bool YarpPluginSettings::subopen(SharedLibraryFactory& factory,
const ConstString& dll_name,
const ConstString& fn_name) {
YARP_SPRINTF2(impl::Logger::get(),debug,"Trying plugin [dll: %s] [fn: %s]",
dll_name.c_str(),fn_name.c_str());
bool ok = factory.open(dll_name.c_str(),fn_name.c_str());
if (verbose) {
fprintf(stderr,"Trying to find library '%s' containing function '%s' -- %s\n", dll_name.c_str(), fn_name.c_str(), ok ? "found" :"fail");
}
if (ok) {
YARP_SPRINTF2(impl::Logger::get(),debug,
"Found plugin [dll: %s] [fn: %s]",
dll_name.c_str(),fn_name.c_str());
this->dll_name = dll_name;
this->fn_name = fn_name;
} else if (verbose || (factory.getStatus() != SharedLibraryFactory::STATUS_LIBRARY_NOT_FOUND)) {
fprintf(stderr, "error while opening %s:\n %s\n", dll_name.c_str(), factory.getError().c_str());
}
return ok;
}
void YarpPluginSettings::reportStatus(SharedLibraryFactory& factory) const {
int problem = factory.getStatus();
if (problem==0) {
return;
}
switch (problem) {
case SharedLibraryFactory::STATUS_LIBRARY_NOT_LOADED:
if (verbose) {
fprintf(stderr,"Cannot load plugin from shared library (%s)\n", dll_name.c_str());
fprintf(stderr,"(%s)\n", factory.getError().c_str());
}
break;
case SharedLibraryFactory::STATUS_LIBRARY_NOT_FOUND:
fprintf(stderr,"Cannot load plugin from shared library (%s)\n", dll_name.c_str());
fprintf(stderr,"(%s)\n", factory.getError().c_str());
break;
case SharedLibraryFactory::STATUS_FACTORY_NOT_FOUND:
fprintf(stderr,"cannot find YARP hook in shared library (%s:%s)\n", dll_name.c_str(), fn_name.c_str());
fprintf(stderr,"(%s)\n", factory.getError().c_str());
break;
case SharedLibraryFactory::STATUS_FACTORY_NOT_FUNCTIONAL:
fprintf(stderr,"YARP hook in shared library misbehaved (%s:%s)\n", dll_name.c_str(), fn_name.c_str());
fprintf(stderr,"(the library may be too old/new and need to be recompiled to match YARP version)\n");
fprintf(stderr,"(%s)\n", factory.getError().c_str());
break;
default:
fprintf(stderr,"Unknown error (%s:%s)\n", dll_name.c_str(), fn_name.c_str());
fprintf(stderr,"(%s)\n", factory.getError().c_str());
break;
}
}
bool YarpPluginSettings::open(SharedLibraryFactory& factory) {
YARP_SPRINTF3(impl::Logger::get(),debug,"Plugin [name: %s] [dll: %s] [fn: %s]",
name.c_str(),dll_name.c_str(),fn_name.c_str());
if (selector!=NULL && name != "") {
// we may have a YARP-specific search path available,
// and a proper name for the DLL
Bottle paths = selector->getSearchPath();
for (int i=0; i<paths.size(); i++) {
Searchable& options = paths.get(i);
ConstString path = options.find("path").asString();
ConstString ext = options.find("extension").asString();
ConstString prefix = options.find("prefix").asString();
ConstString full = path + "/" + prefix + name + ext;
bool ok = subopen(factory,full,(fn_name=="")?name:fn_name);
if (ok) return true;
}
}
if (dll_name!=""||fn_name!="") {
return open(factory,dll_name, fn_name);
}
#ifdef YARP_HAS_ACE
bool ok = false;
ConstString str(name);
ConstString libName = name;
ConstString fnName = name;
int sindex = str.find(":");
if (sindex>=0) {
libName = str.substr(0,sindex);
fnName = str.substr(sindex+1);
ok = open(factory,libName,fnName);
}
if ((!ok) && sindex<0) {
libName = ConstString("yarp_") + name;
fnName = name;
ok = open(factory,libName,fnName);
}
if ((!ok) && sindex<0) {
int index = str.find("_");
if (index>=0) {
libName = ConstString("yarp_") + str.substr(0,index);
fnName = str;
ok = open(factory,libName,fnName);
