Make Simulate app scan for plugin libraries on launch.
PiperOrigin-RevId: 478502151 Change-Id: I9057e74af4d207cfc551e701134820100bdeee78
This commit is contained in:
Saran Tunyasuvunakool
committed by
Copybara-Service
Copybara-Service
parent
7e89d8dab0
commit
7072b61cc5
@@ -13,19 +13,37 @@
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// limitations under the License.
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#include <chrono>
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#include <cstdint>
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#include <cstdio>
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#include <cstring>
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#include <iostream>
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#include <memory>
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#include <mutex>
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#include <new>
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#include <string>
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#include <thread>
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#include <type_traits>
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#include <vector>
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#include <mujoco/mujoco.h>
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#include "glfw_dispatch.h"
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#include "simulate.h"
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#include "array_safety.h"
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extern "C" {
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#if defined(_WIN32) || defined(__CYGWIN__)
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#include <windows.h>
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#else
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#if defined(__APPLE__)
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#include <mach-o/dyld.h>
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#endif
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#include <dirent.h>
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#include <dlfcn.h>
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#include <sys/errno.h>
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#include <unistd.h>
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#endif
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}
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namespace {
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namespace mj = ::mujoco;
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namespace mju = ::mujoco::sample_util;
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@@ -46,6 +64,213 @@ mjtNum* ctrlnoise = nullptr;
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//---------------------------------------- plugin handling -----------------------------------------
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// return the path to the directory containing the current executable
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// used to determine the location of auto-loaded plugin libraries
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std::string getExecutableDir() {
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#if defined(_WIN32) || defined(__CYGWIN__)
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constexpr char kPathSep = '\\';
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std::string realpath = [&]() -> std::string {
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std::unique_ptr<char[]> realpath(nullptr);
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DWORD buf_size = 128;
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bool success = false;
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while (!success) {
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realpath.reset(new(std::nothrow) char[buf_size]);
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if (!realpath) {
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std::cerr << "cannot allocate memory to store executable path\n";
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return "";
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}
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DWORD written = GetModuleFileNameA(nullptr, realpath.get(), buf_size);
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if (written < buf_size) {
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success = true;
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} else if (written == buf_size) {
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// realpath is too small, grow and retry
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buf_size *=2;
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} else {
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std::cerr << "failed to retrieve executable path: " << GetLastError() << "\n";
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return "";
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}
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}
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return realpath.get();
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}();
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#else
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constexpr char kPathSep = '/';
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#if defined(__APPLE__)
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std::unique_ptr<char[]> buf(nullptr);
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{
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std::uint32_t buf_size = 0;
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_NSGetExecutablePath(nullptr, &buf_size);
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buf.reset(new char[buf_size]);
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if (!buf) {
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std::cerr << "cannot allocate memory to store executable path\n";
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return "";
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}
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if (_NSGetExecutablePath(buf.get(), &buf_size)) {
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std::cerr << "unexpected error from _NSGetExecutablePath\n";
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}
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}
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const char* path = buf.get();
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#else
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const char* path = "/proc/self/exe";
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#endif
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std::string realpath = [&]() -> std::string {
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std::unique_ptr<char[]> realpath(nullptr);
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std::uint32_t buf_size = 128;
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bool success = false;
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while (!success) {
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realpath.reset(new(std::nothrow) char[buf_size]);
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if (!realpath) {
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std::cerr << "cannot allocate memory to store executable path\n";
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return "";
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}
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std::size_t written = readlink(path, realpath.get(), buf_size);
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if (written < buf_size) {
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realpath.get()[written] = '\0';
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success = true;
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} else if (written == -1) {
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if (errno == EINVAL) {
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// path is already not a symlink, just use it
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return path;
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}
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std::cerr << "error while resolving executable path: " << strerror(errno) << '\n';
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return "";
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} else {
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// realpath is too small, grow and retry
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buf_size *= 2;
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}
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}
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return realpath.get();
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}();
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#endif
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if (realpath.empty()) {
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return "";
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}
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for (std::size_t i = realpath.size() - 1; i > 0; --i) {
