[openrtm-commit:01212] r2407 - trunk/OpenRTM-aist/src/lib/rtm
openrtm ＠ openrtm.org
openrtm ＠ openrtm.org
2014年 2月 6日 (木) 11:50:53 JST
Author: n-ando
Date: 2014-02-06 11:50:53 +0900 (Thu, 06 Feb 2014)
New Revision: 2407
Modified:
trunk/OpenRTM-aist/src/lib/rtm/ModuleManager.cpp
Log:
[compat] Character code and return code have been modified from SJIS to EUC/UNIX.
Modified: trunk/OpenRTM-aist/src/lib/rtm/ModuleManager.cpp
===================================================================
--- trunk/OpenRTM-aist/src/lib/rtm/ModuleManager.cpp 2014-02-06 02:48:38 UTC (rev 2406)
+++ trunk/OpenRTM-aist/src/lib/rtm/ModuleManager.cpp 2014-02-06 02:50:53 UTC (rev 2407)
@@ -1,571 +1,571 @@
-// -*- C++ -*-
-/*!
- * @file ModuleManager.cpp
- * @brief Loadable modules manager class
- * @date $Date: 2007-12-31 03:08:04 $
- * @author Noriaki Ando <n-ando at aist.go.jp>
- *
- * Copyright (C) 2006-2010
- * Noriaki Ando
- * Task-intelligence Research Group,
- * Intelligent Systems Research Institute,
- * National Institute of
- * Advanced Industrial Science and Technology (AIST), Japan
- * All rights reserved.
- *
- * $Id$
- *
- */
-
-#include <rtm/RTC.h>
-
-#include <coil/File.h>
-#include <coil/Process.h>
-
-// RTC includes
-#include <rtm/Manager.h>
-#include <rtm/ModuleManager.h>
-#include <coil/stringutil.h>
-
-namespace RTC
-{
-
- /*!
- * @if jp
- * @brief ƒRƒ“ƒXƒgƒ‰ƒNƒ^
- * @else
- * @brief Constructor
- * @endif
- */
- ModuleManager::ModuleManager(coil::Properties& prop)
- : rtclog("ModuleManager"), m_properties(prop)
- {
- m_configPath = coil::split(prop[CONFIG_PATH], ",");
- for_each(m_configPath.begin(), m_configPath.end(), coil::eraseHeadBlank);
- m_loadPath = coil::split(prop[MOD_LOADPTH], ",");
- for_each(m_loadPath.begin(), m_loadPath.end(), coil::eraseHeadBlank);
- m_absoluteAllowed = coil::toBool(prop[ALLOW_ABSPATH], "yes", "no", false);
- m_downloadAllowed = coil::toBool(prop[ALLOW_URL], "yes", "no", false);
- m_initFuncSuffix = prop[INITFUNC_SFX];
- m_initFuncPrefix = prop[INITFUNC_PFX];
- }
-
- /*!
- * @if jp
- * @brief ƒfƒXƒgƒ‰ƒNƒ^
- * @else
- * @brief Destructor
- * @endif
- */
- ModuleManager::~ModuleManager()
- {
- unloadAll();
- }
-
- /*!
- * @if jp
- * @brief ƒ‚ƒWƒ…[ƒ‹‚̃[ƒh
- * @else
- * @brief Load the module
- * @endif
- */
- std::string ModuleManager::load(const std::string& file_name)
- {
- RTC_TRACE(("load(fname = %s)", file_name.c_str()));
- if (file_name == "") throw InvalidArguments("Invalid file name.");
-
- if (coil::isURL(file_name))
- {
- if (!m_downloadAllowed)
- {
- RTC_ERROR(("Downloading module is not allowed."));
- throw NotAllowedOperation("Downloading module is not allowed.");
- }
- else
- {
- throw NotFound("Not implemented.");
- }
- }
-
- // Find local file from load path or absolute directory
- std::string file_path;
- if (coil::isAbsolutePath(file_name))
- {
- if (!m_absoluteAllowed)
- {
- RTC_ERROR(("Absolute path is not allowed"));
- throw NotAllowedOperation("Absolute path is not allowed");
- }
- else
- {
- file_path = file_name;
- }
- }
- else
- {
- file_path = findFile(file_name, m_loadPath);
- }
-
- // Now file_name is valid full path to module
- if (file_path == "")
- {
- RTC_ERROR(("Invalid file name: Empty file name."));
- throw InvalidArguments("Invalid file name.");
- }
- if (!fileExist(file_path))
- {
- RTC_ERROR(("Module file not found: %s", file_path.c_str()));
- throw FileNotFound(file_path.c_str());
- }
-
- DLLEntity* dll(new DLLEntity());
-
- int retval = dll->dll.open(file_path.c_str());
- if (retval != 0)
- {
- RTC_ERROR(("Module file %s load failed: %s",
- file_path.c_str(), dll->dll.error()));
- delete dll;
- throw Error("DLL open failed.");
- }
- dll->properties["file_path"] = file_path;
- bool ret = m_modules.registerObject(dll);
- if (!ret)
- {
- RTC_ERROR(("Module registration failed: %s", file_path.c_str()));
- delete dll;
- }
-
- return file_path;
- }
-
- /*!
