Plugin.hh
Go to the documentation of this file.
1 /*
2  * Copyright (C) 2012 Open Source Robotics Foundation
3  *
4  * Licensed under the Apache License, Version 2.0 (the "License");
5  * you may not use this file except in compliance with the License.
6  * You may obtain a copy of the License at
7  *
8  * http://www.apache.org/licenses/LICENSE-2.0
9  *
10  * Unless required by applicable law or agreed to in writing, software
11  * distributed under the License is distributed on an "AS IS" BASIS,
12  * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
13  * See the License for the specific language governing permissions and
14  * limitations under the License.
15  *
16  */
17 #ifndef _GZ_PLUGIN_HH_
18 #define _GZ_PLUGIN_HH_
19 
20 #ifdef _WIN32
21  // Ensure that Winsock2.h is included before Windows.h, which can get
22  // pulled in by anybody (e.g., Boost).
23  // This was put here because all the plugins are going to use it
24  // This doesn't guarantee something else won't cause it,
25  // but this saves putting this in every plugin
26 #include <Winsock2.h>
27 #endif
28 
29 #ifndef _WIN32
30  #include <unistd.h>
31 #endif
32 
33 #include <sys/types.h>
34 #include <sys/stat.h>
35 
36 #include <gazebo/gazebo_config.h>
37 #include <dlfcn.h>
38 
39 #include <list>
40 #include <string>
41 
42 #include <sdf/sdf.hh>
43 
46 #include "gazebo/common/Console.hh"
48 
52 #include "gazebo/util/system.hh"
53 
54 namespace gazebo
55 {
56  class Event;
57 
60 
64  {
77  };
78 
79 
82  template<class T>
83  class PluginT
84  {
86  public: typedef boost::shared_ptr<T> TPtr;
87 
89  public: PluginT()
90  {
91  this->dlHandle = nullptr;
92  }
93 
95  public: virtual ~PluginT()
96  {
97  // dlclose has been disabled due to segfaults in the test suite
98  // This workaround is detailed in #1026 and #1066. After the test
99  // or gazebo execution the plugin is not loaded in memory anymore
100  // \todo Figure out the right thing to do.
101 
102  // dlclose(this->dlHandle);
103  }
104 
106  public: std::string GetFilename() const
107  {
108  return this->filename;
109  }
110 
112  public: std::string GetHandle() const
113  {
114  return this->handleName;
115  }
116 
122  public: static TPtr Create(const std::string &_filename,
123  const std::string &_name)
124  {
125  TPtr result;
126  // PluginPtr result;
127  struct stat st;
128  bool found = false;
129  std::string fullname, filename(_filename);
130  std::list<std::string>::iterator iter;
131  std::list<std::string> pluginPaths =
132  common::SystemPaths::Instance()->GetPluginPaths();
133 
134 #ifdef __APPLE__
135  // This is a hack to work around issue #800,
136  // error loading plugin libraries with different extensions
137  {
138  size_t soSuffix = filename.rfind(".so");
139  if (soSuffix != std::string::npos)
140  {
141  const std::string macSuffix(".dylib");
142  filename.replace(soSuffix, macSuffix.length(), macSuffix);
143  }
144  }
145 #elif _WIN32
146  // Corresponding windows hack
147  {
148  // replace .so with .dll
149  size_t soSuffix = filename.rfind(".so");
150  if (soSuffix != std::string::npos)
151  {
152  const std::string winSuffix(".dll");
153  filename.replace(soSuffix, winSuffix.length(), winSuffix);
154  }
155  // remove the lib prefix
156  filename.erase(0, 3);
157  }
158 #endif // ifdef __APPLE__
159 
160  for (iter = pluginPaths.begin();
161  iter!= pluginPaths.end(); ++iter)
162  {
163  fullname = (*iter)+std::string("/")+filename;
164  if (stat(fullname.c_str(), &st) == 0)
165  {
166  found = true;
167  break;
168  }
169  }
170 
171  if (!found)
172  fullname = filename;
173 
174  fptr_union_t registerFunc;
175  std::string registerName = "RegisterPlugin";
176 
177  void *dlHandle = dlopen(fullname.c_str(), RTLD_LAZY|RTLD_GLOBAL);
178  if (!dlHandle)
179  {
180  gzerr << "Failed to load plugin " << fullname << ": "
181  << dlerror() << "\n";
182  return result;
183  }
184 
185  registerFunc.ptr = dlsym(dlHandle, registerName.c_str());
186 
187  if (!registerFunc.ptr)
188  {
189  gzerr << "Failed to resolve " << registerName
190  << ": " << dlerror();
191  return result;
192  }
193 
194  // Register the new controller.
