port: 2 to main 2022-11-16 (#110)

Signed-off-by: Michael Carroll <michael@openrobotics.org>
gazebosim · Nov 16, 2022 · 6aed7bb · 6aed7bb
2 parents 5c0d2d3 + 865b827
commit 6aed7bb
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diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -17,7 +17,7 @@ set(GZ_CMAKE_VER ${gz-cmake3_VERSION_MAJOR})
 set(CMAKE_CXX_STANDARD 17)
 set(CMAKE_CXX_STANDARD_REQUIRED ON)
 
-gz_configure_project(VERSION_SUFFIX pre1)
+gz_configure_project()
 
 #============================================================================
 # Set project-specific options

diff --git a/Changelog.md b/Changelog.md
@@ -4,7 +4,47 @@
 
 ## Gazebo Plugin 2.x
 
-### Gazebo Plugin 2.X.X (202X-XX-XX)
+### Gazebo Plugin 2.0.0
+
+1. Add option to use `RTLD_NODELETE` when loading a library.
+    * [Pull request #102](https://github.com/gazebosim/gz-plugin/pull/102)
+
+1. Improve install instructions.
+    * [Pull request #106](https://github.com/gazebosim/gz-plugin/pull/106)
+
+1. Version bumps for Garden and deprecations.
+    * [Pull request #74](https://github.com/gazebosim/gz-plugin/pull/74)
+    * [Pull request #76](https://github.com/gazebosim/gz-plugin/pull/76)
+    * [Pull request #77](https://github.com/gazebosim/gz-plugin/pull/77)
+
+1. Ignition to Gazebo rename
+    * [Pull request #78](https://github.com/gazebosim/gz-plugin/pull/78)
+    * [Pull request #79](https://github.com/gazebosim/gz-plugin/pull/79)
+    * [Pull request #82](https://github.com/gazebosim/gz-plugin/pull/82)
+    * [Pull request #83](https://github.com/gazebosim/gz-plugin/pull/83)
+    * [Pull request #86](https://github.com/gazebosim/gz-plugin/pull/86)
+    * [Pull request #87](https://github.com/gazebosim/gz-plugin/pull/87)
+    * [Pull request #88](https://github.com/gazebosim/gz-plugin/pull/88)
+    * [Pull request #89](https://github.com/gazebosim/gz-plugin/pull/89)
+    * [Pull request #90](https://github.com/gazebosim/gz-plugin/pull/90)
+    * [Pull request #93](https://github.com/gazebosim/gz-plugin/pull/93)
+    * [Pull request #104](https://github.com/gazebosim/gz-plugin/pull/104)
+
+1. CLI tool updates.
+    * [Pull request #55](https://github.com/gazebosim/gz-plugin/pull/55)
+    * [Pull request #65](https://github.com/gazebosim/gz-plugin/pull/65)
+    * [Pull request #69](https://github.com/gazebosim/gz-plugin/pull/69)
+    * [Pull request #80](https://github.com/gazebosim/gz-plugin/pull/80)
+    * [Pull request #92](https://github.com/gazebosim/gz-plugin/pull/92)
+
+1. Update GoogleTest to latest version.
+    * [Pull request #91](https://github.com/gazebosim/gz-plugin/pull/91)
+
+1. Clean unused lambda capture warning.
+    * [Pull request #95](https://github.com/gazebosim/gz-plugin/pull/95)
+
+1. Support static plugins.
+    * [Pull request #97](https://github.com/gazebosim/gz-plugin/pull/97)
 
 ## Gazebo Plugin 1.x
 
@@ -24,6 +64,37 @@
 1. Remove gz-tools from CMakeLists.txt. Not used
     * [Pull request #56](https://github.com/gazebosim/gz-plugin/pull/56)
 
+
+## Gazebo Plugin 1.x
+
+### Gazebo Plugin 1.3.0 (2022-11-11)
+
+1. ign -> gz Migrate Ignition Headers : gz-plugin
+    * [Pull request #101](https://github.com/gazebosim/gz-plugin/pull/101)
+
+### Gazebo Plugin 1.3.0 (2022-08-15)
+
+1. Remove redundant namespace references
+    * [Pull request #100](https://github.com/gazebosim/gz-plugin/pull/100)
+
+1. Change `IGN_DESIGNATION` to `GZ_DESIGNATION`
+    * [Pull request #96](https://github.com/gazebosim/gz-plugin/pull/96)
+
+1. Ignition -> Gazebo
+    * [Pull request #94](https://github.com/gazebosim/gz-plugin/pull/94)
+
+1. Bash completion for flags
+    * [Pull request #81](https://github.com/gazebosim/gz-plugin/pull/81)
+
+1. Add LICENSE file
+    * [Pull request #72](https://github.com/gazebosim/gz-plugin/pull/72)
+
+1. Add Ubuntu Jammy CI
+    * [Pull request #68](https://github.com/gazebosim/gz-plugin/pull/68)
+
+1. Install ruby commands on Windows
+    * [Pull request #63](https://github.com/gazebosim/gz-plugin/pull/63)
+
 ### Gazebo Plugin 1.2.0 (2021-03-30)
 