- * @if jp
- * @brief ƒ‚ƒWƒ…[ƒ‹‚̃[ƒhA‰Šú‰»
- * @else
- * @brief Load and initialize the module
- * @endif
- */
- std::string ModuleManager::load(const std::string& file_name,
- const std::string& init_func)
- {
- RTC_TRACE(("load(fname = %s, init_func = %s)",
- file_name.c_str(), init_func.c_str()));
- std::string name;
- name = load(file_name);
-
- if (name == "")
- {
- throw InvalidOperation("Invalid file name");
- }
-
- // if (!init_func)
-
- ModuleInitFunc init;
-
- init = (ModuleInitFunc)this->symbol(name.c_str(), init_func);
-
- init(&(Manager::instance()));
-
- return name;
- }
-
- /*!
- * @if jp
- * @brief ƒ‚ƒWƒ…[ƒ‹‚̃Aƒ“ƒ[ƒh
- * @else
- * @brief Unload the module
- * @endif
- */
- void ModuleManager::unload(const std::string& file_name)
- {
- DLLEntity* dll(m_modules.find(file_name.c_str()));
- if (dll == NULL)
- throw NotFound(file_name.c_str());
-
- dll->dll.close();
- m_modules.unregisterObject(file_name.c_str());
-
- if (dll != NULL) {
- delete dll;
- }
-
- return;
- }
-
- /*!
- * @if jp
- * @brief ‘Sƒ‚ƒWƒ…[ƒ‹‚̃Aƒ“ƒ[ƒh
- * @else
- * @brief Unload all modules
- * @endif
- */
- void ModuleManager::unloadAll()
- {
- RTC_TRACE(("unloadAll()"));
- std::vector<DLLEntity*> dlls(m_modules.getObjects());
-
- for (int i(0), len(dlls.size()); i < len; ++i)
- {
- std::string ident(dlls[i]->properties["file_path"]);
- DLLEntity* dll(m_modules.unregisterObject(ident.c_str()));
- dll->dll.close();
- }
- return;
- }
-
- /*!
- * @if jp
- * @brief ƒ‚ƒWƒ…[ƒ‹‚̃Vƒ“ƒ{ƒ‹‚ÌŽQÆ
- * @else
- * @brief Refer to the symbol of the module
- * @endif
- */
- void* ModuleManager::symbol(const std::string& file_name,
- const std::string& func_name)
- throw (ModuleNotFound, SymbolNotFound)
- {
- RTC_TRACE(("symbol(%s, %s)",
- file_name.c_str(), func_name.c_str()))
- // "file_name" should be in modules map.
- DLLEntity* dll(m_modules.find(file_name.c_str()));
- if (dll == NULL)
- {
- RTC_ERROR(("Module %s not found in module table.", file_name.c_str()));
- throw ModuleNotFound(file_name);
- }
-
- RTC_DEBUG(("Finding function symbol: %s in %s",
- func_name.c_str(), file_name.c_str()));
- void* func;
- func = dll->dll.symbol(func_name.c_str());
-
- if (!func)
- {
- RTC_ERROR(("Specified symbol %s not found.", func_name.c_str()));
- throw SymbolNotFound(func_name);
- }
-
- return func;
- }
-
- /*!
- * @if jp
- * @brief ƒ‚ƒWƒ…[ƒ‹ƒ[ƒhƒpƒX‚ðŽw’è‚·‚é
- * @else
- * @brief Set the module load path
- * @endif
- */
- void ModuleManager::setLoadpath(const std::vector<std::string>& load_path)
- {
- RTC_TRACE(("setLoadpath(%s)", coil::flatten(load_path, ", ").c_str()));
- m_loadPath = load_path;
- return;
- }
-
- /*!
- * @if jp
- * @brief ƒ‚ƒWƒ…[ƒ‹ƒ[ƒhƒpƒX‚ð’ljÁ‚·‚é
- * @else
- * @brief Add the module load path
- * @endif
- */
- void ModuleManager::addLoadpath(const std::vector<std::string>& load_path)
- {
- RTC_TRACE(("addLoadpath(%s)", coil::flatten(load_path, ", ").c_str()));
- StringVectorConstItr it(load_path.begin());
- StringVectorConstItr it_end(load_path.end());
-
- while (it != it_end)
- {
- m_loadPath.push_back(*it);
- ++it;
- }
-
- return;
- }
-
- /*!