195  result.reset(registerFunc.func());
196  result->dlHandle = dlHandle;
197 
198  result->handleName = _name;
199  result->filename = filename;
200 
201  return result;
202  }
203 
206  public: PluginType GetType() const
207  {
208  return this->type;
209  }
210 
212  protected: PluginType type;
213 
215  protected: std::string filename;
216 
218  protected: std::string handleName;
219 
221  private: typedef union
222  {
223  T *(*func)();
224  void *ptr;
225  } fptr_union_t;
226 
228  private: void *dlHandle;
229  };
230 
235  class WorldPlugin : public PluginT<WorldPlugin>
236  {
238  public: WorldPlugin()
239  {this->type = WORLD_PLUGIN;}
240 
242  public: virtual ~WorldPlugin() {}
243 
250  public: virtual void Load(physics::WorldPtr _world,
251  sdf::ElementPtr _sdf) = 0;
252 
253  public: virtual void Init() {}
254  public: virtual void Reset() {}
255  };
256 
260  class ModelPlugin : public PluginT<ModelPlugin>
261  {
263  public: ModelPlugin()
264  {this->type = MODEL_PLUGIN;}
265 
267  public: virtual ~ModelPlugin() {}
268 
275  public: virtual void Load(physics::ModelPtr _model,
276  sdf::ElementPtr _sdf) = 0;
277 
279  public: virtual void Init() {}
280 
282  public: virtual void Reset() {}
283  };
284 
289  class SensorPlugin : public PluginT<SensorPlugin>
290  {
292  public: SensorPlugin()
293  {this->type = SENSOR_PLUGIN;}
294 
296  public: virtual ~SensorPlugin() {}
297 
304  public: virtual void Load(sensors::SensorPtr _sensor,
305  sdf::ElementPtr _sdf) = 0;
306 
308  public: virtual void Init() {}
309 
311  public: virtual void Reset() {}
312  };
313 
318  class SystemPlugin : public PluginT<SystemPlugin>
319  {
321  public: SystemPlugin()
322  {this->type = SYSTEM_PLUGIN;}
323 
325  public: virtual ~SystemPlugin() {}
326 
332  public: virtual void Load(int _argc = 0, char **_argv = nullptr) = 0;
333 
337  public: virtual void Init() {}
338 
340  public: virtual void Reset() {}
341  };
342 
346  class VisualPlugin : public PluginT<VisualPlugin>
347  {
348  public: VisualPlugin()
349  {this->type = VISUAL_PLUGIN;}
350 
357  public: virtual void Load(rendering::VisualPtr _visual,
358  sdf::ElementPtr _sdf) = 0;
359 
363  public: virtual void Init() {}
364 
366  public: virtual void Reset() {}
367  };
368 
369 
371 
376 #define GZ_REGISTER_MODEL_PLUGIN(classname) \
377  extern "C" GZ_PLUGIN_VISIBLE gazebo::ModelPlugin *RegisterPlugin(); \
378  gazebo::ModelPlugin *RegisterPlugin() \
379  {\
380  return new classname();\
381  }
382 
387 #define GZ_REGISTER_WORLD_PLUGIN(classname) \
388  extern "C" GZ_PLUGIN_VISIBLE gazebo::WorldPlugin *RegisterPlugin(); \
389  gazebo::WorldPlugin *RegisterPlugin() \
390  {\
391  return new classname();\
392  }
393 
398 #define GZ_REGISTER_SENSOR_PLUGIN(classname) \
399  extern "C" GZ_PLUGIN_VISIBLE gazebo::SensorPlugin *RegisterPlugin(); \
400  gazebo::SensorPlugin *RegisterPlugin() \
401  {\
402  return new classname();\
403  }
404 
409 #define GZ_REGISTER_SYSTEM_PLUGIN(classname) \
410  extern "C" GZ_PLUGIN_VISIBLE gazebo::SystemPlugin *RegisterPlugin(); \
411  gazebo::SystemPlugin *RegisterPlugin() \
412  {\
413  return new classname();\
414  }
415 
420 #define GZ_REGISTER_VISUAL_PLUGIN(classname) \
421  extern "C" GZ_PLUGIN_VISIBLE gazebo::VisualPlugin *RegisterPlugin(); \
422  gazebo::VisualPlugin *RegisterPlugin() \
423  {\
424  return new classname();\
425  }
426 }
427 
428 #endif
std::shared_ptr< Sensor > SensorPtr
Definition: SensorTypes.hh:64
std::string handleName
Short name.
