Directory: | ./ |
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File: | src/plugin.cc |
Date: | 2024-12-13 16:14:03 |
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1 | // Copyright (c) 2019, Joseph Mirabel | ||
2 | // Authors: Joseph Mirabel (joseph.mirabel@laas.fr) | ||
3 | // | ||
4 | |||
5 | // Redistribution and use in source and binary forms, with or without | ||
6 | // modification, are permitted provided that the following conditions are | ||
7 | // met: | ||
8 | // | ||
9 | // 1. Redistributions of source code must retain the above copyright | ||
10 | // notice, this list of conditions and the following disclaimer. | ||
11 | // | ||
12 | // 2. Redistributions in binary form must reproduce the above copyright | ||
13 | // notice, this list of conditions and the following disclaimer in the | ||
14 | // documentation and/or other materials provided with the distribution. | ||
15 | // | ||
16 | // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS | ||
17 | // "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT | ||
18 | // LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR | ||
19 | // A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT | ||
20 | // HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, | ||
21 | // SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT | ||
22 | // LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, | ||
23 | // DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY | ||
24 | // THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT | ||
25 | // (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE | ||
26 | // OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH | ||
27 | // DAMAGE. | ||
28 | |||
29 | #include <dlfcn.h> | ||
30 | |||
31 | #include <boost/filesystem/operations.hpp> | ||
32 | #include <boost/filesystem/path.hpp> | ||
33 | #include <hpp/core/plugin.hh> | ||
34 | #include <hpp/util/debug.hh> | ||
35 | #include <hpp/util/exception-factory.hh> | ||
36 | #include <pinocchio/utils/file-explorer.hpp> | ||
37 | |||
38 | namespace fs = boost::filesystem; | ||
39 | |||
40 | namespace hpp { | ||
41 | namespace core { | ||
42 | namespace plugin { | ||
43 | ✗ | std::string findPluginLibrary(const std::string& name) { | |
44 | ✗ | if (fs::path(name).is_absolute()) return name; | |
45 | std::vector<std::string> ppaths = | ||
46 | ✗ | ::pinocchio::extractPathFromEnvVar("HPP_PLUGIN_DIRS", ":"); | |
47 | ✗ | for (std::size_t i = 0; i < ppaths.size(); ++i) { | |
48 | ✗ | fs::path lib(ppaths[i]); | |
49 | ✗ | lib /= "hppPlugins"; | |
50 | ✗ | lib /= name; | |
51 | ✗ | if (fs::is_regular_file(lib)) return lib.native(); | |
52 | } | ||
53 | |||
54 | std::vector<std::string> ldpaths = | ||
55 | ✗ | ::pinocchio::extractPathFromEnvVar("LD_LIBRARY_PATH", ":"); | |
56 | ✗ | for (std::size_t i = 0; i < ldpaths.size(); ++i) { | |
57 | ✗ | fs::path lib(ldpaths[i]); | |
58 | ✗ | lib /= "hppPlugins"; | |
59 | ✗ | lib /= name; | |
60 | ✗ | if (fs::is_regular_file(lib)) return lib.native(); | |
61 | } | ||
62 | ✗ | HPP_THROW(std::invalid_argument, "Could not find plugin " | |
63 | << name | ||
64 | << ". Check your LD_LIBRARY_PATH."); | ||
65 | } | ||
66 | |||
67 | 1 | bool loadPlugin(const std::string& lib, ProblemSolverPtr_t ps) { | |
68 | typedef ::hpp::core::ProblemSolverPlugin* (*PluginFunction_t)(); | ||
69 | |||
70 | // Clear old errors | ||
71 | 1 | const char* error = dlerror(); | |
72 | // void* library = dlopen(lib.c_str(), RTLD_NOW|RTLD_GLOBAL); | ||
73 | 1 | void* library = dlopen(lib.c_str(), RTLD_NOW); | |
74 | 1 | error = dlerror(); | |
75 |
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1 | if (error != NULL) { |
76 | ✗ | throw std::runtime_error("Error loading library " + lib + ": " + error); | |
77 | return false; | ||
78 | } | ||
79 |
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1 | if (library == NULL) { |
80 | // uncaught error ? | ||
81 | ✗ | return false; | |
82 | } | ||
83 | |||
84 | PluginFunction_t function = reinterpret_cast<PluginFunction_t>( | ||
85 | 1 | dlsym(library, "createProblemSolverPlugin")); | |
86 | 1 | error = dlerror(); | |
87 |
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1 | if (error != NULL) { |
88 | ✗ | throw std::runtime_error("Error loading library " + lib + ": " + error); | |
89 | return false; | ||
90 | } | ||
91 |
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1 | if (function == NULL) { |
92 | ✗ | throw std::runtime_error( | |
93 | "Symbol createProblemSolverPlugin of " | ||
94 | ✗ | "(correctly loaded) library " + | |
95 | ✗ | lib + " is NULL."); | |
96 | return false; | ||
97 | } | ||
98 | |||
99 | 1 | ProblemSolverPlugin* plugin = function(); | |
100 | 1 | bool success = plugin->initialize(ps); | |
101 |
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1 | delete plugin; |
102 | |||
103 | // I don't think we should do that because the symbols should not be | ||
104 | // removed... dlclose (library); | ||
105 | |||
106 | 1 | return success; | |
107 | } | ||
108 | } // namespace plugin | ||
109 | } // namespace core | ||
110 | } // namespace hpp | ||
111 |