- * @if jp
- * @brief ƒ[ƒhς݂̃‚ƒWƒ…[ƒ‹ƒŠƒXƒg‚ðŽæ“¾‚·‚é
- * @else
- * @brief Get the module list that has been loaded
- * @endif
- */
- std::vector<coil::Properties> ModuleManager::getLoadedModules()
- {
- RTC_TRACE(("getLoadedModules()"));
- std::vector< DLLEntity* > dlls(m_modules.getObjects());
- std::vector<coil::Properties> modules;
- for (int i(0), len(dlls.size()); i < len; ++i)
- {
- modules.push_back(dlls[i]->properties);
- }
- return modules;
- }
-
- /*!
- * @if jp
- * @brief ƒ[ƒh‰Â”\‚ȃ‚ƒWƒ…[ƒ‹ƒŠƒXƒg‚ðŽæ“¾‚·‚é(–¢ŽÀ‘•)
- * @else
- * @brief Get the loadable module list(not implemented)
- * @endif
- */
- std::vector<coil::Properties> ModuleManager::getLoadableModules()
- {
- RTC_TRACE(("getLoadableModules()"));
-
- // getting loadable module file path list.
- coil::Properties& gprop(Manager::instance().getConfig());
- coil::vstring langs(coil::split(gprop["manager.supported_languages"], ","));
- RTC_DEBUG(("langs: %s", gprop["manager.supported_languages"].c_str()));
-
- // for each languages
- for (size_t l(0); l < langs.size(); ++l)
- {
- // 1. getting loadable files list
- coil::vstring modules;
- getModuleList(langs[l], modules);
- RTC_DEBUG(("%s: %s", langs[l].c_str(), coil::flatten(modules).c_str()));
-
- // 2. getting module properties from loadable modules
- vProperties tmpprops;
- getModuleProfiles(langs[l], modules, tmpprops);
- RTC_DEBUG(("Modile profile size: %d (newly founded modules)",
- tmpprops.size()));
- m_modprofs.insert(m_modprofs.end(), tmpprops.begin(), tmpprops.end());
- }
- RTC_DEBUG(("Modile profile size: %d", m_modprofs.size()));
- // 3. removing module profiles for which module file does not exist
- removeInvalidModules();
- RTC_DEBUG(("Modile profile size: %d (invalid mod-profiles deleted)",
- m_modprofs.size()));
- return m_modprofs;
- }
-
- /*!
- * @if jp
- * @brief LoadPath ‚©‚ç‚̃tƒ@ƒCƒ‹‚ÌŒŸõ
- * @else
- * @brief Search the file from the LoadPath
- * @endif
- */
- std::string ModuleManager::findFile(const std::string& fname,
- const std::vector<std::string>& load_path)
- {
- RTC_TRACE(("findFile(%s, %s)", fname.c_str(),
- coil::flatten(load_path, ", ").c_str()));
- StringVectorConstItr it, it_end;
- std::string file_name(fname);
-
- it = load_path.begin();
- it_end = load_path.end();
-
- while (it != it_end)
- {
- std::string f((*it) + "/" + file_name);
- if (fileExist(f))
- {
- return f;
- }
- ++it;
- }
-
- return std::string("");
- }
-
- /*!
- * @if jp
- * @brief ƒtƒ@ƒCƒ‹‚ª‘¶Ý‚·‚é‚©‚Ç‚¤‚©‚̃`ƒFƒbƒN
- * @else
- * @brief Check whether the file exists
- * @endif
- */
- bool ModuleManager::fileExist(const std::string& filename)
- {
- RTC_TRACE(("fileExist(%s)", filename.c_str()));
- std::ifstream infile;
- infile.open(filename.c_str(), std::ios::in);
- // fial() 0: ok, !0: fail
- if (infile.fail() != 0)
- {
- infile.close();
- return false;
- }
- else
- {
- infile.close();
- return true;
- }
-
- return false;
- }
-
- /*!
- * @if jp
- * @brief ‰Šú‰»ŠÖ”ƒVƒ“ƒ{ƒ‹‚𶬂·‚é
- * @else
- * @brief Create initialization function symbol
- * @endif
- */
- std::string ModuleManager::getInitFuncName(const std::string& file_path)
- {
- RTC_TRACE(("getInitFuncName(%s)", file_path.c_str()));
- std::string base_name(coil::basename(file_path.c_str()));
-
- return m_initFuncPrefix + base_name + m_initFuncSuffix;
- }
-
-
- /*!