Definition: Plugin.hh:218
boost::shared_ptr< World > WorldPtr
Definition: PhysicsTypes.hh:89
Forward declarations for the common classes.
Definition: Animation.hh:33
std::string filename
Path to the shared library file.
Definition: Plugin.hh:215
static TPtr Create(const std::string &_filename, const std::string &_name)
a class method that creates a plugin from a file name.
Definition: Plugin.hh:122
virtual void Reset()
Definition: Plugin.hh:254
PluginType type
Type of plugin.
Definition: Plugin.hh:212
A plugin with access to physics::World.
Definition: Plugin.hh:235
A plugin with access to rendering::Visual.
Definition: Plugin.hh:346
virtual void Init()
Override this method for custom plugin initialization behavior.
Definition: Plugin.hh:308
#define gzerr
Output an error message.
Definition: Console.hh:50
A World plugin.
Definition: Plugin.hh:66
virtual void Reset()
Override this method for custom plugin reset behavior.
Definition: Plugin.hh:340
default namespace for gazebo
virtual void Reset()
Override this method for custom plugin reset behavior.
Definition: Plugin.hh:366
A plugin loaded within the gzserver on startup.
Definition: Plugin.hh:318
A GUI plugin.
Definition: Plugin.hh:76
PluginType
Used to specify the type of plugin.
Definition: Plugin.hh:63
A Sensor plugin.
Definition: Plugin.hh:70
PluginType GetType() const
Returns the type of the plugin.
Definition: Plugin.hh:206
virtual void Reset()
Override this method for custom plugin reset behavior.
Definition: Plugin.hh:282
virtual void Reset()
Override this method for custom plugin reset behavior.
Definition: Plugin.hh:311
virtual void Init()
Definition: Plugin.hh:253
virtual ~PluginT()
Destructor.
Definition: Plugin.hh:95
virtual ~SystemPlugin()
Destructor.
Definition: Plugin.hh:325
boost::shared_ptr< T > TPtr
plugin pointer type definition
Definition: Plugin.hh:86
VisualPlugin()
Definition: Plugin.hh:348
virtual void Init()
Initialize the plugin.
Definition: Plugin.hh:363
A class which all plugins must inherit from.
Definition: Plugin.hh:83
SystemPlugin()
Constructor.
Definition: Plugin.hh:321
A Model plugin.
Definition: Plugin.hh:68
ModelPlugin()
Constructor.
Definition: Plugin.hh:263
virtual ~WorldPlugin()
Destructor.
Definition: Plugin.hh:242
std::shared_ptr< Visual > VisualPtr
Definition: RenderTypes.hh:113
boost::shared_ptr< Model > ModelPtr
Definition: PhysicsTypes.hh:93
SensorPlugin()
Constructor.
Definition: Plugin.hh:292
Forward declarations and typedefs for sensors.
WorldPlugin()
Constructor.
Definition: Plugin.hh:238
virtual void Init()
Initialize the plugin.
Definition: Plugin.hh:337
virtual ~SensorPlugin()
Destructor.
Definition: Plugin.hh:296
A Visual plugin.
Definition: Plugin.hh:74
std::string GetFilename() const
Get the name of the handler.
Definition: Plugin.hh:106
PluginT()
Constructor.
Definition: Plugin.hh:89
A plugin with access to physics::Sensor.
Definition: Plugin.hh:289
std::string GetHandle() const
Get the short name of the handler.
Definition: Plugin.hh:112
A plugin with access to physics::Model.
Definition: Plugin.hh:260
virtual ~ModelPlugin()
Destructor.
Definition: Plugin.hh:267
virtual void Init()
Override this method for custom plugin initialization behavior.
Definition: Plugin.hh:279
static SystemPaths * Instance()
Get an instance of the singleton.
Definition: SingletonT.hh:36
A System plugin.
Definition: Plugin.hh:72