merge loader_utils with loader

CMakeLists.txt

@@ -186,7 +186,6 @@ SET(SRCS
   src/utils/check_log.cpp
   src/utils/graph_search.cpp
   src/utils/loader.cpp
-  src/utils/loader_utils.cpp
   src/utils/load_core.cpp
   )
   

include/core/utils/loader.h

@@ -22,6 +22,7 @@
 #include <string>
 #include <map>
 #include <memory>
+#include "yaml-cpp/yaml.h"
 
 namespace wolf
 {
@@ -34,18 +35,28 @@ class Loader
   public:
     Loader(int flags = RTLD_LAZY);
     ~Loader();
-    void   load(std::string _libname_with_so);
-    void   loadPlugin(std::string _plugin);
-    void   close(std::string _libname_with_so);
-    void   closePlugin(std::string _plugin);
-    void*  isLoaded(std::string _libname_with_so) const;
-    void*  isLoadedPlugin(std::string _plugin) const;
+
+    void load(std::string _libname_with_so);
+    void loadPlugin(std::string _plugin);
+
+    void close(std::string _libname_with_so);
+    void closePlugin(std::string _plugin);
+
+    void* isLoaded(std::string _libname_with_so) const;
+    void* isLoadedPlugin(std::string _plugin) const;
+
+    void searchAndLoadPlugins(const YAML::Node& _node);
+
     size_t size() const;
 };
-
 typedef std::shared_ptr<Loader> LoaderPtr;
 
-inline size_t Loader::size() const
+static std::set<std::string> searchPlugins(const YAML::Node& _node, std::list<YAML::Node>& _visited_nodes);
+
+static std::set<std::string> searchFieldsRecursive(const YAML::Node&      _node,
+                                                   std::list<YAML::Node>& _visited_nodes,
+                                                   const std::string&     field);
+inline size_t                Loader::size() const
 {
     return name_resources_.size();
 }

include/core/utils/loader_utils.h

-// WOLF - Copyright (C) 2020-2025
-// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
-// Joan Vallvé Navarro (jvallve@iri.upc.edu)
-// All rights reserved.
-//
-// This file is part of WOLF: http://www.iri.upc.edu/wolf
-// WOLF is free software: you can redistribute it and/or modify
-// it under the terms of the GNU General Public License version 3
-// as published by the Free Software Foundation.
-//
-// This program is distributed in the hope that it will be useful,
-// but WITHOUT ANY WARRANTY; without even the implied warranty of
-// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
-// GNU General Public License for more details.
-//
-// You should have received a copy of the GNU General Public License
-// along with this program. If not, see <http://www.gnu.org/licenses/>.
-#pragma once
-
-#include "core/utils/loader.h"
-#include "yaml-cpp/yaml.h"
-#include "core/common/wolf.h"
-
-namespace wolf
-{
-void                  searchAndLoadPlugins(const YAML::Node& _node, LoaderPtr _loader);
-std::set<std::string> searchPlugins(const YAML::Node& _node, std::list<YAML::Node>& _visited_nodes);
-
-std::set<std::string> searchFieldsRecursive(const YAML::Node&      _node,
-                                            std::list<YAML::Node>& _visited_nodes,
-                                            const std::string&     field);
-
-} /* namespace wolf */

src/problem/problem.cpp

@@ -31,7 +31,6 @@
 #include "core/tree_manager/factory_tree_manager.h"
 #include "core/tree_manager/tree_manager_base.h"
 #include "core/utils/loader.h"
-#include "core/utils/loader_utils.h"
 
 // yaml-schema-cpp
 #include "yaml-schema-cpp/yaml_server.hpp"
@@ -106,7 +105,7 @@ ProblemPtr Problem::autoSetup(YAML::Node               _param_node,
         // SCHEMA FOLDERS (optional _schema_folders specify folders where to search schemas before installed ones)
         // Search and load plugins to get the installed schema folders registered
         if (not _loader) _loader = std::make_shared<Loader>();
-        searchAndLoadPlugins(server.getNode(), _loader);
+        _loader->searchAndLoadPlugins(server.getNode());
 