- * @if jp
- * @brief –³Œø‚ȃ‚ƒWƒ…[ƒ‹ƒvƒƒtƒ@ƒCƒ‹‚ð휂·‚é
- * @else
- * @brief Removing incalid module profiles
- * @endif
- */
- void ModuleManager::removeInvalidModules()
- {
- std::vector<coil::Properties>::iterator it(m_modprofs.begin());
-
- while (it < m_modprofs.end())
- {
- if (!fileExist((*it)["module_file_path"]))
- {
- it = m_modprofs.erase(it);
- }
- ++it;
- }
- }
-
- /*!
- * @if jp
- * @brief Žw’茾Œê‚É‚¨‚¯‚éƒ[ƒhƒpƒXã‚̃[ƒ_ƒuƒ‹‚ȃtƒ@ƒCƒ‹ƒŠƒXƒg‚ð•Ô‚·
- * @else
- * @brief Getting loadable file list on the loadpath for given language
- * @endif
- */
- void ModuleManager::getModuleList(const std::string& lang,
- coil::vstring& modules)
- {
- std::string l = "manager.modules." + lang;
- coil::Properties& lprop(Manager::instance().getConfig().getNode(l));
-
- // load path: manager.modules.<lang>.load_path + manager.modules.load_path
- coil::vstring paths(coil::split(lprop["load_paths"], ","));
- paths.insert(paths.end(), m_loadPath.begin(), m_loadPath.end());
-
- coil::vstring suffixes(coil::split(lprop["suffixes"], ","));
- RTC_DEBUG(("suffixes: %s", coil::flatten(suffixes).c_str()));
-
- // for each load path list
- for (size_t i(0); i < paths.size(); ++i)
- {
- if (paths[i].empty())
- {
- RTC_WARN(("Given load path is empty"));
- continue;
- }
- std::string& path(paths[i]);
- RTC_DEBUG(("Module load path: %s", path.c_str()));
-
- // get file list for each suffixes
- coil::vstring flist;
- for (size_t s(0); s < suffixes.size(); ++s)
- {
- std::string glob("*."); glob += suffixes[s];
- coil::vstring tmp = coil::filelist(path.c_str(), glob.c_str());
- RTC_DEBUG(("File list (path:%s, ext:%s): %s", path.c_str(),
- suffixes[s].c_str(), coil::flatten(tmp).c_str()));
- flist.insert(flist.end(), tmp.begin(), tmp.end());
- }
-
- // reformat file path and remove cached files
- for (size_t j(0); j < flist.size(); ++j)
- {
- if (*(path.end() - 1) != '/') { path += "/"; }
- std::string fpath(path + flist[j]);
- addNewFile(fpath, modules);
- }
- }
- }
-
- /*!
- * @if jp
- * @brief ƒLƒƒƒbƒVƒ…‚É–³‚¢ƒpƒX‚¾‚¯modules‚ɒljÁ‚·‚é
- * @else
- * @brief Adding file path not existing cache
- * @endif
- */
- void ModuleManager::addNewFile(const std::string& fpath,
- coil::vstring& modules)
- {
- bool exists(false);
- for (size_t k(0); k < m_modprofs.size(); ++k)
- {
- if (m_modprofs[k]["module_file_path"] == fpath)
- {
- exists = true;
- RTC_DEBUG(("Module %s already exists in cache.",
- fpath.c_str()));
- break;
- }
- }
- if (!exists)
- {
- RTC_DEBUG(("New module: %s", fpath.c_str()));
- modules.push_back(fpath);
- }
- }
-
- /*!
- * @if jp
- * @brief Žw’茾ŒêAƒtƒ@ƒCƒ‹ƒŠƒXƒg‚©‚烂ƒWƒ…[ƒ‹‚̃vƒƒpƒeƒB‚ð•Ô‚·
- * @else
- * @brief Getting module properties from given language and file list
- * @endif
- */
- void ModuleManager::getModuleProfiles(const std::string& lang,
- const coil::vstring& modules,
- vProperties& modprops)
- {
- std::string l = "manager.modules." + lang;
- coil::Properties& lprop(Manager::instance().getConfig().getNode(l));
- std::vector<coil::Properties> prop;
-
- for (size_t i(0), len(modules.size()); i < len; ++i)
- {
- std::string cmd(lprop["profile_cmd"]);
- cmd += " \"" + modules[i] + "\"";
- FILE* fd;
- if ((fd = popen(cmd.c_str(), "r")) == NULL)
- {
- std::cerr << "popen faild" << std::endl;
- continue;
- }
- coil::Properties p;
- do
- {
- char str[512];
- fgets(str, 512, fd);
- std::string line(str);
- if (0 < line.size())
- line.erase(line.size() - 1);
- std::string::size_type pos(line.find(":"));
- if (pos != std::string::npos)
- {
- std::string key(line.substr(0, pos));
- coil::eraseBothEndsBlank(key);
- p[key] = line.substr(pos + 1);
- coil::eraseBothEndsBlank(p[key]);
- }
- } while (!feof(fd));
- pclose(fd);
- RTC_DEBUG(("rtcprof cmd sub process done."));
- if (p["implementation_id"].empty()) { continue; }
- p["module_file_name"] = coil::basename(modules[i].c_str());
- p["module_file_path"] = modules[i].c_str();
- modprops.push_back(p);
- }
- }
-}; // namespace RTC
+// -*- C++ -*-
+/*!
