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tork-a / visualization_rwt

visualization packages for rwt
BSD 3-Clause "New" or "Revised" License
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[rwt_image_view] several clicks on the "view" button cause MjpegCanvas error #92

Open ishiguroJSK opened 4 years ago

ishiguroJSK commented 4 years ago

I could see a sample image with rwt_image_view. (e.g. like below)

roslaunch rwt_image_view rwt_image_view.launch 
rosrun image_view2 publish_lena.py

Screenshot from 2020-07-08 15-49-17

But after clicking the "view" button for 6 or 7 times, the MjpegCanvas goes wrong. Screenshot from 2020-07-08 15-47-28

The terminal message was

 $ roslaunch rwt_image_view rwt_image_view.launch 
... logging to /home/leus/.ros/log/ca900c0a-c0e6-11ea-8077-7c7a914eb678/roslaunch-W540-8328.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
WARNING: disk usage in log directory [/home/leus/.ros/log] is over 1GB.
It's recommended that you use the 'rosclean' command.

started roslaunch server http://W540:34877/

SUMMARY
========

CLEAR PARAMETERS
 * /rosbag_record_server/
 * /web_video_server/

PARAMETERS
 * /rosapi/params_glob: [*]
 * /rosapi/services_glob: [*]
 * /rosapi/topics_glob: [*]
 * /rosbridge_websocket/address: 0.0.0.0
 * /rosbridge_websocket/authenticate: False
 * /rosbridge_websocket/bson_only_mode: False
 * /rosbridge_websocket/delay_between_messages: 0
 * /rosbridge_websocket/fragment_timeout: 600
 * /rosbridge_websocket/max_message_size: None
 * /rosbridge_websocket/params_glob: [*]
 * /rosbridge_websocket/port: 8888
 * /rosbridge_websocket/retry_startup_delay: 5
 * /rosbridge_websocket/services_glob: [*]
 * /rosbridge_websocket/topics_glob: [*]
 * /rosbridge_websocket/unregister_timeout: 10
 * /rosbridge_websocket/use_compression: False
 * /rosbridge_websocket/websocket_external_port: None
 * /rosbridge_websocket/websocket_ping_interval: 0
 * /rosbridge_websocket/websocket_ping_timeout: 30
 * /rosdistro: melodic
 * /rosversion: 1.14.6
 * /web_video_server/address: 127.0.0.1
 * /web_video_server/port: 8080

NODES
  /
    rosapi (rosapi/rosapi_node)
    rosbag_record_server (rwt_image_view/rosbag_record_server.py)
    rosbridge_websocket (rosbridge_server/rosbridge_websocket)
    roswww (roswww/webserver.py)
    web_video_server (web_video_server/web_video_server)

