dl_wrapper.cpp

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// 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 "dl_wrapper.h"
 
#include <sys/types.h>
 
#include <algorithm>
#include <cstdio>
#include <iostream>
 
#include "g2o/stuff/filesys_tools.h"
#include "g2o/stuff/macros.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