}
}
return ok;
#else
return factory.open(dll_name.c_str(), fn_name.c_str());
#endif
}
bool YarpPluginSettings::subopen(SharedLibraryFactory& factory,
const ConstString& dll_name,
const ConstString& fn_name) {
YARP_SPRINTF2(impl::Logger::get(),debug,"Trying plugin [dll: %s] [fn: %s]",
dll_name.c_str(),fn_name.c_str());
bool ok = factory.open(dll_name.c_str(),fn_name.c_str());
if (verbose) {
fprintf(stderr,"Trying to find library '%s' containing function '%s' -- %s\n", dll_name.c_str(), fn_name.c_str(), ok?"found":"not found");
}
if (ok) {
YARP_SPRINTF2(impl::Logger::get(),debug,
"Found plugin [dll: %s] [fn: %s]",
dll_name.c_str(),fn_name.c_str());
this->dll_name = dll_name;
this->fn_name = fn_name;
}
return ok;
}
bool YarpPluginSettings::open(SharedLibraryFactory& factory,
const ConstString& dll_name,
const ConstString& fn_name) {
bool ok = subopen(factory,dll_name,fn_name);
if (!ok) {
if (factory.getStatus() ==
SharedLibraryFactory::STATUS_FACTORY_NOT_FOUND) {
if (fn_ext!="") {
ok = subopen(factory,dll_name,fn_name + fn_ext);
} else {
ok = subopen(factory,dll_name,fn_name + "_carrier");
if (!ok) {
ok = subopen(factory,dll_name,fn_name + "_device");
}
}
}
}
return ok;
}
bool YarpPluginSettings::open(SharedLibraryFactory& factory) {
YARP_SPRINTF3(impl::Logger::get(),debug,"Plugin [name: %s] [dll: %s] [fn: %s]",
name.c_str(),dll_name.c_str(),fn_name.c_str());
if (selector!=YARP_NULLPTR && name != "") {
// we may have a YARP-specific search path available,
// and a proper name for the DLL
Bottle paths = selector->getSearchPath();
for (int i=0; i<paths.size(); i++) {
Searchable& options = paths.get(i);
ConstString path = options.find("path").asString();
ConstString ext = options.find("extension").asString();
ConstString basename = (dll_name.find('.')!=ConstString::npos) ? name : dll_name;
ConstString fn = (fn_name=="")?name:fn_name;
ConstString fullpath;
#if defined(_MSC_VER) && !defined(NDEBUG)
// MSVC DEBUG build: try debug name before basic name
fullpath = path + "/" + basename + "d" + ext;
if (subopen(factory, fullpath, fn))
return true;
#endif // defined(_MSC_VER) && !defined(NDEBUG)
// Basic name
fullpath = path + "/" + basename + ext;
if (subopen(factory, fullpath, fn))
return true;
#if defined(_MSC_VER) && defined(NDEBUG)
// MSVC RELEASE build: try debug name after basic name
fullpath = path + "/" + basename + "d" + ext;
if (subopen(factory, fullpath, fn))
return true;
#endif // defined(_MSC_VER) && defined(NDEBUG)
#ifdef CMAKE_INTDIR
// On multi-config system, try to find the plugin in the
// current config subdirectory
#if defined(_MSC_VER) && !defined(NDEBUG)
// MSVC DEBUG build: try debug name before basic name
fullpath = path + "/" + CMAKE_INTDIR + "/" + dll_name + "d" + ext;
if (subopen(factory, fullpath, fn))
return true;
#endif // defined(_MSC_VER) && !defined(NDEBUG)
// Basic name
fullpath = path + "/" + CMAKE_INTDIR + "/" + dll_name + ext;
if (subopen(factory, fullpath, fn))
return true;
#if defined(_MSC_VER) && defined(NDEBUG)
// MSVC RELEASE build: try debug name after basic name
fullpath = path + "/" + CMAKE_INTDIR + "/" + dll_name + "d" + ext;
if (subopen(factory, fullpath, fn))
return true;
#endif // defined(_MSC_VER) && defined(NDEBUG)
#endif // CMAKE_INTDIR
}
}
if (dll_name!=""||fn_name!="") {
return open(factory, dll_name, fn_name);
}
return factory.open((ConstString("yarp_") + name).c_str(),
(fn_name=="")?name.c_str():fn_name.c_str());