auto-starting new master
process[master]: started with pid [8341]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to ca900c0a-c0e6-11ea-8077-7c7a914eb678
process[rosout-1]: started with pid [8352]
started core service [/rosout]
process[roswww-2]: started with pid [8360]
process[rosbridge_websocket-3]: started with pid [8361]
process[rosapi-4]: started with pid [8362]
process[web_video_server-5]: started with pid [8363]
process[rosbag_record_server-6]: started with pid [8364]
[ INFO] [1594190807.450827333]: Waiting For connections on 127.0.0.1:8080
2020-07-08 15:46:47+0900 [-] Log opened.
[INFO] [1594190807.670440]: Rosapi started
2020-07-08 15:46:47,694 - roswww - INFO - roswww : # of packages : 427
2020-07-08 15:46:47,694 - roswww - INFO - roswww : Weg Page root : www
2020-07-08 15:46:47+0900 [-] registered capabilities (classes):
2020-07-08 15:46:47+0900 [-]  - rosbridge_library.capabilities.call_service.CallService
2020-07-08 15:46:47+0900 [-]  - rosbridge_library.capabilities.advertise.Advertise
2020-07-08 15:46:47+0900 [-]  - rosbridge_library.capabilities.publish.Publish
2020-07-08 15:46:47+0900 [-]  - rosbridge_library.capabilities.subscribe.Subscribe
2020-07-08 15:46:47+0900 [-]  - <class 'rosbridge_library.capabilities.defragmentation.Defragment'>
2020-07-08 15:46:47+0900 [-]  - rosbridge_library.capabilities.advertise_service.AdvertiseService
2020-07-08 15:46:47+0900 [-]  - rosbridge_library.capabilities.service_response.ServiceResponse
2020-07-08 15:46:47+0900 [-]  - rosbridge_library.capabilities.unadvertise_service.UnadvertiseService
2020-07-08 15:46:47,788 - roswww - INFO - roswww : Initialised
2020-07-08 15:46:47,788 - roswww - INFO - roswww : Attempting to start webserver on port 8000
2020-07-08 15:46:47,789 - roswww - INFO - roswww : Webserver successfully started on port 8000
2020-07-08 15:46:47+0900 [-] WebSocketServerFactory starting on 8888
2020-07-08 15:46:47+0900 [-] Starting factory <autobahn.twisted.websocket.WebSocketServerFactory object at 0x7f6f87814910>
2020-07-08 15:46:47+0900 [-] [INFO] [1594190807.864373]: Rosbridge WebSocket server started at ws://0.0.0.0:8888
2020-07-08 15:46:52+0900 [-] [INFO] [1594190812.305308]: Client connected.  1 clients total.
[ INFO] [1594190814.049349666]: Handling Request: /stream?topic=/image&width=720&height=540
[ INFO] [1594190815.941005229]: Handling Request: /stream?topic=/image&width=720&height=540
[ INFO] [1594190816.978707051]: Handling Request: /stream?topic=/image&width=720&height=540
[ INFO] [1594190818.319926652]: Handling Request: /stream?topic=/image&width=720&height=540
[ INFO] [1594190819.767715724]: Handling Request: /stream?topic=/image&width=720&height=540
[ INFO] [1594190821.257492412]: Handling Request: /stream?topic=/image&width=720&height=540
[ INFO] [1594190881.315866039]: Handling Request: /stream?topic=/image&width=720&height=540

After the browser refresh, I could see the image and got these message.

2020-07-08 15:48:01+0900 [-] [INFO] [1594190881.316716]: Client disconnected. 0 clients total.
2020-07-08 15:48:01+0900 [-] [INFO] [1594190881.422902]: Client connected.  1 clients total.
[ INFO] [1594190881.447814991]: Removed Stream: /image
[ INFO] [1594190881.447868542]: Removed Stream: /image
[ INFO] [1594190881.447890160]: Removed Stream: /image
[ INFO] [1594190881.447912288]: Removed Stream: /image
[ INFO] [1594190881.947888841]: Removed Stream: /image
[ INFO] [1594190881.947991110]: Removed Stream: /image
[ INFO] [1594190881.948032658]: Removed Stream: /image

I think this is a kind of memory leak or unreleased resource behaviour. At the time we click the "view" button, the "mjpeg_canvas" variable seems to be released, https://github.com/tork-a/visualization_rwt/blob/2504cd0f18d5f7c785da76d6e51bbc227944352d/rwt_image_view/www/js/rwt_image_view_main.js#L51-L55 but the MJPEGCANVAS.Viewer class has "setInterval" function, https://github.com/rctoris/mjpegcanvasjs/blob/6e903db97006976fff4d4efed344962250362b82/build/mjpegcanvas.js#L310 and this disturb the GC (cf. https://www.ibm.com/developerworks/jp/web/library/wa-jsmemory/index.html)

I tried adding the "clearInterval()" method to the web_video_server, and it seems to be working.

diff --git a/build/mjpegcanvas.js b/build/mjpegcanvas.js
index eaa3e58..2f01fc4 100644
--- a/build/mjpegcanvas.js
+++ b/build/mjpegcanvas.js
@@ -307,7 +307,7 @@ MJPEGCANVAS.Viewer = function(options) {
   this.changeStream(topic);