+ * @file ModuleManager.cpp
+ * @brief Loadable modules manager class
+ * @date $Date: 2007-12-31 03:08:04 $
+ * @author Noriaki Ando <n-ando at aist.go.jp>
+ *
+ * Copyright (C) 2006-2010
+ * Noriaki Ando
+ * Task-intelligence Research Group,
+ * Intelligent Systems Research Institute,
+ * National Institute of
+ * Advanced Industrial Science and Technology (AIST), Japan
+ * All rights reserved.
+ *
+ * $Id$
+ *
+ */
+
+#include <rtm/RTC.h>
+
+#include <coil/File.h>
+#include <coil/Process.h>
+
+// RTC includes
+#include <rtm/Manager.h>
+#include <rtm/ModuleManager.h>
+#include <coil/stringutil.h>
+
+namespace RTC
+{
+
+ /*!
+ * @if jp
+ * @brief コンストラクタ
+ * @else
+ * @brief Constructor
+ * @endif
+ */
+ ModuleManager::ModuleManager(coil::Properties& prop)
+ : rtclog("ModuleManager"), m_properties(prop)
+ {
+ m_configPath = coil::split(prop[CONFIG_PATH], ",");
+ for_each(m_configPath.begin(), m_configPath.end(), coil::eraseHeadBlank);
+ m_loadPath = coil::split(prop[MOD_LOADPTH], ",");
+ for_each(m_loadPath.begin(), m_loadPath.end(), coil::eraseHeadBlank);
+ m_absoluteAllowed = coil::toBool(prop[ALLOW_ABSPATH], "yes", "no", false);
+ m_downloadAllowed = coil::toBool(prop[ALLOW_URL], "yes", "no", false);
+ m_initFuncSuffix = prop[INITFUNC_SFX];
+ m_initFuncPrefix = prop[INITFUNC_PFX];
+ }
+
+ /*!
+ * @if jp
+ * @brief デストラクタ
+ * @else
+ * @brief Destructor
+ * @endif
+ */
+ ModuleManager::~ModuleManager()
+ {
+ unloadAll();
+ }
+
+ /*!
+ * @if jp
+ * @brief モジュールのロード
+ * @else
+ * @brief Load the module
+ * @endif
+ */
+ std::string ModuleManager::load(const std::string& file_name)
+ {
+ RTC_TRACE(("load(fname = %s)", file_name.c_str()));
+ if (file_name == "") throw InvalidArguments("Invalid file name.");
+
+ if (coil::isURL(file_name))
+ {
+ if (!m_downloadAllowed)
+ {
+ RTC_ERROR(("Downloading module is not allowed."));
+ throw NotAllowedOperation("Downloading module is not allowed.");
+ }
+ else
+ {
+ throw NotFound("Not implemented.");
+ }
+ }
+
+ // Find local file from load path or absolute directory
+ std::string file_path;
+ if (coil::isAbsolutePath(file_name))
+ {
+ if (!m_absoluteAllowed)
+ {
+ RTC_ERROR(("Absolute path is not allowed"));
+ throw NotAllowedOperation("Absolute path is not allowed");
+ }
+ else
+ {
+ file_path = file_name;
+ }
+ }
+ else
+ {
+ file_path = findFile(file_name, m_loadPath);
+ }
+
+ // Now file_name is valid full path to module
+ if (file_path == "")
+ {
+ RTC_ERROR(("Invalid file name: Empty file name."));
+ throw InvalidArguments("Invalid file name.");
+ }
+ if (!fileExist(file_path))
+ {
+ RTC_ERROR(("Module file not found: %s", file_path.c_str()));
+ throw FileNotFound(file_path.c_str());
+ }
+
+ DLLEntity* dll(new DLLEntity());
+
+ int retval = dll->dll.open(file_path.c_str());
+ if (retval != 0)
+ {
+ RTC_ERROR(("Module file %s load failed: %s",
+ file_path.c_str(), dll->dll.error()));
+ delete dll;
+ throw Error("DLL open failed.");
+ }
+ dll->properties["file_path"] = file_path;
+ bool ret = m_modules.registerObject(dll);
+ if (!ret)
+ {
+ RTC_ERROR(("Module registration failed: %s", file_path.c_str()));
+ delete dll;
+ }
+
+ return file_path;
+ }
+
+ /*!
