Result PluginInstance::currentResult() {
Result resReturn = defaultResult();
if(m_mtxCycleResults.try_lock()) {
resReturn = m_resCycleResult;
m_resCycleResult = defaultResult();
m_mtxCycleResults.unlock();
}
return resReturn;
}
// A default run method
TestResult* TestCase::run()
{
TestResult* result = defaultResult();
run(result);
return result;
}
Result PLUGIN_CLASS::deinit() {
Result resReturn = defaultResult();
for(InteractiveObject* ioDelete : m_lstInteractiveObjects) {
delete ioDelete;
}
return resReturn;
}
PluginInstance::PluginInstance() {
m_strName = "";
m_vdLibHandle = NULL;
m_piInstance = NULL;
m_thrdPluginCycle = NULL;
m_bRunCycle = true;
m_resCycleResult = defaultResult();
this->setMessagePrefixLabel("plugin-instance");
}
Result PluginInstance::loadPluginLibrary(std::string strFilepath) {
Result resLoad = defaultResult();
std::fstream fsFile;
fsFile.open(strFilepath.c_str(), std::fstream::in);
if(fsFile.is_open()) {
fsFile.close();
m_vdLibHandle = dlopen(strFilepath.c_str(), RTLD_LAZY);
if(m_vdLibHandle) {
plugins::Plugin* (*createInstance)();
createInstance = (plugins::Plugin* (*)())dlsym(m_vdLibHandle, "createInstance");
m_piInstance = (plugins::Plugin*)createInstance();
m_strName = strFilepath;
// Remove path
const size_t last_slash_idx = m_strName.find_last_of("\\/");
if(std::string::npos != last_slash_idx) {
m_strName.erase(0, last_slash_idx + 1);
}
// Remove extension
const size_t period_idx = m_strName.rfind('.');
if(std::string::npos != period_idx) {
m_strName.erase(period_idx);
}
// Remove plugin prefix
std::string strPrefix = "libsr_plugin_";
m_strName = m_strName.substr(strPrefix.size());
std::string strVersionString = m_piInstance->pluginVersion();
this->info("Loaded plugin '" + m_strName + "'" + (strVersionString == "" ? "" : " (version: " + strVersionString + ")"));
m_piInstance->setPluginName(m_strName);
if(m_piInstance->isDeprecated()) {
this->warn("This plugin has been declared deprecated by one of its authors. It may not work properly or will stop working properly in the near future.");
}
} else {
resLoad.riResultIdentifier = RI_PLUGIN_LOADING_FAILED;
resLoad.bSuccess = false;
resLoad.strErrorMessage = "Failed to load library `" + strFilepath + "'.";
this->fail("Could not open shared library: " + std::string(dlerror()));
}
} else {
resLoad.riResultIdentifier = RI_FILE_NOT_FOUND;
resLoad.bSuccess = false;
resLoad.strErrorMessage = "File `" + strFilepath + "' could not be found.";
}
return resLoad;
}
Result PLUGIN_CLASS::init(int argc, char** argv) {
Result resInit = defaultResult();
// Initialize server
m_imsServer = new interactive_markers::InteractiveMarkerServer("interactive_semrec", "", false);
// Subscribe to internal events
this->setSubscribedToEvent("symbolic-add-object", true);
this->setSubscribedToEvent("symbolic-remove-object", true);
this->setSubscribedToEvent("symbolic-update-object-pose", true);
this->setSubscribedToEvent("symbolic-set-interactive-object-menu", true);
return resInit;
}
Result PLUGIN_CLASS::cycle() {
Result resCycle = defaultResult();
for(InteractiveObject* ioCurrent : m_lstInteractiveObjects) {
std::list<InteractiveObjectCallbackResult> lstCBResults = ioCurrent->callbackResults();
for(InteractiveObjectCallbackResult iocrResult : lstCBResults) {
this->info("Interactive callback for object '" + iocrResult.strObject + "': '" + iocrResult.strCommand + "', '" + iocrResult.strParameter + "'");
Event evCallback = defaultEvent("interactive-callback");
evCallback.cdDesignator = new Designator();
evCallback.cdDesignator->setType(Designator::DesignatorType::ACTION);
evCallback.cdDesignator->setValue("object", iocrResult.strObject);
evCallback.cdDesignator->setValue("command", iocrResult.strCommand);
evCallback.cdDesignator->setValue("parameter", iocrResult.strParameter);
this->deployEvent(evCallback);
}
}
this->deployCycleData(resCycle);
return resCycle;
}