         // Add the installed schema folders after optional input folders
         server.addFolderSchema(FolderRegistry::getRegisteredFolders());
@@ -191,7 +190,7 @@ SensorBasePtr Problem::installSensor(const YAML::Node& _sensor_node, std::vector
     if (not _schema_folders.empty())
     {
         // Search and load plugins to get the installed schema folders registered
-        searchAndLoadPlugins(_sensor_node, loader_);
+        loader_->searchAndLoadPlugins(_sensor_node);
 
         // Add the installed schema folders after optional input _schema_folders
         FolderRegistry::appendRegisteredFolders(_schema_folders);
@@ -241,7 +240,7 @@ SensorBasePtr Problem::installSensor(const std::string&       _params_yaml_filen
     auto sensor_node = server.getNode();
 
     // Search and load plugins to get the installed schema folders registered
-    searchAndLoadPlugins(sensor_node, loader_);
+    loader_->searchAndLoadPlugins(sensor_node);
 
     // Add the installed schema folders after optional input _schema_folders
     server.addFolderSchema(FolderRegistry::getRegisteredFolders());
@@ -279,7 +278,7 @@ ProcessorBasePtr Problem::installProcessor(const YAML::Node& _processor_node, st
     if (not _schema_folders.empty())
     {
         // Search and load plugins to get the installed schema folders registered
-        searchAndLoadPlugins(_processor_node, loader_);
+        loader_->searchAndLoadPlugins(_processor_node);
 
         // Add the installed schema folders after optional input _schema_folders
         FolderRegistry::appendRegisteredFolders(_schema_folders);
@@ -337,7 +336,7 @@ ProcessorBasePtr Problem::installProcessor(SensorBasePtr            _sensor_corr
     auto processor_node = server.getNode();
 
     // Search and load plugins to get the installed schema folders registered
-    searchAndLoadPlugins(processor_node, loader_);
+    loader_->searchAndLoadPlugins(processor_node);
 
     // Add the installed schema folders after optional input _schema_folders
     server.addFolderSchema(FolderRegistry::getRegisteredFolders());
@@ -382,7 +381,7 @@ ProcessorBasePtr Problem::installProcessor(const std::string&       _params_yaml
     auto server = yaml_schema_cpp::YamlServer(_schema_folders, _params_yaml_filename);
 
     // Search and load plugins to get the installed schema folders registered
-    searchAndLoadPlugins(server.getNode(), loader_);
+    loader_->searchAndLoadPlugins(server.getNode());
 
     // Add the installed schema folders after optional input _schema_folders
     server.addFolderSchema(FolderRegistry::getRegisteredFolders());

src/solver/solver_manager.cpp

@@ -20,7 +20,6 @@
 #include "core/trajectory/trajectory_base.h"
 #include "core/map/map_base.h"
 #include "core/landmark/landmark_base.h"
-#include "core/utils/loader_utils.h"
 
 namespace wolf
 {

src/utils/loader.cpp

@@ -113,4 +113,57 @@ void* Loader::isLoadedPlugin(std::string _plugin) const
     return isLoaded("libwolf" + _plugin + lib_extension);
 }
 
