From 6a648856d14e2e41765b39e74f7e42bfb3b21ad4 Mon Sep 17 00:00:00 2001
From: Christoph Pohl <christoph.pohl@kit.edu>
Date: Thu, 25 Apr 2024 18:12:37 +0200
Subject: [PATCH] Remove dynamic library loading
---
.../RobotUnitModuleControllerManagement.cpp | 26 ------
.../RobotUnitModuleControllerManagement.h | 19 +----
.../NJointControllerClassesWidget.cpp | 81 ++++++++++---------
.../units/RobotUnit/RobotUnitInterface.ice | 6 --
4 files changed, 43 insertions(+), 89 deletions(-)
diff --git a/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleControllerManagement.cpp b/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleControllerManagement.cpp
index e53bb97ef..0ac2b9ad2 100644
--- a/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleControllerManagement.cpp
+++ b/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleControllerManagement.cpp
@@ -302,32 +302,6 @@ namespace armarx::RobotUnitModule
return nJointControllers.at(instanceName);
}
- bool
- ControllerManagement::loadLibFromPath(const std::string& path, const Ice::Current&)
- {
- throwIfInControlThread(BOOST_CURRENT_FUNCTION);
- ARMARX_WARNING << "Do not use this function as it has implications on the RT thread (see "
- "https://git.h2t.iar.kit.edu/sw/armarx-integration/robots/armar7/"
- "documentation/-/issues/85)";
- const bool result = getArmarXManager()->loadLibFromPath(path);
- ARMARX_INFO << "loadLibFromPath('" << path << "') -> " << result;
- return result;
- }
-
- bool
- ControllerManagement::loadLibFromPackage(const std::string& package,
- const std::string& lib,
- const Ice::Current&)
- {
- throwIfInControlThread(BOOST_CURRENT_FUNCTION);
- ARMARX_WARNING << "Do not use this function as it has implications on the RT thread (see "
- "https://git.h2t.iar.kit.edu/sw/armarx-integration/robots/armar7/"
- "documentation/-/issues/85)";
- const bool result = getArmarXManager()->loadLibFromPackage(package, lib);
- ARMARX_INFO << "loadLibFromPackage('" << package << "', '" << lib << "') -> " << result;
- return result;
- }
-
Ice::StringSeq
ControllerManagement::getNJointControllerClassNames(const Ice::Current&) const
{
diff --git a/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleControllerManagement.h b/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleControllerManagement.h
index 9541d6c79..4f81e9317 100644
--- a/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleControllerManagement.h
+++ b/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleControllerManagement.h
@@ -176,24 +176,7 @@ namespace armarx::RobotUnitModule
*/
NJointControllerClassDescriptionSeq getNJointControllerClassDescriptions(
const Ice::Current& = Ice::emptyCurrent) const override;
- /**
- * @brief Loads the given lib. (calls `getArmarXManager()->loadLibFromPath(path)`)
- * @param path Path to the lib to load.
- * @return Whether loading the lib was successful.
- * @see ArmarXManager::loadLibFromPath
- */
- bool loadLibFromPath(const std::string& path,
- const Ice::Current& = Ice::emptyCurrent) override;
- /**
- * @brief Loads the given lib. (calls `getArmarXManager()->loadLibFromPath(package, lib)`)
- * @param package The armarx package containing the lib
- * @param lib The lib name to load.
- * @return Whether loading the lib was successful.
- * @see ArmarXManager::loadLibFromPackage
- */
- bool loadLibFromPackage(const std::string& package,
- const std::string& lib,
- const Ice::Current& = Ice::emptyCurrent) override;
+
/**
* @brief Returns the names of all available classes of \ref NJointControllerBase.
