From b33ddfc42f55bdc59e647f4f3855d27a9b0134b7 Mon Sep 17 00:00:00 2001
From: Joaquim Casals <jcasals@iri.upc.edu>
Date: Mon, 25 Feb 2019 12:04:48 +0100
Subject: [PATCH] Added Loader layer, reverted to Raw loading
---
hello_plugin/CMakeLists.txt | 6 +++--
hello_plugin/hello_plugin.cpp | 14 +++++++----
hello_plugin/loader.hpp | 43 ++++++++++++++++++++++++++++++++
hello_plugin/params_autoconf.cpp | 9 +++----
4 files changed, 60 insertions(+), 12 deletions(-)
create mode 100644 hello_plugin/loader.hpp
diff --git a/hello_plugin/CMakeLists.txt b/hello_plugin/CMakeLists.txt
index 4582cc409..ff20e6375 100644
--- a/hello_plugin/CMakeLists.txt
+++ b/hello_plugin/CMakeLists.txt
@@ -5,8 +5,10 @@ INCLUDE_DIRECTORIES(${CMAKE_CURRENT_SOURCE_DIR})
# ADD_EXECUTABLE(hello_plugin hello_plugin.cpp sensor_odom_2D.cpp processor_odom_2D.cpp)
ADD_EXECUTABLE(hello_plugin hello_plugin.cpp)
ADD_EXECUTABLE(params_autoconf params_autoconf.cpp)
-target_link_libraries(hello_plugin class_loader boost_system console_bridge wolf yaml-cpp ${CERES_LIBRARIES})
-target_link_libraries(params_autoconf class_loader boost_system console_bridge wolf yaml-cpp )
+# target_link_libraries(hello_plugin class_loader boost_system console_bridge wolf yaml-cpp ${CERES_LIBRARIES})
+# target_link_libraries(params_autoconf class_loader boost_system console_bridge wolf yaml-cpp )
+target_link_libraries(hello_plugin boost_system wolf yaml-cpp ${CERES_LIBRARIES} dl)
+target_link_libraries(params_autoconf boost_system wolf yaml-cpp dl)
# These lines always at the end
SET(HDRS_PLUGIN ${HDRS_PLUGIN} PARENT_SCOPE )
SET(SRCS_PLUGIN ${SRCS_PLUGIN} PARENT_SCOPE )
diff --git a/hello_plugin/hello_plugin.cpp b/hello_plugin/hello_plugin.cpp
index 8091a6f1f..0f73b2ffe 100644
--- a/hello_plugin/hello_plugin.cpp
+++ b/hello_plugin/hello_plugin.cpp
@@ -4,7 +4,6 @@
* Created on: Nov 12, 2018
* Author: jcasals
*/
-#include <class_loader/class_loader.hpp>
#include "base/sensor/sensor_base.h"
#include "base/wolf.h"
// #include "sensor_odom_2D.cpp"
@@ -16,13 +15,13 @@
#include "../hello_wolf/feature_range_bearing.h"
#include "../hello_wolf/constraint_range_bearing.h"
#include "../hello_wolf/landmark_point_2D.h"
+#include "loader.hpp"
#include "base/processor/processor_odom_2D.h"
#include "base/solver/solver_factory.h"
#include "base/ceres_wrapper/ceres_manager.h"
using namespace std;
-using namespace class_loader;
using namespace wolf;
using namespace Eigen;
@@ -40,10 +39,15 @@ int main(int argc, char** argv) {
a segmentation fault. Likewise, it seems that these ClassLoaders must be allocated at the heap, because
the constructor refuses to build an object if I try to do local (stack) allocation, i.e `ClassLoader(it)` is not allowed but `new ClassLoader(it)` is.
**/
- vector<ClassLoader*> class_loaders = vector<ClassLoader*>();
+ // vector<ClassLoader*> class_loaders = vector<ClassLoader*>();
+ // for(auto it : parser.getFiles()) {
+ // auto c = new ClassLoader(it);
+ // class_loaders.push_back(c);
+ // }
+ auto loaders = vector<Loader*>();
for(auto it : parser.getFiles()) {
- auto c = new ClassLoader(it);
- class_loaders.push_back(c);
+ auto l = new LoaderRaw(it);
+ loaders.push_back(l);
}
ProblemPtr problem = Problem::create("PO 2D");
auto sensorMap = map<string, SensorBasePtr>();
diff --git a/hello_plugin/loader.hpp b/hello_plugin/loader.hpp
new file mode 100644
index 000000000..4f36eeecb
--- /dev/null
+++ b/hello_plugin/loader.hpp
@@ -0,0 +1,43 @@
+#ifndef LOADER_HPP
+#define LOADER_HPP
+#include <dlfcn.h>
+class Loader{
+protected:
+ std::string path_;
+public:
+ Loader(std::string _file){
+ this->path_ = _file;
+ }
+ virtual void load() = 0;
+ virtual void close() = 0;
+};
+class LoaderRaw: public Loader{
+ void* resource_;
+public:
+ LoaderRaw(std::string _file):
+ Loader(_file)
+ {
+ //
+ }
+ ~LoaderRaw(){
+ this->close();
+ }
+ 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_);
+ }
+ void close(){
+ if(this->resource_) dlclose(this->resource_);
+ }
+};
+// class LoaderPlugin: public Loader{
+// ClassLoader* resource_;
+// void load(){
+// this->resource_ = new ClassLoader(this->path_);
+// }
+// void close(){
+// delete this->resource_;
+// }
+// };
+#endif
\ No newline at end of file
diff --git a/hello_plugin/params_autoconf.cpp b/hello_plugin/params_autoconf.cpp
index ead3ae34a..e987769c1 100644
--- a/hello_plugin/params_autoconf.cpp
+++ b/hello_plugin/params_autoconf.cpp
@@ -4,7 +4,6 @@
* Created on: Feb 15, 2019
* Author: jcasals
*/
-#include <class_loader/class_loader.hpp>
#include "base/sensor/sensor_base.h"
#include "base/wolf.h"
// #include "sensor_odom_2D.cpp"
@@ -16,13 +15,13 @@
#include "../hello_wolf/feature_range_bearing.h"
#include "../hello_wolf/constraint_range_bearing.h"
#include "../hello_wolf/landmark_point_2D.h"
+#include "loader.hpp"
#include "base/processor/processor_odom_2D.h"
#include "base/solver/solver_factory.h"
#include "base/ceres_wrapper/ceres_manager.h"
using namespace std;
-using namespace class_loader;
using namespace wolf;
using namespace Eigen;
@@ -40,10 +39,10 @@ int main(int argc, char** argv) {
a segmentation fault. Likewise, it seems that these ClassLoaders must be allocated at the heap, because
the constructor refuses to build an object if I try to do local (stack) allocation, i.e `ClassLoader(it)` is not allowed but `new ClassLoader(it)` is.
**/
- vector<ClassLoader*> class_loaders = vector<ClassLoader*>();
+ auto loaders = vector<Loader*>();
for(auto it : parser.getFiles()) {
- auto c = new ClassLoader(it);
- class_loaders.push_back(c);
+ auto l = new LoaderRaw(it);
+ loaders.push_back(l);
}
ProblemPtr problem = Problem::create("PO 2D");
auto sensorMap = map<string, SensorBasePtr>();
--
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