dl_wrapper.cpp

Go to the documentation of this file.

// g2o - General Graph Optimization
// Copyright (C) 2011 R. Kuemmerle, G. Grisetti, W. Burgard
// All rights reserved.
//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are
// met:
//
// * Redistributions of source code must retain the above copyright notice,
//   this list of conditions and the following disclaimer.
// * 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.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS
// IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED
// TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A
// PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
// HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED
// TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
// PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF
// LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
// NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

#include <sys/types.h>

#include <cstdio>
#include <iostream>
#include <algorithm>

#include "dl_wrapper.h"
#include "g2o/stuff/macros.h"
#include "g2o/stuff/filesys_tools.h"

#if defined (UNIX) || defined(CYGWIN)
#include <dlfcn.h>
#endif

#ifdef __APPLE__
#define SO_EXT "dylib"
#define SO_EXT_LEN 5
#elif defined (WINDOWS) || defined (CYGWIN)
#define SO_EXT "dll"
#define SO_EXT_LEN 3
#else // Linux
#define SO_EXT "so"
#define SO_EXT_LEN 2
#endif

using namespace std;

namespace g2o {

DlWrapper::DlWrapper()
{
}

DlWrapper::~DlWrapper()
{
  //clear();
}

int DlWrapper::openLibraries(const std::string& directory, const std::string& pattern)
{
  //cerr << "# loading libraries from " << directory << "\t pattern: " << pattern << endl;
  string searchPattern = directory + "/" + pattern;
  if (pattern == "")
    searchPattern = directory + "/*";
  vector<string> matchingFiles = getFilesByPattern(searchPattern.c_str());

  int numLibs = 0;
  for (size_t i = 0; i < matchingFiles.size(); ++i) {
    const string& filename = matchingFiles[i];
    if (find(_filenames.begin(), _filenames.end(), filename) != _filenames.end())
      continue;

    // If we are doing a release build, the wildcards will pick up the
    // suffixes; unfortunately the "_rd" extension means that we
    // don't seem to be able to filter out the incompatible files using a
    // wildcard expansion to wordexp.

#ifndef G2O_LIBRARY_POSTFIX
    if ((filename.rfind(string("_d.") + SO_EXT) == filename.length() - 3 - SO_EXT_LEN)
        || (filename.rfind(string("_rd.") + SO_EXT) == filename.length() - 4 - SO_EXT_LEN)
        || (filename.rfind(string("_s.") + SO_EXT) == filename.length() - 3 - SO_EXT_LEN))
        continue;
#endif

    // open the lib
    //cerr << "loading " << filename << endl;
    if (openLibrary(filename))
      numLibs++;
  }

  return numLibs;
}

void DlWrapper::clear()
{
# if defined (UNIX) || defined(CYGWIN)
  for (size_t i = 0; i < _handles.size(); ++i) {
    dlclose(_handles[i]);
  }
#elif defined(WINDOWS)
  for (size_t i = 0; i < _handles.size(); ++i) {
    FreeLibrary(_handles[i]);
  }
#endif
  _filenames.clear();
  _handles.clear();
}

bool DlWrapper::openLibrary(const std::string& filename)
{
# if defined (UNIX) || defined(CYGWIN)
  void* handle = dlopen(filename.c_str(), RTLD_LAZY);
  if (! handle) {
    cerr << __PRETTY_FUNCTION__ << " Cannot open library: " << dlerror() << '\n';
    return false;
  }
# elif defined (WINDOWS)
  HMODULE handle = LoadLibrary(filename.c_str());
  if (! handle) {
    cerr << __PRETTY_FUNCTION__ << " Cannot open library." << endl;
    return false;
  }
# endif

  //cerr << "loaded " << filename << endl;

  _filenames.push_back(filename);
  _handles.push_back(handle);
  return true;
}

} // end namespace g2o