Yarp rfmodule plugin

cmake/CMakeLists.txt

@@ -16,6 +16,7 @@ install(FILES ${YARP_CMAKE_FILES}
 
 # Templates used by modules
 set(YARP_TEMPLATE_FILES template/yarp_plugin_carrier.cpp.in
+                        template/yarp_plugin_RFModule.cpp.in
                         template/yarp_plugin_device.cpp.in
                         template/yarp_plugin_portmonitor.cpp.in
                         template/yarp_plugin_library.cpp.in

cmake/template/yarp_plugin_RFModule.cpp.in

@@ -0,0 +1,29 @@
+/*
+ * Copyright (C) 2006-2019 Istituto Italiano di Tecnologia (IIT)
+ * All rights reserved.
+ *
+ * This software may be modified and distributed under the terms of the
+ * BSD-3-Clause license. See the accompanying LICENSE file for details.
+ */
+
+#include <yarp/conf/api.h>
+#include <yarp/os/RFModuleFactory.h>
+#include <yarp/os/SharedLibraryClass.h>
+#include <@YARPPLUG_INCLUDE@>
+
+#ifdef YARP_STATIC_PLUGIN
+#  define YARP_PLUGIN_IMPORT
+#  define YARP_PLUGIN_EXPORT
+#else
+#  define YARP_PLUGIN_IMPORT YARP_HELPER_DLL_IMPORT
+#  define YARP_PLUGIN_EXPORT YARP_HELPER_DLL_EXPORT
+#endif
+
+
+#ifdef YARP_STATIC_PLUGIN
+YARP_PLUGIN_EXPORT void add_owned_@YARPPLUG_NAME@(const char *owner) {
+    yarp::os::RFModuleFactory::AddModule("@YARPPLUG_NAME@", [](){return (yarp::os::RFModule*)new @YARPPLUG_TYPE@;});
+}
+#endif
+
+YARP_DEFINE_SHARED_SUBCLASS(@YARPPLUG_NAME@, @YARPPLUG_TYPE@, yarp::os::RFModule)

doc/release/v3_2_0.md

@@ -107,6 +107,10 @@ New Features
 ### extern
 * rplidar sdk updated to 1.9.0
 
+#### RFModules
+
+* Added the possibility to compile `RFModule`s as plugin and load them runtime in a single process context.
+
 ### GUIs
 
 #### `yarpmanager`

example/RFModulePlugin/CMakeLists.txt

@@ -0,0 +1,27 @@
+# Copyright (C) 2006-2019 Istituto Italiano di Tecnologia (IIT)
+# All rights reserved.
+#
+# This software may be modified and distributed under the terms of the
+# BSD-3-Clause license. See the accompanying LICENSE file for details.
+
+cmake_minimum_required(VERSION 3.5)
+project(myModules)
+
+# Enable C++11
+set(CMAKE_CXX_EXTENSIONS OFF)
+set(CMAKE_CXX_STANDARD 11)
+set(CMAKE_CXX_STANDARD_REQUIRED 11)
+
+# Must be set before find_package(YARP)
+set(BUILD_SHARED_LIBS ON)
+
+find_package(YARP REQUIRED)
+
+yarp_begin_plugin_library(myModules)
+
+add_subdirectory(testmoduleFoo)
+add_subdirectory(testmoduleBar)
+
+yarp_end_plugin_library(myModules)
+
+add_subdirectory(moduleLoader)

example/RFModulePlugin/moduleLoader/CMakeLists.txt

@@ -0,0 +1,10 @@
+# Copyright (C) 2006-2019 Istituto Italiano di Tecnologia (IIT)
+# All rights reserved.
+#
+# This software may be modified and distributed under the terms of the
+# BSD-3-Clause license. See the accompanying LICENSE file for details.
+
+set(SRC main.cpp)
+add_executable(moduleLoader ${SRC})
+target_link_libraries(moduleLoader YARP::YARP_OS
+                                   YARP::YARP_init)

example/RFModulePlugin/moduleLoader/main.cpp

@@ -0,0 +1,39 @@
+/*
+ * Copyright (C) 2006-2019 Istituto Italiano di Tecnologia (IIT)
+ * All rights reserved.
+ *
+ * This software may be modified and distributed under the terms of the
+ * BSD-3-Clause license. See the accompanying LICENSE file for details.
+ */
+
+#include <yarp/os/RFPlugin.h>
+#include <yarp/os/Time.h>
+#include <memory>
+
+using namespace yarp::os;
+
+int main() 
+{
+    std::unique_ptr<RFPlugin> pluginBar(new RFPlugin);
+
+    if (!pluginBar->open("myModuleBar"))
+    {
+        printf("failed to open myModuleBar\n");
+        return 1;
+    }
+
+    std::unique_ptr<RFPlugin> pluginFoo(new RFPlugin);
+
+    if (!pluginFoo->open("myModuleFoo"))
+    {
+        printf("failed to open myModuleFoo\n");
+        return 1;
+    }
+
+    while (true)
+    {
+        Time::delay(0.3);
+    }
+
+	return 0;
+}