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if (realpath.c_str()[i] == kPathSep) {
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return realpath.substr(0, i);
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}
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}
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// don't scan through the entire file system's root
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return "";
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}
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#if defined(_WIN32) || defined(__CYGWIN__)
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using unique_dlhandle = std::unique_ptr<std::remove_pointer_t<HMODULE>, decltype(&FreeLibrary)>;
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#else
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using unique_dlhandle = std::unique_ptr<void, decltype(&dlclose)>;
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#endif
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// scan for libraries in the plugin directory to load additional plugins
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std::vector<unique_dlhandle> scanPluginLibraries() {
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// check and print plugins that are linked directly into the executable
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int nplugin = mjp_pluginCount();
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if (nplugin) {
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std::printf("Built-in plugins:\n");
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for (int i = 0; i < nplugin; ++i) {
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std::printf(" %s\n", mjp_getPluginAtSlot(i)->name);
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}
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}
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// define platform-specific strings
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#if defined(_WIN32) || defined(__CYGWIN__)
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const std::string sep = "\\";
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const std::string dso_suffix = ".dll";
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#else
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const std::string sep = "/";
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#if defined(__APPLE__)
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const std::string dso_suffix = ".dylib";
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#else
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const std::string dso_suffix = ".so";
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#endif
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#endif
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// output vectors containing DSO handles
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std::vector<unique_dlhandle> dso_handles;
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// platform-independent routine for checking and printing plugins registered by a dynamic library
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const auto check_and_print_plugins = [&](const std::string& name, unique_dlhandle&& dlhandle) {
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if (!dlhandle) {
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return;
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}
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const int nplugin_new = mjp_pluginCount();
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if (nplugin_new > nplugin) {
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dso_handles.push_back(std::move(dlhandle));
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// print all newly registered plugins
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std::printf("Plugins registered by library '%s':\n", name.c_str());
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for (int i = nplugin; i < nplugin_new; ++i) {
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std::printf(" %s\n", mjp_getPluginAtSlot(i)->name);
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}
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// update counter for plugins registered so far
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nplugin = nplugin_new;
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}
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};
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// try to open the ${EXECDIR}/plugin directory
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// ${EXECDIR} is the directory containing the simulate binary itself
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const std::string executable_dir = getExecutableDir();
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if (executable_dir.empty()) {
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return dso_handles;
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}
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const std::string plugin_dir = getExecutableDir() + sep + "plugin";
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#if defined(_WIN32) || defined(__CYGWIN__)
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WIN32_FIND_DATAA find_data;
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HANDLE hfile = FindFirstFileA((plugin_dir + sep + "*.dll").c_str(), &find_data);
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if (!hfile) {
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return dso_handles;
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}
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// go through each file in the directory
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bool keep_going = true;
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while (keep_going) {
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const std::string name(find_data.cFileName);
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// load the library and check for plugins
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const std::string dso_path = plugin_dir + sep + name;
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check_and_print_plugins(
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name, unique_dlhandle(LoadLibraryA(dso_path.c_str()), &FreeLibrary));
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keep_going = FindNextFileA(hfile, &find_data);
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}
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FindClose(hfile);
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#else
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DIR* dirp = opendir(plugin_dir.c_str());
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if (!dirp) {
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return dso_handles;
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}
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// go through each entry in the directory
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for (struct dirent* dp; (dp = readdir(dirp));) {
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// only look at regular files (i.e. skip symlinks, pipes, directories, etc.)
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if (dp->d_type == DT_REG) {
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const std::string name(dp->d_name);
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if (name.size() > dso_suffix.size() &&
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name.substr(name.size() - dso_suffix.size()) == dso_suffix) {
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// load the library and check for plugins
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const std::string dso_path = plugin_dir + sep + name;
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check_and_print_plugins(
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name, unique_dlhandle(dlopen(dso_path.c_str(), RTLD_NOW | RTLD_LOCAL), &dlclose));
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}
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}
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}
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closedir(dirp);
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#endif
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return dso_handles;
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}
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//------------------------------------------- simulation -------------------------------------------
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@@ -285,6 +510,9 @@ int main(int argc, const char** argv) {
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mju_error("Headers and library have different versions");
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}
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// scan for libraries in the plugin directory to load additional plugins
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std::vector<unique_dlhandle> dso_handles = scanPluginLibraries();
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// simulate object encapsulates the UI
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auto sim = std::make_unique<mj::Simulate>();
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