+ * @if jp
+ * @brief モジュールのロード、初期化
+ * @else
+ * @brief Load and initialize the module
+ * @endif
+ */
+ std::string ModuleManager::load(const std::string& file_name,
+ const std::string& init_func)
+ {
+ RTC_TRACE(("load(fname = %s, init_func = %s)",
+ file_name.c_str(), init_func.c_str()));
+ std::string name;
+ name = load(file_name);
+
+ if (name == "")
+ {
+ throw InvalidOperation("Invalid file name");
+ }
+
+ // if (!init_func)
+
+ ModuleInitFunc init;
+
+ init = (ModuleInitFunc)this->symbol(name.c_str(), init_func);
+
+ init(&(Manager::instance()));
+
+ return name;
+ }
+
+ /*!
+ * @if jp
+ * @brief モジュールのアンロード
+ * @else
+ * @brief Unload the module
+ * @endif
+ */
+ void ModuleManager::unload(const std::string& file_name)
+ {
+ DLLEntity* dll(m_modules.find(file_name.c_str()));
+ if (dll == NULL)
+ throw NotFound(file_name.c_str());
+
+ dll->dll.close();
+ m_modules.unregisterObject(file_name.c_str());
+
+ if (dll != NULL) {
+ delete dll;
+ }
+
+ return;
+ }
+
+ /*!
+ * @if jp
+ * @brief 全モジュールのアンロード
+ * @else
+ * @brief Unload all modules
+ * @endif
+ */
+ void ModuleManager::unloadAll()
+ {
+ RTC_TRACE(("unloadAll()"));
+ std::vector<DLLEntity*> dlls(m_modules.getObjects());
+
+ for (int i(0), len(dlls.size()); i < len; ++i)
+ {
+ std::string ident(dlls[i]->properties["file_path"]);
+ DLLEntity* dll(m_modules.unregisterObject(ident.c_str()));
+ dll->dll.close();
+ }
+ return;
+ }
+
+ /*!
+ * @if jp
+ * @brief モジュールのシンボルの参照
+ * @else
+ * @brief Refer to the symbol of the module
+ * @endif
+ */
+ void* ModuleManager::symbol(const std::string& file_name,
+ const std::string& func_name)
+ throw (ModuleNotFound, SymbolNotFound)
+ {
+ RTC_TRACE(("symbol(%s, %s)",
+ file_name.c_str(), func_name.c_str()))
+ // "file_name" should be in modules map.
+ DLLEntity* dll(m_modules.find(file_name.c_str()));
+ if (dll == NULL)
+ {
+ RTC_ERROR(("Module %s not found in module table.", file_name.c_str()));
+ throw ModuleNotFound(file_name);
+ }
+
+ RTC_DEBUG(("Finding function symbol: %s in %s",
+ func_name.c_str(), file_name.c_str()));
+ void* func;
+ func = dll->dll.symbol(func_name.c_str());
+
+ if (!func)
+ {
+ RTC_ERROR(("Specified symbol %s not found.", func_name.c_str()));
+ throw SymbolNotFound(func_name);
+ }
+
+ return func;
+ }
+
+ /*!
+ * @if jp
+ * @brief モジュールロードパスを指定する
+ * @else
+ * @brief Set the module load path
+ * @endif
+ */
+ void ModuleManager::setLoadpath(const std::vector<std::string>& load_path)
+ {
+ RTC_TRACE(("setLoadpath(%s)", coil::flatten(load_path, ", ").c_str()));
+ m_loadPath = load_path;
+ return;
+ }
+
+ /*!
+ * @if jp
+ * @brief モジュールロードパスを追加する
+ * @else
+ * @brief Add the module load path
+ * @endif
+ */
+ void ModuleManager::addLoadpath(const std::vector<std::string>& load_path)
+ {
+ RTC_TRACE(("addLoadpath(%s)", coil::flatten(load_path, ", ").c_str()));
+ StringVectorConstItr it(load_path.begin());
+ StringVectorConstItr it_end(load_path.end());
+
+ while (it != it_end)
+ {
+ m_loadPath.push_back(*it);
+ ++it;
+ }
+
+ return;
+ }
+
+ /*!