example/RFModulePlugin/testmoduleBar/CMakeLists.txt

@@ -0,0 +1,23 @@
+# Copyright (C) 2006-2019 Istituto Italiano di Tecnologia (IIT)
+# All rights reserved.
+#
+# This software may be modified and distributed under the terms of the
+# BSD-3-Clause license. See the accompanying LICENSE file for details.
+
+include_directories(${CMAKE_CURRENT_SOURCE_DIR})
+
+set(HDRS module.h)
+
+yarp_prepare_plugin(myModuleBar
+                    CATEGORY rfmodule
+                    TYPE moduleBar
+                    INCLUDE module.h)
+
+if(ENABLE_myModules_myModuleBar)
+  yarp_add_plugin(module_Bar ${HDRS})
+  target_link_libraries(module_Bar YARP::YARP_OS)
+endif()
+
+#create the executable target
+add_executable(myModuleBarExe main.cpp ${SRC} ${HDRS})
+target_link_libraries(myModuleBarExe YARP::YARP_OS YARP::YARP_init)

example/RFModulePlugin/testmoduleBar/main.cpp

@@ -0,0 +1,16 @@
+/*
+ * Copyright (C) 2006-2019 Istituto Italiano di Tecnologia (IIT)
+ * All rights reserved.
+ *
+ * This software may be modified and distributed under the terms of the
+ * BSD-3-Clause license. See the accompanying LICENSE file for details.
+ */
+
+#include <module.h>
+#include <yarp/os/Network.h>
+int main(int argc, char** argv)
+{
+    yarp::os::Network yarp;
+    moduleBar module;
+    return module.runModule();
+}

example/RFModulePlugin/testmoduleBar/module.h

@@ -0,0 +1,27 @@
+/*
+ * Copyright (C) 2006-2019 Istituto Italiano di Tecnologia (IIT)
+ * All rights reserved.
+ *
+ * This software may be modified and distributed under the terms of the
+ * BSD-3-Clause license. See the accompanying LICENSE file for details.
+ */
+
+
+#include <yarp/os/RFModule.h>
+#include <yarp/os/Time.h>
+#include <yarp/os/LogStream.h>
+
+class moduleBar : public yarp::os::RFModule
+{
+    virtual bool configure(yarp::os::ResourceFinder &r)
+    {
+        return true;
+    }
+
+    virtual bool updateModule() override
+    {
+        yarp::os::Time::delay(1);
+        yDebug() << "Updated module Bar";
+        return true;
+    }
+};

example/RFModulePlugin/testmoduleBar/myModuleBar.ini

@@ -0,0 +1,4 @@
+[plugin myModuleBar]
+type rfmodule
+name myModuleBar
+library module_Bar

example/RFModulePlugin/testmoduleFoo/CMakeLists.txt

@@ -0,0 +1,23 @@
+# Copyright (C) 2006-2019 Istituto Italiano di Tecnologia (IIT)
+# All rights reserved.
+#
+# This software may be modified and distributed under the terms of the
+# BSD-3-Clause license. See the accompanying LICENSE file for details.
+
+include_directories(${CMAKE_CURRENT_SOURCE_DIR})
+
+set(HDRS module.h)
+
+yarp_prepare_plugin(myModuleFoo
+                    CATEGORY rfmodule
+                    TYPE moduleFoo
+                    INCLUDE module.h)
+
+if(ENABLE_myModules_myModuleFoo)
+  yarp_add_plugin(module_Foo ${HDRS})
+  target_link_libraries(module_Foo YARP::YARP_OS)
+endif()
+
+#create the executable target
+add_executable(myModuleFooExe main.cpp ${SRC} ${HDRS})
+target_link_libraries(myModuleFooExe YARP::YARP_OS YARP::YARP_init)

example/RFModulePlugin/testmoduleFoo/main.cpp

@@ -0,0 +1,16 @@
+/*
+ * Copyright (C) 2006-2019 Istituto Italiano di Tecnologia (IIT)
+ * All rights reserved.
+ *
+ * This software may be modified and distributed under the terms of the
+ * BSD-3-Clause license. See the accompanying LICENSE file for details.
+ */
+
+#include <module.h>
+#include <yarp/os/Network.h>
+int main(int argc, char** argv)
+{
+    yarp::os::Network yarp;
+    moduleFoo module;
+    return module.runModule();
+}