   // call draw with the given interval or rate
-  setInterval(draw, drawInterval);
+  this.timer = setInterval(draw, drawInterval);
 };
 MJPEGCANVAS.Viewer.prototype.__proto__ = EventEmitter2.prototype;
diff --git a/rwt_image_view/www/js/rwt_image_view_main.js b/rwt_image_view/www/js/rwt_image_view_main.js
index 86c12a5..59e5721 100644
--- a/rwt_image_view/www/js/rwt_image_view_main.js
+++ b/rwt_image_view/www/js/rwt_image_view_main.js
@@ -50,6 +57,8 @@ $(function() {
   $("#topic-form").submit(function(e) {
     if (mjpeg_canvas) {
       // remove the canvas here
+      clearInterval(mjpeg_canvas.timer);
       mjpeg_canvas = null;
       $("#canvas-area canvas").remove();
     }

[ INFO] [1594209262.803311978]: Handling Request: /stream?topic=/image&width=720&height=540
[ INFO] [1594209264.383940033]: Handling Request: /stream?topic=/image&width=720&height=540
[ INFO] [1594209265.834407068]: Handling Request: /stream?topic=/image&width=720&height=540
[ INFO] [1594209267.003788983]: Removed Stream: /image
[ INFO] [1594209267.107997476]: Handling Request: /stream?topic=/image&width=720&height=540
[ INFO] [1594209267.503785017]: Removed Stream: /image
[ INFO] [1594209267.503890072]: Removed Stream: /image
[ INFO] [1594209268.520604637]: Handling Request: /stream?topic=/image&width=720&height=540
[ INFO] [1594209269.904724740]: Handling Request: /stream?topic=/image&width=720&height=540
[ INFO] [1594209271.019983899]: Handling Request: /stream?topic=/image&width=720&height=540
[ INFO] [1594209272.394187323]: Handling Request: /stream?topic=/image&width=720&height=540
[ INFO] [1594209272.509961334]: Removed Stream: /image
[ INFO] [1594209272.510025172]: Removed Stream: /image
[ INFO] [1594209273.008559493]: Removed Stream: /image
[ INFO] [1594209273.522705938]: Handling Request: /stream?topic=/image&width=720&height=540
[ INFO] [1594209274.777009174]: Handling Request: /stream?topic=/image&width=720&height=540
[ INFO] [1594209275.925728269]: Handling Request: /stream?topic=/image&width=720&height=540
[ INFO] [1594209276.968478897]: Handling Request: /stream?topic=/image&width=720&height=540
[ INFO] [1594209280.817284694]: Handling Request: /stream?topic=/image&width=720&height=540
[ INFO] [1594209281.009938965]: Removed Stream: /image
[ INFO] [1594209281.009982548]: Removed Stream: /image
[ INFO] [1594209281.009996681]: Removed Stream: /image
[ INFO] [1594209281.010007002]: Removed Stream: /image
[ INFO] [1594209281.503753135]: Removed Stream: /image
[ INFO] [1594209281.503824608]: Removed Stream: /image
[ INFO] [1594209281.624059960]: Handling Request: /stream?topic=/image&width=720&height=540
[ INFO] [1594209283.341362886]: Handling Request: /stream?topic=/image&width=720&height=540
[ INFO] [1594209284.719536145]: Handling Request: /stream?topic=/image&width=720&height=540
[ INFO] [1594209286.654600997]: Handling Request: /stream?topic=/image&width=720&height=540
[ INFO] [1594209288.419764268]: Handling Request: /stream?topic=/image&width=720&height=540
[ INFO] [1594209288.519577063]: Removed Stream: /image
[ INFO] [1594209288.519616307]: Removed Stream: /image
[ INFO] [1594209288.519629126]: Removed Stream: /image
[ INFO] [1594209288.519655112]: Removed Stream: /image
[ INFO] [1594209289.003761334]: Removed Stream: /image

If anyone report same behaviour, it helps me.

k-okada commented 4 years ago

thanks, please send pr