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Merge pull request #81 from ros/melodic_deprecate_headers
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deprecate .h headers in favor of .hpp headers
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@mikaelarguedas
mikaelarguedas authored Feb 15, 2018
2 parents fddbd50 + 135cd9b commit 4df666b
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Showing 23 changed files with 1,516 additions and 1,178 deletions.
3 changes: 3 additions & 0 deletions CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -63,6 +63,9 @@ install(TARGETS ${PROJECT_NAME}
install(DIRECTORY include/class_loader/
DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION})

install(PROGRAMS scripts/class_loader_headers_update.py
DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})

if(CATKIN_ENABLE_TESTING)
add_subdirectory(test)
endif()
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293 changes: 8 additions & 285 deletions include/class_loader/class_loader.h
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Original file line number Diff line number Diff line change
@@ -1,5 +1,7 @@
/*
* Copyright (c) 2012, Willow Garage, Inc.
* Software License Agreement (BSD License)
*
* Copyright (c) 2018, Open Source Robotics Foundation, Inc.
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
Expand All @@ -10,7 +12,7 @@
* * Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in the
* documentation and/or other materials provided with the distribution.
* * Neither the name of the Willow Garage, Inc. nor the names of its
* * Neither the name of the copyright holders nor the names of its
* contributors may be used to endorse or promote products derived from
* this software without specific prior written permission.
*
Expand All @@ -30,289 +32,10 @@
#ifndef CLASS_LOADER__CLASS_LOADER_H_
#define CLASS_LOADER__CLASS_LOADER_H_

#include <boost/bind.hpp>
#include <boost/shared_ptr.hpp>
#include <boost/thread/recursive_mutex.hpp>
#include <cstddef>
#include <string>
#include <vector>

#include "console_bridge/console.h"

#include "class_loader/class_loader_core.h"
#include "class_loader/class_loader_register_macro.h"

#if __cplusplus >= 201103L
#include <memory>
#include <functional>
#endif

namespace class_loader
{

/**
* @brief Returns the default library prefix for the native os
*/
std::string systemLibraryPrefix();

/**
* @brief Returns runtime library extension for native os
*/
std::string systemLibrarySuffix();

/**
* @brief Returns a platform specific version of a basic library name
*
* On *nix platforms the library name is prefixed with `lib`.
* On all platforms the output of class_loader::systemLibrarySuffix() is appended.
*/
std::string systemLibraryFormat(const std::string & library_name);

/**
* @class ClassLoader
* @brief This class allows loading and unloading of dynamically linked libraries which contain class definitions from which objects can be created/destroyed during runtime (i.e. class_loader). Libraries loaded by a ClassLoader are only accessible within scope of that ClassLoader object.
*/
class ClassLoader
{
public:
#if __cplusplus >= 201103L
template<typename Base>
using DeleterType = std::function<void(Base *)>;

template<typename Base>
using UniquePtr = std::unique_ptr<Base, DeleterType<Base>>;
#endif

/**
* @brief Constructor for ClassLoader
* @param library_path - The path of the runtime library to load
* @param ondemand_load_unload - Indicates if on-demand (lazy) unloading/loading of libraries occurs as plugins are created/destroyed
*/
explicit ClassLoader(const std::string & library_path, bool ondemand_load_unload = false);

/**
* @brief Destructor for ClassLoader. All libraries opened by this ClassLoader are unloaded automatically.
*/
virtual ~ClassLoader();

/**
* @brief Indicates which classes (i.e. class_loader) that can be loaded by this object
* @return vector of strings indicating names of instantiable classes derived from <Base>
*/
template<class Base>
std::vector<std::string> getAvailableClasses()
{
return class_loader::class_loader_private::getAvailableClasses<Base>(this);
}

/**
* @brief Gets the full-qualified path and name of the library associated with this class loader
*/
std::string getLibraryPath() {return library_path_;}

/**
* @brief Generates an instance of loadable classes (i.e. class_loader).
*
* It is not necessary for the user to call loadLibrary() as it will be invoked automatically
* if the library is not yet loaded (which typically happens when in "On Demand Load/Unload" mode).
*
* @param derived_class_name The name of the class we want to create (@see getAvailableClasses())
* @return A boost::shared_ptr<Base> to newly created plugin object
*/
template<class Base>
boost::shared_ptr<Base> createInstance(const std::string & derived_class_name)
{
return boost::shared_ptr<Base>(
createRawInstance<Base>(derived_class_name, true),
boost::bind(&ClassLoader::onPluginDeletion<Base>, this, _1));
}

