Added support for loading arbitrary .so files from yaml. Improved error reporting of Loader

include/core/utils/loader.hpp

@@ -27,7 +27,7 @@ public:
     void load(){
         this->resource_ = dlopen(this->path_.c_str(), RTLD_LAZY);
         if(not this->resource_)
-            throw std::runtime_error("Couldn't load resource with path " + this->path_);
+            throw std::runtime_error("Couldn't load resource with path " + this->path_ + "\n" + "Error info: " + dlerror());
     }
     void close(){
         if(this->resource_) dlclose(this->resource_);

include/core/yaml/parser_yaml.hpp

@@ -182,6 +182,7 @@ class ParserYAML {
     std::vector<ParamsInitProcessor> _paramsProc;
     std::vector<std::string> _plugins;
     std::vector<std::string> _subscribers;
+    std::vector<std::string> _raw_libs;
     std::stack<std::string> _parsing_file;
     std::string _file;
     bool _relative_path;
@@ -199,7 +200,8 @@ public:
         _paramsProc = std::vector<ParamsInitProcessor>();
         _file = "";
         _plugins = std::vector<std::string>();
-        _subscribers= std::vector<std::string>();
+        _subscribers = std::vector<std::string>();
+        _raw_libs = std::vector<std::string>();
         _parsing_file = std::stack<std::string>();
         _path_root = "";
         _relative_path = false;
@@ -211,6 +213,7 @@ public:
         _paramsSens = std::vector<ParamsInitSensor>();
         _paramsProc = std::vector<ParamsInitProcessor>();
         _plugins = std::vector<std::string>();
+        _raw_libs = std::vector<std::string>();
         _subscribers = std::vector<std::string>();
         _parsing_file = std::stack<std::string>();
         _file = file;
@@ -225,6 +228,7 @@ public:
         _paramsProc = std::vector<ParamsInitProcessor>();
         _plugins = std::vector<std::string>();
         _subscribers = std::vector<std::string>();
+        _raw_libs = std::vector<std::string>();
         _parsing_file = std::stack<std::string>();
         _file = file;
         if(path_root != ""){
@@ -423,11 +427,16 @@ void ParserYAML::parseFirstLevel(std::string file){
         _plugins.push_back(kv.Scalar());
     }
     insert_register("plugins", wolf::converter<std::string>::convert(_plugins));
-    YAML::Node n_subscribers= n["subscribers"];
+    YAML::Node n_subscribers = n["subscribers"];
     for (const auto &kv : n_subscribers) {
       _subscribers.push_back(kv.Scalar());
     }
     insert_register("subscribers", wolf::converter<std::string>::convert(_subscribers));
+    YAML::Node n_raw_libs = n["raw_libs"];
+    for (const auto &kv : n_raw_libs) {
+      _raw_libs.push_back(kv.Scalar());
+    }
+    insert_register("raw_libs", wolf::converter<std::string>::convert(_raw_libs));
     // _params.insert(std::pair<std::string,std::string>);
 }
 std::vector<std::array<std::string, 2>> ParserYAML::sensorsSerialization(){

src/problem/problem.cpp

@@ -121,6 +121,19 @@ ProblemPtr Problem::autoSetup(ParamsServer &_server)
         l->load();
         loaders.push_back(l);
     }
+    std::vector<std::string> raw_libs;
+    try {
+        raw_libs = _server.getParam<std::vector<std::string>>("raw_libs");
+    } catch (MissingValueException& e) {
+        WOLF_TRACE("No raw libraries to load...");
+        raw_libs = std::vector<std::string>();
+    }
+    for (auto lib : raw_libs) {
+        WOLF_TRACE("Loading raw lib " + lib);
+        auto l = new LoaderRaw(lib);
+        l->load();
+        loaders.push_back(l);
+    }
 
     // Install sensors and processors
     auto sensorMap = std::map<std::string, SensorBasePtr>();