+ * @if jp
+ * @brief ロード済みのモジュールリストを取得する
+ * @else
+ * @brief Get the module list that has been loaded
+ * @endif
+ */
+ std::vector<coil::Properties> ModuleManager::getLoadedModules()
+ {
+ RTC_TRACE(("getLoadedModules()"));
+ std::vector< DLLEntity* > dlls(m_modules.getObjects());
+ std::vector<coil::Properties> modules;
+ for (int i(0), len(dlls.size()); i < len; ++i)
+ {
+ modules.push_back(dlls[i]->properties);
+ }
+ return modules;
+ }
+
+ /*!
+ * @if jp
+ * @brief ロード可能なモジュールリストを取得する(未実装)
+ * @else
+ * @brief Get the loadable module list(not implemented)
+ * @endif
+ */
+ std::vector<coil::Properties> ModuleManager::getLoadableModules()
+ {
+ RTC_TRACE(("getLoadableModules()"));
+
+ // getting loadable module file path list.
+ coil::Properties& gprop(Manager::instance().getConfig());
+ coil::vstring langs(coil::split(gprop["manager.supported_languages"], ","));
+ RTC_DEBUG(("langs: %s", gprop["manager.supported_languages"].c_str()));
+
+ // for each languages
+ for (size_t l(0); l < langs.size(); ++l)
+ {
+ // 1. getting loadable files list
+ coil::vstring modules;
+ getModuleList(langs[l], modules);
+ RTC_DEBUG(("%s: %s", langs[l].c_str(), coil::flatten(modules).c_str()));
+
+ // 2. getting module properties from loadable modules
+ vProperties tmpprops;
+ getModuleProfiles(langs[l], modules, tmpprops);
+ RTC_DEBUG(("Modile profile size: %d (newly founded modules)",
+ tmpprops.size()));
+ m_modprofs.insert(m_modprofs.end(), tmpprops.begin(), tmpprops.end());
+ }
+ RTC_DEBUG(("Modile profile size: %d", m_modprofs.size()));
+ // 3. removing module profiles for which module file does not exist
+ removeInvalidModules();
+ RTC_DEBUG(("Modile profile size: %d (invalid mod-profiles deleted)",
+ m_modprofs.size()));
+ return m_modprofs;
+ }
+
+ /*!
+ * @if jp
+ * @brief LoadPath からのファイルの検索
+ * @else
+ * @brief Search the file from the LoadPath
+ * @endif
+ */
+ std::string ModuleManager::findFile(const std::string& fname,
+ const std::vector<std::string>& load_path)
+ {
+ RTC_TRACE(("findFile(%s, %s)", fname.c_str(),
+ coil::flatten(load_path, ", ").c_str()));
+ StringVectorConstItr it, it_end;
+ std::string file_name(fname);
+
+ it = load_path.begin();
+ it_end = load_path.end();
+
+ while (it != it_end)
+ {
+ std::string f((*it) + "/" + file_name);
+ if (fileExist(f))
+ {
+ return f;
+ }
+ ++it;
+ }
+
+ return std::string("");
+ }
+
+ /*!
+ * @if jp
+ * @brief ファイルが存在するかどうかのチェック
+ * @else
+ * @brief Check whether the file exists
+ * @endif
+ */
+ bool ModuleManager::fileExist(const std::string& filename)
+ {
+ RTC_TRACE(("fileExist(%s)", filename.c_str()));
+ std::ifstream infile;
+ infile.open(filename.c_str(), std::ios::in);
+ // fial() 0: ok, !0: fail
+ if (infile.fail() != 0)
+ {
+ infile.close();
+ return false;
+ }
+ else
+ {
+ infile.close();
+ return true;
+ }
+
+ return false;
+ }
+
+ /*!
+ * @if jp
+ * @brief 初期化関数シンボルを生成する
+ * @else
+ * @brief Create initialization function symbol
+ * @endif
+ */
+ std::string ModuleManager::getInitFuncName(const std::string& file_path)
+ {
+ RTC_TRACE(("getInitFuncName(%s)", file_path.c_str()));
+ std::string base_name(coil::basename(file_path.c_str()));
+
+ return m_initFuncPrefix + base_name + m_initFuncSuffix;
+ }
+
+
+ /*!
+ * @if jp
+ * @brief 無効なモジュールプロファイルを削除する
+ * @else
+ * @brief Removing incalid module profiles
+ * @endif
+ */
+ void ModuleManager::removeInvalidModules()
+ {
+ std::vector<coil::Properties>::iterator it(m_modprofs.begin());
+
+ while (it < m_modprofs.end())
+ {
+ if (!fileExist((*it)["module_file_path"]))
+ {
+ it = m_modprofs.erase(it);
+ }
+ ++it;
+ }
+ }
+
+ /*!