* @return The names of all available classes of \ref NJointControllerBase.
diff --git a/source/RobotAPI/gui-plugins/RobotUnitPlugin/QWidgets/NJointControllerClassesWidget.cpp b/source/RobotAPI/gui-plugins/RobotUnitPlugin/QWidgets/NJointControllerClassesWidget.cpp
index 4a752e88e..274d42e74 100644
--- a/source/RobotAPI/gui-plugins/RobotUnitPlugin/QWidgets/NJointControllerClassesWidget.cpp
+++ b/source/RobotAPI/gui-plugins/RobotUnitPlugin/QWidgets/NJointControllerClassesWidget.cpp
@@ -467,45 +467,48 @@ namespace armarx
void NJointControllerClassesWidget::loadLibClicked()
{
- if (!robotUnit)
- {
- return;
- }
-
- switch (selectLibMode)
- {
- case SelectLibsMode::LineEdit:
- {
- auto lib = ui->lineEditLibrary->text().toStdString();
- if (lib.empty())
- {
- return;
- }
- ARMARX_INFO << "requesting to load lib " << lib
- << " -> " << robotUnit->loadLibFromPath(lib);
- }
- break;
-
- case SelectLibsMode::ComboBox:
- {
- auto package = ui->comboBoxPackage->currentText().toStdString();
- auto lib = ui->comboBoxLibrary->currentText().toStdString();
- if (lib.empty())
- {
- return;
- }
- if (libShortNameToFileName.count(lib))
- {
- lib = libShortNameToFileName.at(lib);
- }
- ARMARX_INFO << "requesting to load lib " << lib << " from package " << package
- << " -> " << robotUnit->loadLibFromPackage(package, lib);
- }
- break;
- default:
- ARMARX_WARNING << "Load lib for given SelectLibsMode nyi";
- break;
- }
+ ARMARX_WARNING << "The functionality of dynamically loading libraries during runtime is no longer supported. Use"
+ "the component properties to load additional libraries.";
+ return;
+// if (!robotUnit)
+// {
+// return;
+// }
+
+// switch (selectLibMode)
+// {
+// case SelectLibsMode::LineEdit:
+// {
+// auto lib = ui->lineEditLibrary->text().toStdString();
+// if (lib.empty())
+// {
+// return;
+// }
+//// ARMARX_INFO << "requesting to load lib " << lib
+//// << " -> " << robotUnit->loadLibFromPath(lib);
+// }
+// break;
+//
+// case SelectLibsMode::ComboBox:
+// {
+// auto package = ui->comboBoxPackage->currentText().toStdString();
+// auto lib = ui->comboBoxLibrary->currentText().toStdString();
+// if (lib.empty())
+// {
+// return;
+// }
+// if (libShortNameToFileName.count(lib))
+// {
+// lib = libShortNameToFileName.at(lib);
+// }
+//// ARMARX_INFO << "requesting to load lib " << lib << " from package " << package
+//// << " -> " << robotUnit->loadLibFromPackage(package, lib);
+// }
+// break;
+// default:
+// ARMARX_WARNING << "Load lib for given SelectLibsMode nyi";
+// break;
+// }
}
}
diff --git a/source/RobotAPI/interface/units/RobotUnit/RobotUnitInterface.ice b/source/RobotAPI/interface/units/RobotUnit/RobotUnitInterface.ice
index 32bfba607..97a40339d 100644
--- a/source/RobotAPI/interface/units/RobotUnit/RobotUnitInterface.ice
+++ b/source/RobotAPI/interface/units/RobotUnit/RobotUnitInterface.ice
@@ -282,12 +282,6 @@ module armarx
void deactivateAndDeleteNJointController(string controllerInstanceName)throws InvalidArgumentException, LogicError;
void deactivateAndDeleteNJointControllers(Ice::StringSeq controllerInstanceNames)throws InvalidArgumentException, LogicError;
-
- //loading libs
- ["deprecate:loadLibFromPath(string path) has dangerous implications on the RT thread. Use the scenario config instead to load additional libraries. See https://git.h2t.iar.kit.edu/sw/armarx-integration/robots/armar7/documentation/-/issues/85"]
- bool loadLibFromPath(string path);
- ["deprecate:loadLibFromPackage(string package, string libname) has dangerous implications on the RT thread. Use the scenario config instead to load additional libraries. See https://git.h2t.iar.kit.edu/sw/armarx-integration/robots/armar7/documentation/-/issues/85"]
- bool loadLibFromPackage(string package, string libname);
};
interface RobotUnitSelfCollisionCheckerInterface
{
--
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