example/RFModulePlugin/testmoduleFoo/module.h

@@ -0,0 +1,26 @@
+/*
+ * Copyright (C) 2006-2019 Istituto Italiano di Tecnologia (IIT)
+ * All rights reserved.
+ *
+ * This software may be modified and distributed under the terms of the
+ * BSD-3-Clause license. See the accompanying LICENSE file for details.
+ */
+
+#include <yarp/os/RFModule.h>
+#include <yarp/os/Time.h>
+#include <yarp/os/LogStream.h>
+
+class moduleFoo : public yarp::os::RFModule
+{
+    virtual bool configure(yarp::os::ResourceFinder &r)
+    {
+        return true;
+    }
+
+    virtual bool updateModule() override
+    {
+        yarp::os::Time::delay(1);
+        yDebug() << "Updated module Foo";
+        return true;
+    }
+};

example/RFModulePlugin/testmoduleFoo/myModuleFoo.ini

@@ -0,0 +1,4 @@
+[plugin myModuleFoo]
+type rfmodule
+name myModuleFoo
+library module_Foo

src/libYARP_OS/CMakeLists.txt

@@ -94,6 +94,8 @@ set(YARP_OS_HDRS include/yarp/os/AbstractCarrier.h
                  include/yarp/os/ResourceFinder.h
                  include/yarp/os/ResourceFinderOptions.h
                  include/yarp/os/RFModule.h
+                 include/yarp/os/RFPlugin.h
+
                  include/yarp/os/RosNameSpace.h
                  include/yarp/os/Route.h
                  include/yarp/os/RpcClient.h
@@ -190,6 +192,7 @@ set(YARP_OS_IMPL_HDRS include/yarp/os/impl/AuthHMAC.h
                       include/yarp/os/impl/PortCorePackets.h
                       include/yarp/os/impl/PortCoreUnit.h
                       include/yarp/os/impl/Protocol.h
+                      include/yarp/os/impl/RFModuleFactory.h
                       include/yarp/os/impl/Runnable.h
                       include/yarp/os/impl/SocketTwoWayStream.h
                       include/yarp/os/impl/SplitString.h
@@ -297,6 +300,8 @@ set(YARP_OS_SRCS src/AbstractCarrier.cpp
                  src/ResourceFinder.cpp
                  src/ResourceFinderOptions.cpp
                  src/RFModule.cpp
+                 src/RFModuleFactory.cpp
+                 src/RFPlugin.cpp
                  src/RosNameSpace.cpp
                  src/Route.cpp
                  src/RpcClient.cpp

src/libYARP_OS/include/yarp/os/RFModule.h

@@ -129,6 +129,11 @@ class YARP_OS_API RFModule
      */
     virtual int runModuleThreaded(yarp::os::ResourceFinder& rf);
 
+    /**
+     * return the Thread unique identifier
+     */
+    virtual int getThreadKey();
+
     /**
      * Configure the module, pass a ResourceFinder object to the module.
      * This function can perform initialization including object creation and

src/libYARP_OS/include/yarp/os/RFPlugin.h

@@ -0,0 +1,60 @@
+/*
+ * Copyright (C) 2006-2019 Istituto Italiano di Tecnologia (IIT)
+ * All rights reserved.
+ *
+ * This software may be modified and distributed under the terms of the
+ * BSD-3-Clause license. See the accompanying LICENSE file for details.
+ */
+
+#include <yarp/os/api.h>
+#include <string>
+
+#ifndef YARP_OS_RFPLUGIN_H
+#define YARP_OS_RFPLUGIN_H
+
+namespace yarp {
+namespace os {
+
+class YARP_OS_API RFPlugin
+{
+    struct RFPlugin_Private;
+    RFPlugin_Private* impl{ nullptr };
+
+public:
+    RFPlugin();
+
+    virtual ~RFPlugin();
+
+    /**
+     * opens the plugin
+     * @param command a string containing the equivalent command line
+     * @return true if opened succesfully
+     */
+    virtual bool open(const std::string& command);
+
+    /**
+     * closes the plugin
+     */
+    virtual void close();
+
+    /**
+     * check if the plugin is running
+     */
+    virtual bool isRunning();
+
+    /**
+     * get the command line used to open the plugin
+     */
+    virtual std::string getCmd();
+
+    /**
+     * get the thread id
+     */
+    virtual int getThreadKey();
+};
+
+
+}
+}
+
+#endif // YARP_OS_RFPLUGIN_H