From b6aa8bdef3d6e7492ee1932bf6a7c6303dd48dc5 Mon Sep 17 00:00:00 2001
From: Mirko Waechter <mirko.waechter@kit.edu>
Date: Wed, 1 Feb 2017 23:25:23 +0100
Subject: [PATCH] implemented dynamic lib loading for robotunit
---
.../libraries/Controllers/RobotUnit.cpp | 81 +++++++++++++++++++
.../libraries/Controllers/RobotUnit.h | 16 ++--
2 files changed, 88 insertions(+), 9 deletions(-)
diff --git a/source/RobotAPI/libraries/Controllers/RobotUnit.cpp b/source/RobotAPI/libraries/Controllers/RobotUnit.cpp
index 2a070fd77..e7985ae2d 100644
--- a/source/RobotAPI/libraries/Controllers/RobotUnit.cpp
+++ b/source/RobotAPI/libraries/Controllers/RobotUnit.cpp
@@ -22,6 +22,10 @@
#include "RobotUnit.h"
+#include <ArmarXCore/core/system/cmake/CMakePackageFinder.h>
+
+#include <ArmarXCore/core/system/DynamicLibrary.h>
+
armarx::PropertyDefinitionsPtr armarx::RobotUnit::createPropertyDefinitions()
{
return armarx::PropertyDefinitionsPtr(new RobotUnitPropertyDefinitions(getConfigIdentifier()));
@@ -311,3 +315,80 @@ bool armarx::RobotUnit::hasLVL0Controller(const std::string& jointName, const st
return lvl0Controllers.end() != lvl0Controllers.find(jointName) &&
lvl0Controllers.at(jointName).end() != lvl0Controllers.at(jointName).find(controlMode);
}
+
+
+bool armarx::RobotUnit::loadLibFromAbsolutePath(const std::string& path)
+{
+ if (loadedLibs.count(path) > 0)
+ {
+ return true;
+ }
+ DynamicLibraryPtr lib(new DynamicLibrary());
+ try
+ {
+ lib->load(path);
+ }
+ catch (...)
+ {
+ handleExceptions();
+ return false;
+ }
+
+ if (lib->isLibraryLoaded())
+ {
+ loadedLibs[path] = lib;
+ }
+ else
+ {
+ ARMARX_ERROR << "Could not load lib " + path + ": " + lib->getErrorMessage();
+ return false;
+ }
+
+
+ return true;
+}
+
+bool armarx::RobotUnit::loadLibFromPath(const std::string& path, const Ice::Current&)
+{
+ std::string absPath;
+ if (ArmarXDataPath::getAbsolutePath(path, absPath))
+ {
+ return loadLibFromAbsolutePath(absPath);
+ }
+ else
+ {
+ ARMARX_ERROR << "Could not find library " + path;
+ return false;
+ }
+}
+
+bool armarx::RobotUnit::loadLibFromPackage(const std::string& package, const std::string& name, const Ice::Current&)
+{
+ CMakePackageFinder finder(package);
+ if (!finder.packageFound())
+ {
+ ARMARX_ERROR << "Could not find package '" << package << "'";
+ return false;
+ }
+
+ for (auto libDirPath : armarx::Split(finder.getLibraryPaths(), ";"))
+ {
+ boost::filesystem::path fullPath = libDirPath;
+ fullPath /= "lib" + name + "." + DynamicLibrary::GetSharedLibraryFileExtension();
+ if (!boost::filesystem::exists(fullPath))
+ {
+ fullPath = libDirPath;
+ fullPath /= name;
+ if (!boost::filesystem::exists(fullPath))
+ {
+ continue;
+ }
+ }
+ if (loadLibFromAbsolutePath(fullPath.string()))
+ {
+ return true;
+ }
+ }
+ ARMARX_ERROR << "Could not find library " << name << " in package " << package;
+ return false;
+}
diff --git a/source/RobotAPI/libraries/Controllers/RobotUnit.h b/source/RobotAPI/libraries/Controllers/RobotUnit.h
index d8c971d56..73680e328 100644
--- a/source/RobotAPI/libraries/Controllers/RobotUnit.h
+++ b/source/RobotAPI/libraries/Controllers/RobotUnit.h
@@ -47,6 +47,8 @@
namespace armarx
{
+ class DynamicLibrary;
+ typedef boost::shared_ptr<DynamicLibrary> DynamicLibraryPtr;
/**
* @class RobotUnitPropertyDefinitions
* @brief
@@ -98,14 +100,8 @@ namespace armarx
//loading and switching
virtual void switchSetup(const Ice::StringSeq& controllerRequestedNames, const Ice::Current& = GlobalIceCurrent) override;
virtual LVL1ControllerInterfacePrx loadController(const std::string& className, const std::string& instanceName, const LVL1ControllerConfigPtr& config, const Ice::Current& = GlobalIceCurrent) override;
- virtual bool loadLibFromPath(const std::string& path , const Ice::Current& = GlobalIceCurrent) const override
- {
- throw "NYI";/*TODO mirko*/
- }
- virtual bool loadLibFromPackage(const std::string& package, const std::string& lib, const Ice::Current& = GlobalIceCurrent) const override
- {
- throw "NYI";/*TODO mirko*/
- }
+ virtual bool loadLibFromPath(const std::string& path, const Ice::Current& = GlobalIceCurrent) override;
+ virtual bool loadLibFromPackage(const std::string& package, const std::string& lib, const Ice::Current& = GlobalIceCurrent) override;
//units (ice)
virtual KinematicUnitInterfacePrx getKinematicUnit(const Ice::Current& = GlobalIceCurrent) const = 0;
@@ -161,8 +157,10 @@ namespace armarx
* May not be accessed in rt.
*/
std::map<std::string, LVL1ControllerPtr> lvl1Controllers;
-
+ std::map<std::string, DynamicLibraryPtr> loadedLibs;
private:
+ bool loadLibFromAbsolutePath(const std::string& path);
+
JointNameToControlModeDictionary jointsUsedByLVL1Controler;
};
--
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