 1. Infrastructure

diff --git a/MigrationFromCommon.md b/MigrationFromCommon.md
@@ -84,8 +84,10 @@ then you should continue to use it. It does not have a replacement in `gz-plugin
 
 Here is a list of things that you *should* replace:
 
+* `#include <ignition/common/PluginLoader.hh>` should be replaced with `#include <gz/plugin/Loader.hh>`
 * `#include <gz/common/PluginLoader.hh>` should be replaced with `#include <gz/plugin/Loader.hh>`
 * `gz::common::PluginLoader` should be replaced with `gz::plugin::Loader`
+* `ignition::common::PluginLoader` should be replaced with `gz::plugin::Loader`
 * When calling `Loader::Instantiate("....")` do **NOT** prefix the class name with `::`. E.g. `"::some_namespace::MyClass"` should now be `"some_namespace::MyClass"`.
 
 

diff --git a/core/CMakeLists.txt b/core/CMakeLists.txt
@@ -15,6 +15,5 @@ gz_build_tests(
   TYPE UNIT
   SOURCES ${tests})
 
-
 add_subdirectory(include/gz/plugin)
-install(DIRECTORY include/gz DESTINATION ${GZ_INCLUDE_INSTALL_DIR_FULL})
+install(DIRECTORY include/ignition DESTINATION ${GZ_INCLUDE_INSTALL_DIR_FULL})
diff --git a/core/include/ignition/plugin/EnablePluginFromThis.hh b/core/include/ignition/plugin/EnablePluginFromThis.hh
@@ -1,5 +1,5 @@
 /*
- * Copyright (C) 2018 Open Source Robotics Foundation
+ * Copyright (C) 2022 Open Source Robotics Foundation
  *
  * Licensed under the Apache License, Version 2.0 (the "License");
  * you may not use this file except in compliance with the License.

diff --git a/core/include/ignition/plugin/Factory.hh b/core/include/ignition/plugin/Factory.hh
@@ -1,5 +1,5 @@
 /*
- * Copyright (C) 2018 Open Source Robotics Foundation
+ * Copyright (C) 2022 Open Source Robotics Foundation
  *
  * Licensed under the Apache License, Version 2.0 (the "License");
  * you may not use this file except in compliance with the License.

diff --git a/core/include/ignition/plugin/Info.hh b/core/include/ignition/plugin/Info.hh
@@ -1,5 +1,5 @@
 /*
- * Copyright (C) 2017 Open Source Robotics Foundation
+ * Copyright (C) 2022 Open Source Robotics Foundation
  *
  * Licensed under the Apache License, Version 2.0 (the "License");
  * you may not use this file except in compliance with the License.

diff --git a/core/include/ignition/plugin/Plugin.hh b/core/include/ignition/plugin/Plugin.hh
@@ -1,5 +1,5 @@
 /*
- * Copyright (C) 2017 Open Source Robotics Foundation
+ * Copyright (C) 2022 Open Source Robotics Foundation
  *
  * Licensed under the Apache License, Version 2.0 (the "License");
  * you may not use this file except in compliance with the License.

diff --git a/core/include/ignition/plugin/PluginPtr.hh b/core/include/ignition/plugin/PluginPtr.hh
@@ -1,5 +1,5 @@
 /*
- * Copyright (C) 2017 Open Source Robotics Foundation
+ * Copyright (C) 2022 Open Source Robotics Foundation
  *
  * Licensed under the Apache License, Version 2.0 (the "License");
  * you may not use this file except in compliance with the License.

diff --git a/core/include/ignition/plugin/SpecializedPlugin.hh b/core/include/ignition/plugin/SpecializedPlugin.hh
@@ -1,5 +1,5 @@
 /*
- * Copyright (C) 2017 Open Source Robotics Foundation
+ * Copyright (C) 2022 Open Source Robotics Foundation
  *
  * Licensed under the Apache License, Version 2.0 (the "License");
  * you may not use this file except in compliance with the License.

diff --git a/core/include/ignition/plugin/SpecializedPluginPtr.hh b/core/include/ignition/plugin/SpecializedPluginPtr.hh
@@ -1,5 +1,5 @@
 /*
- * Copyright (C) 2017 Open Source Robotics Foundation
+ * Copyright (C) 2022 Open Source Robotics Foundation
  *
  * Licensed under the Apache License, Version 2.0 (the "License");
  * you may not use this file except in compliance with the License.