}
std::string toString() {
std::string s;
Property done;
for (unsigned int i=0; i<delegates.size(); i++) {
if (delegates[i]==nullptr) continue;
std::string name = delegates[i]->getName();
done.put(name,1);
std::string wrapper = delegates[i]->getWrapper();
s += "Device \"";
s += delegates[i]->getName();
s += "\"";
s += ",";
s += " C++ class ";
s += delegates[i]->getCode();
s += ", ";
if (wrapper=="") {
s += "has no network wrapper";
} else if (wrapper!=name) {
s += "wrapped by \"";
s += delegates[i]->getWrapper();
s += "\"";
} else {
s += "is a network wrapper.";
}
s += "\n";
}
scan();
Bottle lst = getSelectedPlugins();
for (size_t i=0; i<lst.size(); i++) {
Value& prop = lst.get(i);
std::string name = prop.check("name",Value("untitled")).asString();
if (done.check(name)) continue;
SharedLibraryFactory lib;
YarpPluginSettings settings;
settings.setSelector(*this);
settings.readFromSearchable(prop,name);
settings.open(lib);
std::string location = lib.getName().c_str();
if (location=="") {
// A wrong library name ends up with empty location
yWarning("Wrong library name for plugin %s", name.c_str());
continue;
}
std::string cxx = prop.check("cxx",Value("unknown")).asString();
std::string wrapper = prop.check("wrapper",Value("unknown")).asString();
s += "Device \"";
s += name;
s += "\"";
s += ",";
s += " available on request (found in ";
s += location;
s += " library)";
if (cxx!="unknown") {
s += ", C++ class ";
s += cxx;
s += " ";
}
if (wrapper=="") {
s += "no network wrapper known"; // will never come here since the prop.check fallback is set to unknown few lines above!!!
} else if (wrapper=="unknown") {
//s += "network wrapper unknown";
} else if (wrapper!=name) {
s += ", wrapped by \"";
s += wrapper.c_str();
s += "\"";
} else {
s += ", is a network wrapper";
}
s += ".\n";
}
return s;
}
ConstString toString() {
ConstString s;
Property done;
for (unsigned int i=0; i<delegates.size(); i++) {
if (delegates[i]==NULL) continue;
ConstString name = delegates[i]->getName();
done.put(name,1);
ConstString wrapper = delegates[i]->getWrapper();
s += "Device \"";
s += delegates[i]->getName();
s += "\"";
s += ",";
s += " C++ class ";
s += delegates[i]->getCode();
s += ", ";
if (wrapper=="") {
s += "has no network wrapper";
} else if (wrapper!=name) {
s += "wrapped by \"";
s += delegates[i]->getWrapper();
s += "\"";
} else {
s += "is a network wrapper.";
}
s += "\n";
}
scan();
Bottle lst = getSelectedPlugins();
for (int i=0; i<lst.size(); i++) {
Value& prop = lst.get(i);
ConstString name = prop.check("name",Value("untitled")).asString();
if (done.check(name)) continue;
SharedLibraryFactory lib;
YarpPluginSettings settings;
settings.setSelector(*this);
settings.readFromSearchable(prop,name);
settings.open(lib);
ConstString location = lib.getName().c_str();
if (location=="") continue;
ConstString cxx = prop.check("cxx",Value("unknown")).asString();
ConstString wrapper = prop.check("wrapper",Value("unknown")).asString();
s += "Device \"";
s += name;
s += "\"";
s += ",";
s += " available on request (found in ";
s += location;
s += " library)";
if (cxx!="unknown") {
s += ", C++ class ";
s += cxx;
s += " ";
}
if (wrapper=="") {
s += "no network wrapper known";
} else if (wrapper=="unknown") {
//s += "network wrapper unknown";
} else if (wrapper!=name) {
s += "wrapped by \"";
s += delegates[i]->getWrapper();
s += "\"";
} else {
s += "is a network wrapper.";
}
s += "\n";
}
return s;
}