+void Loader::searchAndLoadPlugins(const YAML::Node& _node)
+{
+    std::list<YAML::Node> visited_nodes;
+    auto                  plugins = searchPlugins(_node, visited_nodes);
+    for (auto plugin : plugins) this->loadPlugin(plugin);  // if already loaded, does nothing
+}
+
+std::set<std::string> searchPlugins(const YAML::Node& _node, std::list<YAML::Node>& _visited_nodes)
+{
+    return searchFieldsRecursive(_node, _visited_nodes, "plugin");
+}
+
+std::set<std::string> searchFieldsRecursive(const YAML::Node&      _node,
+                                            std::list<YAML::Node>& _visited_nodes,
+                                            const std::string&     lib_field)
+{
+    std::set<std::string> libs;
+
+    if (std::find(_visited_nodes.begin(), _visited_nodes.end(), _node) != _visited_nodes.end()) return {};
+
+    _visited_nodes.push_back(_node);
+
+    if (_node.IsMap())
+    {
+        for (const auto& pair : _node)
+        {
+            // is plugin?
+            if (pair.first.as<std::string>() == lib_field)
+                libs.insert(pair.second.as<std::string>());
+
+            else
+            {
+                auto rec_libs = searchFieldsRecursive(pair.second, _visited_nodes, lib_field);
+                libs.insert(rec_libs.begin(), rec_libs.end());
+            }
+        }
+    }
+    else if (_node.IsSequence())
+    {
+        for (const auto& child : _node)
+        {
+            auto rec_libs = searchFieldsRecursive(child, _visited_nodes, lib_field);
+            libs.insert(rec_libs.begin(), rec_libs.end());
+        }
+    }
+    else if (_node.IsScalar())
+    {
+        return {};
+    }
+
+    return libs;
+}
+
 }  // namespace wolf

src/utils/loader_utils.cpp

-// WOLF - Copyright (C) 2020-2025
-// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
-// Joan Vallvé Navarro (jvallve@iri.upc.edu)
-// All rights reserved.
-//
-// This file is part of WOLF: http://www.iri.upc.edu/wolf
-// WOLF is free software: you can redistribute it and/or modify
-// it under the terms of the GNU General Public License version 3
-// as published by the Free Software Foundation.
-//
-// This program is distributed in the hope that it will be useful,
-// but WITHOUT ANY WARRANTY; without even the implied warranty of
-// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
-// GNU General Public License for more details.
-//
-// You should have received a copy of the GNU General Public License
-// along with this program. If not, see <http://www.gnu.org/licenses/>.
-#include "core/utils/loader_utils.h"
-
-namespace wolf
-{
-void searchAndLoadPlugins(const YAML::Node& _node, LoaderPtr _loader)
-{
-    std::list<YAML::Node> visited_nodes;
-    auto                  plugins = searchPlugins(_node, visited_nodes);
-    for (auto plugin : plugins) _loader->loadPlugin(plugin);  // if already loaded, does nothing
-}
-
-std::set<std::string> searchPlugins(const YAML::Node& _node, std::list<YAML::Node>& _visited_nodes)
-{
-    return searchFieldsRecursive(_node, _visited_nodes, "plugin");
-}
-
-std::set<std::string> searchFieldsRecursive(const YAML::Node&      _node,
-                                            std::list<YAML::Node>& _visited_nodes,
-                                            const std::string&     lib_field)
-{
-    std::set<std::string> libs;
-
-    if (std::find(_visited_nodes.begin(), _visited_nodes.end(), _node) != _visited_nodes.end()) return {};
-
-    _visited_nodes.push_back(_node);
-
-    if (_node.IsMap())
-    {
-        for (const auto& pair : _node)
-        {
-            // is plugin?
-            if (pair.first.as<std::string>() == lib_field)
-                libs.insert(pair.second.as<std::string>());
-
-            else
-            {
-                auto rec_libs = searchFieldsRecursive(pair.second, _visited_nodes, lib_field);
-                libs.insert(rec_libs.begin(), rec_libs.end());
-            }
-        }
-    }
-    else if (_node.IsSequence())
-    {
-        for (const auto& child : _node)
-        {
-            auto rec_libs = searchFieldsRecursive(child, _visited_nodes, lib_field);
-            libs.insert(rec_libs.begin(), rec_libs.end());
-        }
-    }
-    else if (_node.IsScalar())
-    {
-        return {};
-    }
-
-    return libs;
-}
-
-}  // namespace wolf