plugin.cc

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/*
 * Copyright 2011,
 * Olivier Stasse,
 *
 * CNRS
 *
 */
/* -------------------------------------------------------------------------- */
/* --- INCLUDES ------------------------------------------------------------- */
/* -------------------------------------------------------------------------- */
 
#include <iostream>
 
// POSIX.1-2001
#include <dlfcn.h>
 
#include <sot/core/abstract-sot-external-interface.hh>
#include <sot/core/debug.hh>
 
#include "plugin.hh"
 
using namespace std;
using namespace dynamicgraph::sot;
 
class Plugin : public PluginAbstract {
 protected:
  AbstractSotExternalInterface *sotController_;
 
 public:
  Plugin(){};
  ~Plugin(){};
 
  void Initialization(std::string &dynamicLibraryName) {
    // Load the SotRobotBipedController library.
    void *SotRobotControllerLibrary =
        dlopen(dynamicLibraryName.c_str(), RTLD_GLOBAL | RTLD_NOW);
    if (!SotRobotControllerLibrary) {
      std::cerr << "Cannot load library: " << dlerror() << '\n';
      return;
    }
 
    // reset errors
    dlerror();
 
    // Load the symbols.
    createSotExternalInterface_t *createRobotController =
        (createSotExternalInterface_t *)dlsym(SotRobotControllerLibrary,
                                              "createSotExternalInterface");
    const char *dlsym_error = dlerror();
    if (dlsym_error) {
      std::cerr << "Cannot load symbol create: " << dlsym_error << '\n';
      return;
    }
 
    /*
    destroySotExternalInterface_t * destroyRobotController =
      (destroySotExternalInterface_t *) dlsym(SotRobotControllerLibrary,
                                              "destroySotExternalInterface");
    */
    dlsym_error = dlerror();
    if (dlsym_error) {
      std::cerr << "Cannot load symbol create: " << dlsym_error << '\n';
      return;
    }
 
    // Create robot-controller
    sotController_ = createRobotController();
    cout << "Went out from Initialization." << endl;
  }
};
 
extern "C" {
PluginAbstract *createPlugin() { return new Plugin; }
}