StubDriver(const char *name, bool verbose = true) {
settings.setPluginName(name);
settings.setVerboseMode(verbose);
YarpPluginSelector selector;
selector.scan();
if (!settings.setSelector(selector)) return;
init();
}
void init() {
if (plugin.open(settings)) {
dev.open(*plugin.getFactory());
settings.setLibraryMethodName(plugin.getFactory()->getName(),
settings.getMethodName());
settings.setClassInfo(plugin.getFactory()->getClassName(),
plugin.getFactory()->getBaseClassName());
}
}
void init() {
YarpPluginSelector selector;
selector.scan();
settings.setSelector(selector);
if (plugin.open(settings)) {
car.open(*plugin.getFactory());
settings.setLibraryMethodName(plugin.getFactory()->getName(),
settings.getMethodName());
}
}
int main() {
YarpPluginSettings settings;
settings.setLibraryMethodName("hoopy","hoopy");
YarpPlugin<Handler> handler;
if (!handler.open(settings)) {
settings.reportFailure();
printf("Maybe set LD_LIBRARY_PATH or equivalent.\n");
return 1;
}
printf("Found handler!\n");
Handler *hoopy = handler.create();
if (!hoopy) {
printf("Failed to create handler\n");
return 1;
}
int result = hoopy->hello();
printf("Result is %d\n", result);
handler.destroy(hoopy);
return 0;
}
ConstString getFnName() const {
return settings.getMethodName();
}
ConstString getDllName() const {
return settings.getLibraryName();
}
StubCarrier(const char *name) {
settings.setPluginName(name);
init();
}
StubCarrier(const char *dll_name, const char *fn_name) {
settings.setLibraryMethodName(dll_name,fn_name);
init();
}
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;
}
std::string getBaseClassName() const {
return settings.getBaseClassName();
}
std::string getPluginName() const {
return settings.getPluginName();
}
std::string getwrapName() const {
return settings.getWrapperName();
}
StubDriver(const char *dll_name, const char *fn_name, bool verbose = true) {
settings.setLibraryMethodName(dll_name,fn_name);
settings.setVerboseMode(verbose);
init();
}
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;
}
StubDriver(const char *name, bool verbose = true) {
settings.setPluginName(name);
settings.setVerboseMode(verbose);
init();
}