diff --git a/core/include/ignition/plugin/WeakPluginPtr.hh b/core/include/ignition/plugin/WeakPluginPtr.hh
@@ -1,5 +1,5 @@
 /*
- * Copyright (C) 2018 Open Source Robotics Foundation
+ * Copyright (C) 2022 Open Source Robotics Foundation
  *
  * Licensed under the Apache License, Version 2.0 (the "License");
  * you may not use this file except in compliance with the License.

diff --git a/core/include/ignition/plugin/utility.hh b/core/include/ignition/plugin/utility.hh
@@ -1,5 +1,5 @@
 /*
- * Copyright (C) 2018 Open Source Robotics Foundation
+ * Copyright (C) 2022 Open Source Robotics Foundation
  *
  * Licensed under the Apache License, Version 2.0 (the "License");
  * you may not use this file except in compliance with the License.

diff --git a/loader/include/gz/plugin/Loader.hh b/loader/include/gz/plugin/Loader.hh
@@ -133,6 +133,17 @@ namespace gz
       public: std::unordered_set<std::string> LoadLib(
                   const std::string &_pathToLibrary);
 
+      /// \brief Load a library at the given path
+      ///
+      /// \param[in] _pathToLibrary
+      ///   The path to a library
+      /// \param[in] _noDelete
+      ///   If true, RTLD_NODELETE will be used when loading the library.
+      ///
+      /// \returns The set of plugins that have been loaded from the library
+      public: std::unordered_set<std::string> LoadLib(
+                  const std::string &_pathToLibrary, bool _noDelete);
+
       /// \brief Instantiates a plugin for the given plugin name
       ///
       /// \param[in] _pluginNameOrAlias

diff --git a/loader/include/ignition/plugin/Loader.hh b/loader/include/ignition/plugin/Loader.hh
@@ -1,5 +1,5 @@
 /*
- * Copyright (C) 2017 Open Source Robotics Foundation
+ * Copyright (C) 2022 Open Source Robotics Foundation
  *
  * Licensed under the Apache License, Version 2.0 (the "License");
  * you may not use this file except in compliance with the License.

diff --git a/loader/src/Loader.cc b/loader/src/Loader.cc
@@ -46,7 +46,7 @@ namespace gz
       /// \return If a library exists at the given path, get a point to its dl
       /// handle. If the library does not exist, get a nullptr.
       public: std::shared_ptr<void> LoadLib(
-        const std::string &_pathToLibrary);
+        const std::string &_pathToLibrary, bool _noDelete);
 
       /// \brief Using a dl handle produced by LoadLib, extract the
       /// Info from the loaded library.
@@ -139,12 +139,18 @@ namespace gz
     /////////////////////////////////////////////////
     std::unordered_set<std::string> Loader::LoadLib(
         const std::string &_pathToLibrary)
+    {
+      return this->LoadLib(_pathToLibrary, false);
+    }
+    /////////////////////////////////////////////////
+    std::unordered_set<std::string> Loader::LoadLib(
+        const std::string &_pathToLibrary, bool _noDelete)
     {
       std::unordered_set<std::string> newPlugins;
 
       // Attempt to load the library at this path
       const std::shared_ptr<void> &dlHandle =
-          this->dataPtr->LoadLib(_pathToLibrary);
+          this->dataPtr->LoadLib(_pathToLibrary, _noDelete);
 
       // Quit early and return an empty set of plugin names if we did not
       // actually get a valid dlHandle.
@@ -420,7 +426,7 @@ namespace gz
 
     /////////////////////////////////////////////////
     std::shared_ptr<void> Loader::Implementation::LoadLib(
-        const std::string &_full_path)
+        const std::string &_full_path, bool _noDelete)
     {
       std::shared_ptr<void> dlHandlePtr;
 
@@ -431,7 +437,14 @@ namespace gz
 
       // NOTE: We open using RTLD_LOCAL instead of RTLD_GLOBAL to prevent the
       // symbols of different libraries from writing over each other.
-      void *dlHandle = dlopen(_full_path.c_str(), RTLD_LAZY | RTLD_LOCAL);
+#ifdef _WIN32
+      // RTLD_NODELETE is not defined in dlfcn-32.
+      (void) _noDelete;
+      int dlopenMode = RTLD_LAZY | RTLD_LOCAL;
+#else
+      int dlopenMode = RTLD_LAZY | RTLD_LOCAL | (_noDelete ? RTLD_NODELETE : 0);
+#endif
+      void *dlHandle = dlopen(_full_path.c_str(), dlopenMode);
 
       const char *loadError = dlerror();
       if (nullptr == dlHandle || nullptr != loadError)

diff --git a/loader/src/cmd/gz.cc b/loader/src/cmd/gz.cc
@@ -24,6 +24,8 @@
 #include "gz/plugin/config.hh"
 #include "gz.hh"
 
