changed from linktime to dlopen

ros2 · Jul 18, 2019 · c7347e2 · c7347e2
1 parent 26fcfc2
commit c7347e2
Show file tree

Hide file tree

Showing 2 changed files with 91 additions and 11 deletions.
diff --git a/rclcpp_components/cmake/rclcpp_components_register_node.cmake b/rclcpp_components/cmake/rclcpp_components_register_node.cmake
@@ -39,8 +39,10 @@ macro(rclcpp_components_register_node target)
   _rclcpp_components_register_package_hook()
   if(WIN32)
     set(_path "bin")
+    set(LIBRARY_NAME ${target}.dll)
   else()
     set(_path "lib")
+    set(LIBRARY_NAME lib${target}.so)
   endif()
   set(_RCLCPP_COMPONENTS__NODES
     "${_RCLCPP_COMPONENTS__NODES}${component};${_path}/$<TARGET_FILE_NAME:${target}>\n")

diff --git a/rclcpp_components/src/node_main.cpp.in b/rclcpp_components/src/node_main.cpp.in
@@ -1,3 +1,74 @@
+// // Copyright 2016 Open Source Robotics Foundation, Inc.
+// //
+// // 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.
+
+// #include <memory>
+// #include <string>
+// #include <vector>
+
+// #include "class_loader/class_loader.hpp"
+// #include "rclcpp/rclcpp.hpp"
+// #include "rclcpp_components/node_factory.hpp"
+// #include "rclcpp_components/node_factory_template.hpp"
+
+// #define NODE_MAIN_LOGGER_NAME "node_main"
+
+// int main(int argc, char * argv[])
+// {
+//   // Force flush of the stdout buffer.
+//   setvbuf(stdout, NULL, _IONBF, BUFSIZ);
+
+//   auto args = rclcpp::init_and_remove_ros_arguments(argc, argv);
+//   rclcpp::Logger logger = rclcpp::get_logger(NODE_MAIN_LOGGER_NAME);
+//   rclcpp::executors::SingleThreadedExecutor exec;
+//   rclcpp::NodeOptions options;
+//   options.arguments(args);
+//   std::vector<class_loader::ClassLoader *> loaders;
+//   std::vector<rclcpp_components::NodeInstanceWrapper> node_wrappers;
+//   std::vector<std::string> libraries = {
+//     // all classes from libraries linked by the linker (rather then dlopen)
+//     // are registered under the library_path ""
+//     "",
+//   };
+//   std::string className = "rclcpp_components::NodeFactoryTemplate<@CLASS_NAME@>";
+//   for (const auto & library : libraries) {
+//     RCLCPP_DEBUG(logger, "Loading library %s", library.c_str());
+//     auto loader = new class_loader::ClassLoader(library);
+//     auto classes = loader->getAvailableClasses<rclcpp_components::NodeFactory>();
+//     for (auto clazz : classes) {
+//       std::string name = clazz.c_str();
+//       if (!(name.compare(className))) {
+//         RCLCPP_DEBUG(logger, "Instantiate class %s", clazz.c_str());
+//         auto node_factory = loader->createInstance<rclcpp_components::NodeFactory>(clazz);
+//         auto wrapper = node_factory->create_node_instance(options);
+//         auto node = wrapper.get_node_base_interface();
+//         node_wrappers.push_back(wrapper);
+//         exec.add_node(node);
+//       }
+//     }
+//     loaders.push_back(loader);
+//   }
+
+//   exec.spin();
+
+//   for (auto wrapper : node_wrappers) {
+//     exec.remove_node(wrapper.get_node_base_interface());
+//   }
+//   node_wrappers.clear();
+//   rclcpp::shutdown();
+//   return 0;
+// }
+
 // Copyright 2016 Open Source Robotics Foundation, Inc.
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
@@ -21,34 +92,39 @@
 #include "rclcpp_components/node_factory.hpp"
 #include "rclcpp_components/node_factory_template.hpp"
 
-#define NODE_MAIN_LOGGER_NAME "node_main"
+#define NODE_MAIN_LOGGER_NAME "dlopen_composition"
 
 int main(int argc, char * argv[])
 {
   // Force flush of the stdout buffer.
   setvbuf(stdout, NULL, _IONBF, BUFSIZ);
 
-  auto args = rclcpp::init_and_remove_ros_arguments(argc, argv);
+  // if (argc < 2) {
+  //   fprintf(stderr, "Requires at least one argument to be passed with the library to load\n");
+  //   return 1;
+  // }
+  rclcpp::init(argc, argv);
   rclcpp::Logger logger = rclcpp::get_logger(NODE_MAIN_LOGGER_NAME);
   rclcpp::executors::SingleThreadedExecutor exec;
   rclcpp::NodeOptions options;
-  options.arguments(args);
   std::vector<class_loader::ClassLoader *> loaders;
   std::vector<rclcpp_components::NodeInstanceWrapper> node_wrappers;
-  std::vector<std::string> libraries = {
-    // all classes from libraries linked by the linker (rather then dlopen)
-    // are registered under the library_path ""
-    "",
-  };
+
+  std::vector<std::string> libraries;
+  // for (int i = 1; i < argc; ++i) {
+  //   libraries.push_back(argv[i]);
+  // }
+  std::string libraryName = "@LIBRARY_NAME@";
+  libraries.push_back(libraryName);
   std::string className = "rclcpp_components::NodeFactoryTemplate<@CLASS_NAME@>";
-  for (const auto & library : libraries) {
-    RCLCPP_DEBUG(logger, "Loading library %s", library.c_str());
+  for (auto library : libraries) {
+    RCLCPP_INFO(logger, "Load library %s", library.c_str());
     auto loader = new class_loader::ClassLoader(library);
     auto classes = loader->getAvailableClasses<rclcpp_components::NodeFactory>();
     for (auto clazz : classes) {
       std::string name = clazz.c_str();
       if (!(name.compare(className))) {
-        RCLCPP_DEBUG(logger, "Instantiate class %s", clazz.c_str());
+        RCLCPP_INFO(logger, "Instantiate class %s", clazz.c_str());
         auto node_factory = loader->createInstance<rclcpp_components::NodeFactory>(clazz);
         auto wrapper = node_factory->create_node_instance(options);
         auto node = wrapper.get_node_base_interface();
@@ -65,6 +141,8 @@ int main(int argc, char * argv[])
     exec.remove_node(wrapper.get_node_base_interface());
   }
   node_wrappers.clear();
+
   rclcpp::shutdown();
+
   return 0;
 }