986
#57 testing::internal::UnitTestImpl::RunAllTests (this=0x555555660610) at ~/ws/garden/src/gz-sim/test/gtest_vendor/src/gtest.cc:5870
#58 0x000055555559e2c7 in testing::internal::HandleSehExceptionsInMethodIfSupported<testing::internal::UnitTestImpl, bool> (location=0x5555555a19c0 "auxiliary test code (environments or event listeners)", method=<optimized out>, object=0x555555660610) at ~/ws/garden/src/gz-sim/test/gtest_vendor/src/gtest.cc:2599
#59 testing::internal::HandleExceptionsInMethodIfSupported<testing::internal::UnitTestImpl, bool> (object=0x555555660610, method=<optimized out>, location=location@entry=0x5555555a19c0 "auxiliary test code (environments or event listeners)") at ~/ws/garden/src/gz-sim/test/gtest_vendor/src/gtest.cc:2635
#60 0x000055555558e110 in testing::UnitTest::Run (this=0x5555555b8580 <testing::UnitTest::GetInstance()::instance>) at ~/ws/garden/src/gz-sim/test/gtest_vendor/src/gtest.cc:5444
#61 0x0000555555563cd4 in RUN_ALL_TESTS () at ~/ws/garden/src/gz-sim/test/gtest_vendor/include/gtest/gtest.h:2293
#62 main (argc=<optimized out>, argv=0x7fffffffd0d8) at ~/ws/garden/src/gz-sim/test/gtest_vendor/src/gtest_main.cc:51

[iche033]

oh nice! that looks like from INTEGRATION_shader_param. I managed to fix it after resetting some shared points but now I know it's actually due to the material pointer!

Are you able to repro the INTEGRATION_distortion_camera crash?

[iche033]

With the latest changes, these 3 long standing rendering test failures should be fixed:

• INTEGRATION_camera_lens_flare
• INTEGRATION_camera_video_record_system
• INTEGRATION_shader_param_system

The last test failure may need to be fixed from out side of gz-sim

• INTEGRATION_distortion_camera.test

I created gazebosim/gz-rendering#886 that tries to clean up resources properly. Not sure if it'll actually fix the distortion camera test as the test is running ogre (instead of ogre2) and there could be other shutdown problems.

Marking this as ready to have the 3 tests fixed first.

[codecov]

Codecov Report

Merging #2086 (ce70373) into main (2ae5eb0) will decrease coverage by 0.08%.
Report is 4 commits behind head on main.
The diff coverage is 48.35%.

❗ Current head ce70373 differs from pull request most recent head 16d1db9. Consider uploading reports for the commit 16d1db9 to get more accurate results

@@            Coverage Diff             @@
##             main    #2086      +/-   ##
==========================================
- Coverage   65.37%   65.30%   -0.08%     
==========================================
  Files         320      321       +1     
  Lines       30215    30305      +90     
==========================================
+ Hits        19754    19791      +37     
- Misses      10461    10514      +53     

Files Changed	Coverage Δ
python/src/gz/sim/Link.cc	50.00% <ø> (ø)
python/src/gz/sim/Light.cc	45.34% <45.34%> (ø)
python/src/gz/common/_gz_common_pybind11.cc	100.00% <100.00%> (ø)
python/src/gz/sim/TestFixture.cc	82.75% <100.00%> (+0.61%)	⬆️
python/src/gz/sim/_gz_sim_pybind11.cc	100.00% <100.00%> (ø)
src/rendering/SceneManager.cc	31.23% <100.00%> (+0.05%)	⬆️
src/systems/sensors/Sensors.cc	63.18% <100.00%> (+0.09%)	⬆️

... and 1 file with indirect coverage changes