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/* |
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* Copyright 2011, |
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* Olivier Stasse, |
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* |
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* CNRS |
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* |
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*/ |
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/* -------------------------------------------------------------------------- */ |
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/* --- INCLUDES ------------------------------------------------------------- */ |
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/* -------------------------------------------------------------------------- */ |
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#include <iostream> |
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// POSIX.1-2001 |
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#include <dlfcn.h> |
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#include <sot/core/abstract-sot-external-interface.hh> |
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#include <sot/core/debug.hh> |
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#include "plugin.hh" |
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using namespace std; |
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using namespace dynamicgraph::sot; |
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class Plugin : public PluginAbstract { |
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protected: |
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AbstractSotExternalInterface *sotController_; |
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public: |
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Plugin(){}; |
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~Plugin(){}; |
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void Initialization(std::string &dynamicLibraryName) { |
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// Load the SotRobotBipedController library. |
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void *SotRobotControllerLibrary = |
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dlopen(dynamicLibraryName.c_str(), RTLD_GLOBAL | RTLD_NOW); |
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if (!SotRobotControllerLibrary) { |
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std::cerr << "Cannot load library: " << dlerror() << '\n'; |
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return; |
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} |
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// reset errors |
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dlerror(); |
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// Load the symbols. |
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createSotExternalInterface_t *createRobotController = |
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(createSotExternalInterface_t *)dlsym(SotRobotControllerLibrary, |
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"createSotExternalInterface"); |
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const char *dlsym_error = dlerror(); |
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if (dlsym_error) { |
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std::cerr << "Cannot load symbol create: " << dlsym_error << '\n'; |
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return; |
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} |
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/* |
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destroySotExternalInterface_t * destroyRobotController = |
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(destroySotExternalInterface_t *) dlsym(SotRobotControllerLibrary, |
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"destroySotExternalInterface"); |
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*/ |
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dlsym_error = dlerror(); |
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if (dlsym_error) { |
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std::cerr << "Cannot load symbol create: " << dlsym_error << '\n'; |
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return; |
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} |
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// Create robot-controller |
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sotController_ = createRobotController(); |
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cout << "Went out from Initialization." << endl; |
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} |
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}; |
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extern "C" { |
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PluginAbstract *createPlugin() { return new Plugin; } |
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} |