#if __cplusplus >= 201103L
/**
* @brief Generates an instance of loadable classes (i.e. class_loader).
*
* It is not necessary for the user to call loadLibrary() as it will be invoked automatically
* if the library is not yet loaded (which typically happens when in "On Demand Load/Unload" mode).
*
* If you release the wrapped pointer you must manually call the original
* deleter when you want to destroy the released pointer.
*
* @param derived_class_name The name of the class we want to create (@see getAvailableClasses())
* @return A std::unique_ptr<Base> to newly created plugin object
*/
template<class Base>
UniquePtr<Base> createUniqueInstance(const std::string & derived_class_name)
{
Base * raw = createRawInstance<Base>(derived_class_name, true);
return std::unique_ptr<Base, DeleterType<Base>>(
raw,
boost::bind(&ClassLoader::onPluginDeletion<Base>, this, _1));
}
#endif

/**
* @brief Generates an instance of loadable classes (i.e. class_loader).
*
* It is not necessary for the user to call loadLibrary() as it will be invoked automatically
* if the library is not yet loaded (which typically happens when in "On Demand Load/Unload" mode).
*
* Creating an unmanaged instance disables dynamically unloading libraries when
* managed pointers go out of scope for all class loaders in this process.
*
* @param derived_class_name The name of the class we want to create (@see getAvailableClasses())
* @return An unmanaged (i.e. not a shared_ptr) Base* to newly created plugin object.
*/
template<class Base>
Base * createUnmanagedInstance(const std::string & derived_class_name)
{
return createRawInstance<Base>(derived_class_name, false);
}

/**
* @brief Indicates if a plugin class is available
* @param Base - polymorphic type indicating base class
* @param class_name - the name of the plugin class
* @return true if yes it is available, false otherwise
*/
template<class Base>
bool isClassAvailable(const std::string & class_name)
{
std::vector<std::string> available_classes = getAvailableClasses<Base>();
return std::find(
available_classes.begin(), available_classes.end(), class_name) != available_classes.end();
}

/**
* @brief Indicates if a library is loaded within the scope of this ClassLoader. Note that the library may already be loaded internally through another ClassLoader, but until loadLibrary() method is called, the ClassLoader cannot create objects from said library. If we want to see if the library has been opened by somebody else, @see isLibraryLoadedByAnyClassloader()
* @param library_path The path to the library to load
* @return true if library is loaded within this ClassLoader object's scope, otherwise false
*/
bool isLibraryLoaded();

/**
* @brief Indicates if a library is loaded by some entity in the plugin system (another ClassLoader), but not necessarily loaded by this ClassLoader
* @return true if library is loaded within the scope of the plugin system, otherwise false
*/
bool isLibraryLoadedByAnyClassloader();

/**
* @brief Indicates if the library is to be loaded/unloaded on demand...meaning that only to load a lib when the first plugin is created and automatically shut it down when last active plugin is destroyed.
*/
bool isOnDemandLoadUnloadEnabled() {return ondemand_load_unload_;}

/**
* @brief Attempts to load a library on behalf of the ClassLoader. If the library is already opened, this method has no effect. If the library has been already opened by some other entity (i.e. another ClassLoader or global interface), this object is given permissions to access any plugin classes loaded by that other entity. This is
* @param library_path The path to the library to load
*/
void loadLibrary();

