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Mon, Jan 27, 07:31

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diff --git a/CMakeLists.txt b/CMakeLists.txt
index 8c44898..a35191e 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -1,143 +1,143 @@
PROJECT( liboncilla C CXX )
CMAKE_MINIMUM_REQUIRED( VERSION 2.6 )
SET( LIBNAME "oncilla" )
SET( CMAKE_ALLOW_LOOSE_LOOP_CONSTRUCTS TRUE )
SET( LIBONCILLA_CMAKE_MODULE_PATH ${CMAKE_CURRENT_SOURCE_DIR}/cmake )
SET( CMAKE_INSTALL_RPATH_USE_LINK_PATH TRUE )
# CMake module path and modules
FIND_PACKAGE( RSC REQUIRED )
SET(CMAKE_MODULE_PATH "${CMAKE_MODULE_PATH}" "${RSC_CMAKE_MODULE_PATH}" )
MESSAGE( STATUS "RSC version: ${RSC_VERSION}" )
INCLUDE( CheckIncludeFileCXX )
INCLUDE( InstallFilesRecursive )
INCLUDE( EnableCoverageReport )
INCLUDE( EnableSlocCount )
INCLUDE( GenerateDoxygen )
INCLUDE( GenerateCppcheck )
INCLUDE( PedanticCompilerWarnings )
INCLUDE( SuperPedanticCompilerWarnings )
SET(CMAKE_INSTALL_RPATH_USE_LINK_PATH TRUE)
# --- user options ---
OPTION(BUILD_TESTS "Decide whether unit-tests are built" ON)
OPTION(BUILD_EXAMPLES "Decide whether the examples are built" ON)
OPTION(BUILD_DOCS "Decide whether the docygen documentation is built" OFF)
# Dependencies
FIND_PACKAGE(Threads REQUIRED)
MESSAGE(STATUS "Threading library: ${CMAKE_THREAD_LIBS_INIT}")
FIND_PACKAGE(RCI REQUIRED)
MESSAGE(STATUS "RCI version: ${RCI_VERSION}")
ADD_DEFINITIONS(${RCI_DEFINITIONS})
# --- global definitions ---
SET(LIBONCILLA_NAME "${LIBNAME}")
SET(DRIVER_TEST_NAME "OncillaTest")
SET(NODE_TEST_NAME "${DRIVER_TEST_NAME}Nodes")
SET(LIBONCILLA_VERSION_MAJOR 0)
SET(LIBONCILLA_VERSION_MINOR 2)
-SET(LIBONCILLA_VERSION_PATCH 0)
+SET(LIBONCILLA_VERSION_PATCH 1)
SET(LIBONCILLA_VERSION_STRING "${LIBONCILLA_VERSION_MAJOR}.${LIBONCILLA_VERSION_MINOR}.${LIBONCILLA_VERSION_PATCH}")
SET(LIBONCILLA_VERSION_ABI "${LIBONCILLA_VERSION_MAJOR}.${LIBONCILLA_VERSION_MINOR}")
SET(LIBONCILLA_CMAKE_MODULE_PATH "share/cmake/Modules")
SET(OUTPUT_PATH ${PROJECT_BINARY_DIR}/build)
SET(ARCHIVE_OUTPUT_PATH ${OUTPUT_PATH})
SET(LIBRARY_OUTPUT_PATH ${OUTPUT_PATH})
SET(EXECUTABLE_OUTPUT_PATH ${OUTPUT_PATH})
# Includes
INCLUDE_DIRECTORIES(BEFORE src
${PROJECT_BINARY_DIR}/src)
INCLUDE_DIRECTORIES(SYSTEM
${RCI_INCLUDE_DIRS}
${RSC_INCLUDE_DIRS}
${Boost_INCLUDE_DIRS})
ADD_SUBDIRECTORY(src)
IF(BUILD_TESTS)
ENABLE_TESTING()
INCLUDE(ProvideGoogleMock)
MESSAGE(STATUS "Building tests - deactivate by adapting BUILD_TESTS")
IF(GMOCK_AVAILABLE)
ADD_SUBDIRECTORY(test)
ELSE()
MESSAGE(WARNING "Could not build unit tests even though desired because Google Mock could not be installed.")