+ * @if jp
+ * @brief 指定言語におけるロードパス上のローダブルなファイルリストを返す
+ * @else
+ * @brief Getting loadable file list on the loadpath for given language
+ * @endif
+ */
+ void ModuleManager::getModuleList(const std::string& lang,
+ coil::vstring& modules)
+ {
+ std::string l = "manager.modules." + lang;
+ coil::Properties& lprop(Manager::instance().getConfig().getNode(l));
+
+ // load path: manager.modules.<lang>.load_path + manager.modules.load_path
+ coil::vstring paths(coil::split(lprop["load_paths"], ","));
+ paths.insert(paths.end(), m_loadPath.begin(), m_loadPath.end());
+
+ coil::vstring suffixes(coil::split(lprop["suffixes"], ","));
+ RTC_DEBUG(("suffixes: %s", coil::flatten(suffixes).c_str()));
+
+ // for each load path list
+ for (size_t i(0); i < paths.size(); ++i)
+ {
+ if (paths[i].empty())
+ {
+ RTC_WARN(("Given load path is empty"));
+ continue;
+ }
+ std::string& path(paths[i]);
+ RTC_DEBUG(("Module load path: %s", path.c_str()));
+
+ // get file list for each suffixes
+ coil::vstring flist;
+ for (size_t s(0); s < suffixes.size(); ++s)
+ {
+ std::string glob("*."); glob += suffixes[s];
+ coil::vstring tmp = coil::filelist(path.c_str(), glob.c_str());
+ RTC_DEBUG(("File list (path:%s, ext:%s): %s", path.c_str(),
+ suffixes[s].c_str(), coil::flatten(tmp).c_str()));
+ flist.insert(flist.end(), tmp.begin(), tmp.end());
+ }
+
+ // reformat file path and remove cached files
+ for (size_t j(0); j < flist.size(); ++j)
+ {
+ if (*(path.end() - 1) != '/') { path += "/"; }
+ std::string fpath(path + flist[j]);
+ addNewFile(fpath, modules);
+ }
+ }
+ }
+
+ /*!
+ * @if jp
+ * @brief キャッシュに無いパスだけmodulesに追加する
+ * @else
+ * @brief Adding file path not existing cache
+ * @endif
+ */
+ void ModuleManager::addNewFile(const std::string& fpath,
+ coil::vstring& modules)
+ {
+ bool exists(false);
+ for (size_t k(0); k < m_modprofs.size(); ++k)
+ {
+ if (m_modprofs[k]["module_file_path"] == fpath)
+ {
+ exists = true;
+ RTC_DEBUG(("Module %s already exists in cache.",
+ fpath.c_str()));
+ break;
+ }
+ }
+ if (!exists)
+ {
+ RTC_DEBUG(("New module: %s", fpath.c_str()));
+ modules.push_back(fpath);
+ }
+ }
+
+ /*!
+ * @if jp
+ * @brief 指定言語、ファイルリストからモジュールのプロパティを返す
+ * @else
+ * @brief Getting module properties from given language and file list
+ * @endif
+ */
+ void ModuleManager::getModuleProfiles(const std::string& lang,
+ const coil::vstring& modules,
+ vProperties& modprops)
+ {
+ std::string l = "manager.modules." + lang;
+ coil::Properties& lprop(Manager::instance().getConfig().getNode(l));
+ std::vector<coil::Properties> prop;
+
+ for (size_t i(0), len(modules.size()); i < len; ++i)
+ {
+ std::string cmd(lprop["profile_cmd"]);
+ cmd += " \"" + modules[i] + "\"";
+ FILE* fd;
+ if ((fd = popen(cmd.c_str(), "r")) == NULL)
+ {
+ std::cerr << "popen faild" << std::endl;
+ continue;
+ }
+ coil::Properties p;
+ do
+ {
+ char str[512];
+ fgets(str, 512, fd);
+ std::string line(str);
+ if (0 < line.size())
+ line.erase(line.size() - 1);
+ std::string::size_type pos(line.find(":"));
+ if (pos != std::string::npos)
+ {
+ std::string key(line.substr(0, pos));
+ coil::eraseBothEndsBlank(key);
+ p[key] = line.substr(pos + 1);
+ coil::eraseBothEndsBlank(p[key]);
+ }
+ } while (!feof(fd));
+ pclose(fd);
+ RTC_DEBUG(("rtcprof cmd sub process done."));
+ if (p["implementation_id"].empty()) { continue; }
+ p["module_file_name"] = coil::basename(modules[i].c_str());
+ p["module_file_path"] = modules[i].c_str();
+ modprops.push_back(p);
+ }
+ }
+}; // namespace RTC
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