/**
* @brief Attempts to unload a library loaded within scope of the ClassLoader. If the library is not opened, this method has no effect. If the library is opened by other another ClassLoader, the library will NOT be unloaded internally -- however this ClassLoader will no longer be able to instantiate class_loader bound to that library. If there are plugin objects that exist in memory created by this classloader, a warning message will appear and the library will not be unloaded. If loadLibrary() was called multiple times (e.g. in the case of multiple threads or purposefully in a single thread), the user is responsible for calling unloadLibrary() the same number of times. The library will not be unloaded within the context of this classloader until the number of unload calls matches the number of loads.
* @return The number of times more unloadLibrary() has to be called for it to be unbound from this ClassLoader
*/
int unloadLibrary();

private:
/**
* @brief Callback method when a plugin created by this class loader is destroyed
* @param obj - A pointer to the deleted object
*/
template<class Base>
void onPluginDeletion(Base * obj)
{
CONSOLE_BRIDGE_logDebug(
"class_loader::ClassLoader: Calling onPluginDeletion() for obj ptr = %p.\n",
reinterpret_cast<void *>(obj));
if (nullptr == obj) {
return;
}
boost::recursive_mutex::scoped_lock lock(plugin_ref_count_mutex_);
delete (obj);
plugin_ref_count_ = plugin_ref_count_ - 1;
assert(plugin_ref_count_ >= 0);
if (0 == plugin_ref_count_ && isOnDemandLoadUnloadEnabled()) {
if (!ClassLoader::hasUnmanagedInstanceBeenCreated()) {
unloadLibraryInternal(false);
} else {
CONSOLE_BRIDGE_logWarn(
"class_loader::ClassLoader: "
"Cannot unload library %s even though last shared pointer went out of scope. "
"This is because createUnmanagedInstance was used within the scope of this process,"
" perhaps by a different ClassLoader. Library will NOT be closed.",
getLibraryPath().c_str());
}
}
}

/**
* @brief Generates an instance of loadable classes (i.e. class_loader).
*
* It is not necessary for the user to call loadLibrary() as it will be invoked automatically
* if the library is not yet loaded (which typically happens when in "On Demand Load/Unload" mode).
*
* @param derived_class_name The name of the class we want to create (@see getAvailableClasses())
* @param managed If true, the returned pointer is assumed to be wrapped in a smart pointer by the caller.
* @return A Base* to newly created plugin object
*/
template<class Base>
Base * createRawInstance(const std::string & derived_class_name, bool managed)
{
if (!managed) {
has_unmananged_instance_been_created_ = true;
}

if (
managed &&
ClassLoader::hasUnmanagedInstanceBeenCreated() &&
isOnDemandLoadUnloadEnabled())
{
CONSOLE_BRIDGE_logInform("%s",
"class_loader::ClassLoader: "
"An attempt is being made to create a managed plugin instance (i.e. boost::shared_ptr), "
"however an unmanaged instance was created within this process address space. "
"This means libraries for the managed instances will not be shutdown automatically on "
"final plugin destruction if on demand (lazy) loading/unloading mode is used."
);
}
if (!isLibraryLoaded()) {
loadLibrary();
}

Base * obj =
class_loader::class_loader_private::createInstance<Base>(derived_class_name, this);
assert(obj != nullptr); // Unreachable assertion if createInstance() throws on failure

if (managed) {
boost::recursive_mutex::scoped_lock lock(plugin_ref_count_mutex_);
plugin_ref_count_ = plugin_ref_count_ + 1;
}

return obj;
}

/**
* @brief Getter for if an unmanaged (i.e. unsafe) instance has been created flag
*/
static bool hasUnmanagedInstanceBeenCreated();

/**
* @brief As the library may be unloaded in "on-demand load/unload" mode, unload maybe called from createInstance(). The problem is that createInstance() locks the plugin_ref_count as does unloadLibrary(). This method is the implementation of unloadLibrary but with a parameter to decide if plugin_ref_mutex_ should be locked
* @param lock_plugin_ref_count - Set to true if plugin_ref_count_mutex_ should be locked, else false
* @return The number of times unloadLibraryInternal has to be called again for it to be unbound from this ClassLoader
*/
int unloadLibraryInternal(bool lock_plugin_ref_count);

private:
bool ondemand_load_unload_;
std::string library_path_;
int load_ref_count_;
boost::recursive_mutex load_ref_count_mutex_;
int plugin_ref_count_;
boost::recursive_mutex plugin_ref_count_mutex_;
static bool has_unmananged_instance_been_created_;
};

} // namespace class_loader
// *INDENT-OFF* (prevent uncrustify from adding indention below)
#warning Including header <class_loader/class_loader.h> is deprecated, \
include <class_loader/class_loader.hpp> instead.

#include "./class_loader.hpp"

#endif // CLASS_LOADER__CLASS_LOADER_H_
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