ENDIF()
ENDIF()
IF(BUILD_EXAMPLES)
ADD_SUBDIRECTORY(examples)
ENDIF()
# --- cmake config file ---
SET(LIB_SUFFIX ${CMAKE_SHARED_LIBRARY_SUFFIX})
IF(CMAKE_LINK_LIBRARY_SUFFIX)
SET(LIB_SUFFIX ${CMAKE_LINK_LIBRARY_SUFFIX})
ENDIF()
# --- pkgconfig file ---
SET(PKG_CONFIG_FILE lib${LIBONCILLA_NAME}-${LIBONCILLA_VERSION_MAJOR}.pc )
CONFIGURE_FILE(lib${LIBONCILLA_NAME}.pc.in ${PKG_CONFIG_FILE} @ONLY)
INSTALL(FILES ${CMAKE_BINARY_DIR}/${PKG_CONFIG_FILE} DESTINATION lib/pkgconfig)
# --- cmake config file ---
SET(LIB_SUFFIX ${CMAKE_SHARED_LIBRARY_SUFFIX})
IF(CMAKE_LINK_LIBRARY_SUFFIX)
SET(LIB_SUFFIX ${CMAKE_LINK_LIBRARY_SUFFIX})
ENDIF()
CONFIGURE_FILE(${CMAKE_PROJECT_NAME}Config.cmake.in ${CMAKE_PROJECT_NAME}Config.cmake @ONLY)
INSTALL(FILES ${CMAKE_CURRENT_BINARY_DIR}/${CMAKE_PROJECT_NAME}Config.cmake DESTINATION share/lib${LIBNAME})
# --- documentation generation ---
IF(BUILD_DOCS)
ADD_SUBDIRECTORY(doc)
ENDIF(BUILD_DOCS)
# --- coverage ---
IF(BUILD_TESTS)
ENABLE_COVERAGE_REPORT(TARGETS ${LIBONCILLA_NAME} TESTS ${DTO_TEST_NAME} ${INTEGRATED_TEST_NAME} FILTER "*3rdparty*" "*test/*")
ENDIF(BUILD_TESTS)
# --- sloccount ---
ENABLE_SLOCCOUNT(FOLDERS src test examples)
# --- cppcheck ---
GENERATE_CPPCHECK(SOURCES src test examples
"${CMAKE_CURRENT_BINARY_DIR}/src" "${CMAKE_CURRENT_BINARY_DIR}/test" "${CMAKE_CURRENT_BINARY_DIR}/examples"
ENABLE_IDS style)
# --- package ---
INCLUDE(CheckLSBTypes)
SET(CPACK_PACKAGE_VERSION_MAJOR ${LIBONCILLA_VERSION_MAJOR})
SET(CPACK_PACKAGE_VERSION_MINOR ${LIBONCILLA_VERSION_MINOR})
SET(CPACK_PACKAGE_VERSION_PATCH ${LIBONCILLA_VERSION_PATCH})
SET(CPACK_PACKAGE_VERSION "${CPACK_PACKAGE_VERSION_MAJOR}.${CPACK_PACKAGE_VERSION_MINOR}.${CPACK_PACKAGE_VERSION_PATCH}")
SET(CPACK_PACKAGE_FILE_NAME ${CMAKE_PROJECT_NAME}-${CPACK_PACKAGE_VERSION}_${LSB_CODENAME}_${LSB_PROCESSOR_ARCH})
SET(CPACK_GENERATOR "TGZ")
SET(CPACK_PACKAGE_VENDOR "CoR-Lab Bielefeld University")
