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Fix crash when running the Gazebo GUI #108

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Apr 28, 2020
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16 changes: 10 additions & 6 deletions include/ignition/gazebo/gui/Gui.hh
Original file line number Diff line number Diff line change
Expand Up @@ -34,19 +34,23 @@ namespace gui
{
/// \brief Run GUI application
/// \param[in] _argc Number of command line arguments (Used when running
/// without ign-tools. Set to 0 if using ign-tools)
/// without ign-tools. Set to 1 if using ign-tools). Note: The object
/// referenced by this variable must continue to exist for the lifetime of the
/// application.
/// \param[in] _argv Command line arguments (Used when running without
/// ign-tools. Set to nullptr if using ign-tools)
/// ign-tools. Set to the name of the application if using ign-tools)
/// \param[in] _guiConfig The GUI configuration file. If nullptr, the default
/// configuration from IGN_HOMEDIR/.ignition/gazebo/gui.config will be used.
IGNITION_GAZEBO_VISIBLE int runGui(int _argc, char **_argv,
IGNITION_GAZEBO_VISIBLE int runGui(int &_argc, char **_argv,
const char *_guiConfig);

/// \brief Create a Gazebo GUI application
/// \param[in] _argc Number of command line arguments (Used when running
/// without ign-tools. Set to 0 if using ign-tools)
/// without ign-tools. Set to 1 if using ign-tools). Note: The object
/// referenced by this variable must continue to exist for the lifetime of the
/// application.
/// \param[in] _argv Command line arguments (Used when running without
/// ign-tools. Set to nullptr if using ign-tools)
/// ign-tools. Set to the name of the application if using ign-tools)
/// \param[in] _guiConfig The GUI configuration file. If nullptr, the default
/// configuration from IGN_HOMEDIR/.ignition/gazebo/gui.config will be used.
/// \param[in] _defaultGuiConfig The default GUI configuration file. If no
Expand All @@ -57,7 +61,7 @@ namespace gui
/// \param[in] _loadPluginsFromSdf If true, plugins specified in the world
/// SDFormat file will get loaded.
IGNITION_GAZEBO_VISIBLE std::unique_ptr<ignition::gui::Application> createGui(
int _argc, char **_argv, const char *_guiConfig,
int &_argc, char **_argv, const char *_guiConfig,
const char *_defaultGuiConfig = nullptr, bool _loadPluginsFromSdf = true);

} // namespace gui
Expand Down
12 changes: 7 additions & 5 deletions src/gui/Gui.cc
Original file line number Diff line number Diff line change
Expand Up @@ -40,7 +40,7 @@ namespace gui
{

std::unique_ptr<ignition::gui::Application> createGui(
int _argc, char **_argv, const char *_guiConfig,
int &_argc, char **_argv, const char *_guiConfig,
const char *_defaultGuiConfig, bool _loadPluginsFromSdf)
{
ignition::common::SignalHandler sigHandler;
Expand All @@ -52,13 +52,15 @@ std::unique_ptr<ignition::gui::Application> createGui(

ignmsg << "Ignition Gazebo GUI v" << IGNITION_GAZEBO_VERSION_FULL
<< std::endl;
// Temporary transport interface
auto tmp = std::make_unique<ignition::gazebo::TmpIface>();

// Initialize Qt app
auto app = std::make_unique<ignition::gui::Application>(_argc, _argv);
app->AddPluginPath(IGN_GAZEBO_GUI_PLUGIN_INSTALL_DIR);

// Temporary transport interface
auto tmp = new ignition::gazebo::TmpIface();
tmp->setParent(app->Engine());

auto guiFileHandler = new ignition::gazebo::gui::GuiFileHandler();
guiFileHandler->setParent(app->Engine());

Expand Down Expand Up @@ -87,7 +89,7 @@ std::unique_ptr<ignition::gui::Application> createGui(

// Let QML files use TmpIface' functions and properties
auto context = new QQmlContext(app->Engine()->rootContext());
context->setContextProperty("TmpIface", tmp.get());
context->setContextProperty("TmpIface", tmp);
context->setContextProperty("GuiFileHandler", guiFileHandler);

// Instantiate GazeboDrawer.qml file into a component
Expand Down Expand Up @@ -257,7 +259,7 @@ std::unique_ptr<ignition::gui::Application> createGui(
}

//////////////////////////////////////////////////
int runGui(int _argc, char **_argv, const char *_guiConfig)
int runGui(int &_argc, char **_argv, const char *_guiConfig)
{
auto app = gazebo::gui::createGui(_argc, _argv, _guiConfig);
if (nullptr != app)
Expand Down
13 changes: 12 additions & 1 deletion src/ign.cc
Original file line number Diff line number Diff line change
Expand Up @@ -282,5 +282,16 @@ extern "C" IGNITION_GAZEBO_VISIBLE int runServer(const char *_sdfString,
//////////////////////////////////////////////////
extern "C" IGNITION_GAZEBO_VISIBLE int runGui(const char *_guiConfig)
{
return ignition::gazebo::gui::runGui(0, nullptr, _guiConfig);
// argc and argv are going to be passed to a QApplication. The Qt
// documentation has a warning about these:
// "Warning: The data referred to by argc and argv must stay valid for the
// entire lifetime of the QApplication object. In addition, argc must be
// greater than zero and argv must contain at least one valid character
// string."
int argc = 1;
// Converting a string literal to char * is forbidden as of C++11. It can only
// be converted to a const char *. The const cast is here to prevent a warning
// since we do need to pass a char* to runGui
char *argv = const_cast<char *>("ign-gazebo-gui");
return ignition::gazebo::gui::runGui(argc, &argv, _guiConfig);
}