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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 <boost/program_options.hpp> |
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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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namespace po = boost::program_options; |
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class PluginLoader { |
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protected: |
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PluginAbstract *sotController_; |
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po::variables_map vm_; |
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std::string dynamicLibraryName_; |
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public: |
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PluginLoader(){}; |
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~PluginLoader(){}; |
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int parseOptions(int argc, char *argv[]) { |
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po::options_description desc("Allowed options"); |
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desc.add_options()("help", "produce help message")( |
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"input-file", po::value<string>(), "library to load"); |
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po::store(po::parse_command_line(argc, argv, desc), vm_); |
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po::notify(vm_); |
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if (vm_.count("help")) { |
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cout << desc << "\n"; |
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return -1; |
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} |
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if (!vm_.count("input-file")) { |
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cout << "No filename specified\n"; |
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return -1; |
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} else |
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dynamicLibraryName_ = vm_["input-file"].as<string>(); |
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Initialization(); |
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return 0; |
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} |
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void Initialization() { |
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// Load the SotRobotBipedController library. |
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void *SotRobotControllerLibrary = |
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dlopen("libpluginabstract.so", RTLD_LAZY | RTLD_LOCAL); |
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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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createPlugin_t *createPlugin = |
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(createPlugin_t *)dlsym(SotRobotControllerLibrary, "createPlugin"); |
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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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// Create robot-controller |
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sotController_ = createPlugin(); |
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// std::string s="libsot-hrp2-14-controller.so"; |
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sotController_->Initialization(dynamicLibraryName_); |
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cout << "Went out from Initialization." << endl; |
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} |
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}; |
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int main(int argc, char *argv[]) { |
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PluginLoader aPluginLoader; |
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aPluginLoader.parseOptions(argc, argv); |
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} |