+using Loader = gz::plugin::Loader;
+
 //////////////////////////////////////////////////
 extern "C" void cmdPluginInfo(
     const char *_plugin, int _verbose)
@@ -34,7 +36,7 @@ extern "C" void cmdPluginInfo(
     return;
   }
 
-  gz::plugin::Loader pl;
+  Loader pl;
   std::cout << "Loading plugin library file [" << _plugin << "]\n";
 
   // Print names of plugins exported by library file

diff --git a/register/include/ignition/plugin/Register.hh b/register/include/ignition/plugin/Register.hh
@@ -1,5 +1,5 @@
 /*
- * Copyright (C) 2017 Open Source Robotics Foundation
+ * Copyright (C) 2022 Open Source Robotics Foundation
  *
  * Licensed under the Apache License, Version 2.0 (the "License");
  * you may not use this file except in compliance with the License.

diff --git a/register/include/ignition/plugin/RegisterMore.hh b/register/include/ignition/plugin/RegisterMore.hh
@@ -1,5 +1,5 @@
 /*
- * Copyright (C) 2018 Open Source Robotics Foundation
+ * Copyright (C) 2022 Open Source Robotics Foundation
  *
  * Licensed under the Apache License, Version 2.0 (the "License");
  * you may not use this file except in compliance with the License.

diff --git a/test/integration/CMakeLists.txt b/test/integration/CMakeLists.txt
@@ -20,7 +20,8 @@ foreach(test ${test_targets})
       GzBadPluginSize
       GzDummyPlugins
       GzFactoryPlugins
-      GzTemplatedPlugins)
+      GzTemplatedPlugins
+      GzInstanceCounter)
 
     target_compile_definitions(${test} PRIVATE
       "${plugin_target}_LIB=\"$<TARGET_FILE:${plugin_target}>\"")
@@ -33,6 +34,8 @@ foreach(test
     INTEGRATION_EnablePluginFromThis_TEST
     INTEGRATION_factory
     INTEGRATION_plugin
+    INTEGRATION_plugin_unload_with_nodelete
+    INTEGRATION_plugin_unload_without_nodelete
     INTEGRATION_WeakPluginPtr)
 
   if(TARGET ${test})

diff --git a/test/integration/plugin_unload.hh b/test/integration/plugin_unload.hh
@@ -0,0 +1,63 @@
+/*
+ * Copyright (C) 2022 Open Source Robotics Foundation
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+ */
+
+#ifndef GZ_PLUGIN_TEST_INTEGRATION_PLUGIN_UNLOAD_HH
+#define GZ_PLUGIN_TEST_INTEGRATION_PLUGIN_UNLOAD_HH
+
+#include <gtest/gtest.h>
+
+#include <iostream>
+#include <string>
+#include <unordered_set>
+
+#include "../plugins/InstanceCounter.hh"
+#include "gz/plugin/Loader.hh"
+#include "gz/plugin/PluginPtr.hh"
+#include "gz/plugin/SpecializedPluginPtr.hh"
+
+/////////////////////////////////////////////////
+/// \brief Load the InstanceCounter plugin
+/// \param[in] _nodelete True if RTLD_NODELETE should be used when loading the
+/// \return Pointer to the plugin
+gz::plugin::PluginPtr LoadInstanceCounter(bool _nodelete)
+{
+  gz::plugin::Loader pl;
+
+  std::unordered_set<std::string> pluginNames =
+      pl.LoadLib(GzInstanceCounter_LIB, _nodelete);
+
+  return pl.Instantiate("test::util::InstanceCounter");
+}
+
+/////////////////////////////////////////////////
+/// \brief Load plugin, Instantiate the InstanceCounter, check the number of
+/// instances, and finally unload the plugin. Note, the plugin is unloaded when
+/// `instanceCounterPlugin` goes out of scope.
+/// \param[in] _nodelete True if RTLD_NODELETE should be used when loading the
+/// library.
+/// \param[in] _numExpectedInstances Expected number of instances of the plugin.
+void LoadAndTestInstanceCounter(bool _nodelete, int _numExpectedInstances)
+{
+  gz::plugin::PluginPtr instanceCounterPlugin = LoadInstanceCounter(_nodelete);
+  test::util::InstanceCounterBase *instanceCounter =
+      instanceCounterPlugin->QueryInterface<test::util::InstanceCounterBase>();
+  ASSERT_NE(nullptr, instanceCounter);
+
+  EXPECT_EQ(_numExpectedInstances, instanceCounter->Instances());
+}
+
+#endif