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Move plugin loading and scanning logic from Simulate to MuJoCo library.

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PiperOrigin-RevId: 489020177
Change-Id: I1c29d931b47d5252e57e1d797cc7c17645859ffc
This commit is contained in:
Saran Tunyasuvunakool
2022-11-16 13:15:05 -08:00
committed by Copybara-Service
parent 2ebc5f097b
commit 9ecade0707
9 changed files with 193 additions and 85 deletions
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simulate/main.cc
+10 -83
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@@ -39,8 +39,6 @@ extern "C" {
#if defined(__APPLE__)
#include <mach-o/dyld.h>
#endif
#include <dirent.h>
#include <dlfcn.h>
#include <sys/errno.h>
#include <unistd.h>
#endif
@@ -164,15 +162,9 @@ std::string getExecutableDir() {
}
#if defined(_WIN32) || defined(__CYGWIN__)
using unique_dlhandle = std::unique_ptr<std::remove_pointer_t<HMODULE>, decltype(&FreeLibrary)>;
#else
using unique_dlhandle = std::unique_ptr<void, decltype(&dlclose)>;
#endif
// scan for libraries in the plugin directory to load additional plugins
std::vector<unique_dlhandle> scanPluginLibraries() {
void scanPluginLibraries() {
// check and print plugins that are linked directly into the executable
int nplugin = mjp_pluginCount();
if (nplugin) {
@@ -185,91 +177,26 @@ std::vector<unique_dlhandle> scanPluginLibraries() {
// define platform-specific strings
#if defined(_WIN32) || defined(__CYGWIN__)
const std::string sep = "\\";
const std::string dso_suffix = ".dll";
#else
const std::string sep = "/";
#if defined(__APPLE__)
const std::string dso_suffix = ".dylib";
#else
const std::string dso_suffix = ".so";
#endif
#endif
// output vectors containing DSO handles
std::vector<unique_dlhandle> dso_handles;
// platform-independent routine for checking and printing plugins registered by a dynamic library
const auto check_and_print_plugins = [&](const std::string& name, unique_dlhandle&& dlhandle) {
if (!dlhandle) {
return;
}
const int nplugin_new = mjp_pluginCount();
if (nplugin_new > nplugin) {
dso_handles.push_back(std::move(dlhandle));
// print all newly registered plugins
std::printf("Plugins registered by library '%s':\n", name.c_str());
for (int i = nplugin; i < nplugin_new; ++i) {
std::printf(" %s\n", mjp_getPluginAtSlot(i)->name);
}
// update counter for plugins registered so far
nplugin = nplugin_new;
}
};
// try to open the ${EXECDIR}/plugin directory
// ${EXECDIR} is the directory containing the simulate binary itself
const std::string executable_dir = getExecutableDir();
if (executable_dir.empty()) {
return dso_handles;
return;
}
const std::string plugin_dir = getExecutableDir() + sep + MUJOCO_PLUGIN_DIR;
#if defined(_WIN32) || defined(__CYGWIN__)
WIN32_FIND_DATAA find_data;
HANDLE hfile = FindFirstFileA((plugin_dir + sep + "*.dll").c_str(), &find_data);
if (!hfile) {
return dso_handles;
}
// go through each file in the directory
bool keep_going = true;
while (keep_going) {
const std::string name(find_data.cFileName);
// load the library and check for plugins
const std::string dso_path = plugin_dir + sep + name;
check_and_print_plugins(
name, unique_dlhandle(LoadLibraryA(dso_path.c_str()), &FreeLibrary));
keep_going = FindNextFileA(hfile, &find_data);
}
FindClose(hfile);
#else
DIR* dirp = opendir(plugin_dir.c_str());
if (!dirp) {
return dso_handles;
}
// go through each entry in the directory
for (struct dirent* dp; (dp = readdir(dirp));) {
// only look at regular files (i.e. skip symlinks, pipes, directories, etc.)
if (dp->d_type == DT_REG) {
const std::string name(dp->d_name);
if (name.size() > dso_suffix.size() &&
name.substr(name.size() - dso_suffix.size()) == dso_suffix) {
// load the library and check for plugins
const std::string dso_path = plugin_dir + sep + name;
check_and_print_plugins(
name, unique_dlhandle(dlopen(dso_path.c_str(), RTLD_NOW | RTLD_LOCAL), &dlclose));
}
}
}
closedir(dirp);
#endif
return dso_handles;
mj_loadAllPluginLibraries(
plugin_dir.c_str(), +[](const char* filename, int first, int count) {
std::printf("Plugins registered by library '%s':\n", filename);
for (int i = first; i < first + count; ++i) {
std::printf(" %s\n", mjp_getPluginAtSlot(i)->name);
}
});
}
@@ -519,7 +446,7 @@ int main(int argc, const char** argv) {
}
// scan for libraries in the plugin directory to load additional plugins
std::vector<unique_dlhandle> dso_handles = scanPluginLibraries();
scanPluginLibraries();
// simulate object encapsulates the UI
auto sim = std::make_unique<mj::Simulate>();