# IF(CMAKE_SYSTEM_NAME STREQUAL "Linux")
# SET(CPACK_GENERATOR "${CPACK_GENERATOR};DEB")
# SET(CPACK_DEBIAN_PACKAGE_NAME "amarsi-liboncilla")
# SET(CPACK_DEBIAN_PACKAGE_VERSION ${LIBONCILLA_VERSION_MAJOR}.${LIBONCILLA_VERSION_MINOR}.${LIBONCILLA_VERSION_PATCH})
# SET(CPACK_DEBIAN_PACKAGE_MAINTAINER "Arne Nordmann (anordman@cor-lab.uni-bielefeld.de)")
# SET(CPACK_DEBIAN_PACKAGE_DESCRIPTION "AMARSi RCI representations of the AMARSi quadruped robot 'Oncilla'.")
# SET(CPACK_DEBIAN_PACKAGE_PRIORITY "optional")
# SET(CPACK_DEBIAN_PACKAGE_SECTION "devel")
# SET(CPACK_DEBIAN_ARCHITECTURE ${CMAKE_SYSTEM_PROCESSOR})
# SET(CPACK_DEBIAN_PACKAGE_DEPENDS "amarsi-rci-all")
# SET(CPACK_DEBIAN_PACKAGE_SUGGESTS "cmake, cmake-data, doxygen, lcov, cppcheck, sloccount")
# ENDIF(CMAKE_SYSTEM_NAME STREQUAL "Linux")
INCLUDE(CPack)
diff --git a/src/liboncilla/BackendFactory.cpp b/src/liboncilla/BackendFactory.cpp
index e064a60..bda3e32 100644
--- a/src/liboncilla/BackendFactory.cpp
+++ b/src/liboncilla/BackendFactory.cpp
@@ -1,97 +1,100 @@
/**
* \file BackendFactory.cpp
*
* \date Jun 21, 2012
* \author Alexandre Tuleu
*/
#include "BackendFactory.h"
#include <dlfcn.h>
#include <stdexcept>
namespace rci {
namespace oncilla {
BackendFactory & BackendFactory::Instance(){
static BackendFactory * s_rci_oncilla_backend_factory = new BackendFactory();
return *s_rci_oncilla_backend_factory;
}
void BackendFactory::RegisterBackend(Priority p, EntryPtr e){
EntryByPriority::const_iterator fi = d_entries.find(p);
if(fi != d_entries.end()){
return;
}
d_entries.insert(std::make_pair(p,e));
}
BackendFactory::EntryPtr BackendFactory::HighestPriorityBackend(){
LoadExternalBackend();
EntryByPriority::const_reverse_iterator fi = d_entries.rbegin();
if (fi == d_entries.rend()){
return 0;
}
return fi->second;
}
void BackendFactory::LoadExternalBackend(){
for(SetOfBackendName::const_iterator n = d_unloaded.begin();
n != d_unloaded.end();
++n){
#ifndef NDEBUG
std::cerr << "Looking for module '" << *n << "' : " << std::flush;
#endif
char * error;
void * module_handle = dlopen(n->c_str(),RTLD_NOW);
if((error = dlerror()) != NULL ){
#ifndef NDEBUG
std::cerr << std::endl << " got an error : '" << error << "'" << std::endl;
+#else
+ std::cerr << "Got an error while trying to open module '" << *n
+ << "' : " << error << std::endl;
#endif
continue;
}
#ifndef NDEBUG
std::cerr << " found." << std::endl;
#endif
liboncilla_backend_entry_fct entry = (liboncilla_backend_entry_fct) dlsym(module_handle,"liboncilla_webots_backend_entry");
if((error = dlerror()) != NULL){
throw std::runtime_error("Could not find 'liboncilla_webots_backend_entry' symbol in '" + (*n) + "'.");
}
(*entry)();
d_loaded.insert(std::make_pair(*n,module_handle));
}
d_unloaded.clear();
}
void BackendFactory::AddAdditionalBackend(const std::string& name){
ListOfLoadedBackend::const_iterator fi = d_loaded.find(name);
if( fi != d_loaded.end()){
return;
}
d_unloaded.insert(name);
}
BackendFactory::BackendFactory(){
d_unloaded.insert("liboncilla-webots.so");
d_unloaded.insert("liboncilla-hw.so");
}
BackendFactory::~BackendFactory(){
for(ListOfLoadedBackend::iterator b = d_loaded.begin();
b != d_loaded.end();
++b) {
char * error;
dlclose(b->second);
if( (error = dlerror()) != NULL){
std::cerr << "Could not unload module '" << b->first << "' : "
<< std::endl
<< " error : '" << error << "'." << std::endl;
}
}
}
} /* namespace oncilla */
} /* namespace rci */

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