class_loader_core.cpp

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/*
 * Copyright (c) 2012, Willow Garage, Inc.
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
 *     * Redistributions of source code must retain the above copyright
 *       notice, this list of conditions and the following disclaimer.
 *     * Redistributions in binary form must reproduce the above copyright
 *       notice, this list of conditions and the following disclaimer in the
 *       documentation and/or other materials provided with the distribution.
 *     * Neither the name of the Willow Garage, Inc. nor the names of its
 *       contributors may be used to endorse or promote products derived from
 *       this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 * POSSIBILITY OF SUCH DAMAGE.
 */

#include "class_loader/class_loader_core.h"
#include "class_loader/class_loader.h"
#include <cassert>

namespace class_loader
{
namespace class_loader_private
{


//Global data
/*****************************************************************************/
/*****************************************************************************/
/*****************************************************************************/

boost::recursive_mutex& getLoadedLibraryVectorMutex()
/*****************************************************************************/
{
  static boost::recursive_mutex m;
  return m;
}

boost::recursive_mutex& getPluginBaseToFactoryMapMapMutex()
/*****************************************************************************/
{
  static boost::recursive_mutex m;
  return m;
}

BaseToFactoryMapMap& getGlobalPluginBaseToFactoryMapMap()
/*****************************************************************************/
{
  static BaseToFactoryMapMap instance;
  return instance;
}

FactoryMap& getFactoryMapForBaseClass(const std::string& typeid_base_class_name)
/*****************************************************************************/
{
  BaseToFactoryMapMap& factoryMapMap = getGlobalPluginBaseToFactoryMapMap();
  std::string base_class_name = typeid_base_class_name;
  if(factoryMapMap.find(base_class_name) == factoryMapMap.end())
    factoryMapMap[base_class_name] = FactoryMap();

  return(factoryMapMap[base_class_name]);
}

MetaObjectVector& getMetaObjectGraveyard()
/*****************************************************************************/
{
  static MetaObjectVector instance;
  return instance;
}

LibraryVector& getLoadedLibraryVector()
/*****************************************************************************/
{
  static LibraryVector instance;
  return instance;
}

std::string& getCurrentlyLoadingLibraryNameReference()
/*****************************************************************************/
{
  static std::string library_name;
  return library_name;
}

std::string getCurrentlyLoadingLibraryName()
/*****************************************************************************/
{
  return(getCurrentlyLoadingLibraryNameReference());
}

void setCurrentlyLoadingLibraryName(const std::string& library_name)
/*****************************************************************************/
{
  std::string& library_name_ref = getCurrentlyLoadingLibraryNameReference();
  library_name_ref = library_name;
}

ClassLoader*& getCurrentlyActiveClassLoaderReference()
/*****************************************************************************/
{
  static ClassLoader* loader = NULL;
  return(loader);
}

ClassLoader* getCurrentlyActiveClassLoader()
/*****************************************************************************/
{
  return(getCurrentlyActiveClassLoaderReference());
}

void setCurrentlyActiveClassLoader(ClassLoader* loader)
/*****************************************************************************/
{
  ClassLoader*& loader_ref = getCurrentlyActiveClassLoaderReference();
  loader_ref = loader;
}

bool& hasANonPurePluginLibraryBeenOpenedReference()
/*****************************************************************************/
{
  static bool hasANonPurePluginLibraryBeenOpenedReference = false;
  return hasANonPurePluginLibraryBeenOpenedReference;
}

bool hasANonPurePluginLibraryBeenOpened()
/*****************************************************************************/
{
  return(hasANonPurePluginLibraryBeenOpenedReference());
}

void hasANonPurePluginLibraryBeenOpened(bool hasIt)
/*****************************************************************************/
{
  hasANonPurePluginLibraryBeenOpenedReference() = hasIt;
}


//MetaObject search/insert/removal/query
/*****************************************************************************/
/*****************************************************************************/
/*****************************************************************************/

MetaObjectVector allMetaObjects(const FactoryMap& factories)
/*****************************************************************************/
{
  MetaObjectVector all_meta_objs;
  for(FactoryMap::const_iterator factoryItr = factories.begin(); factoryItr != factories.end(); factoryItr++)
      all_meta_objs.push_back(factoryItr->second);
  return(all_meta_objs);
}

MetaObjectVector allMetaObjects()
/*****************************************************************************/
{
  boost::recursive_mutex::scoped_lock lock(getPluginBaseToFactoryMapMapMutex());

  MetaObjectVector all_meta_objs;
  BaseToFactoryMapMap& factory_map_map = getGlobalPluginBaseToFactoryMapMap();
  BaseToFactoryMapMap::iterator itr;

  for(itr = factory_map_map.begin(); itr != factory_map_map.end(); itr++)
  {
    MetaObjectVector objs = allMetaObjects(itr->second);
    all_meta_objs.insert(all_meta_objs.end(), objs.begin(), objs.end());
  }
  return(all_meta_objs);
}

MetaObjectVector filterAllMetaObjectsOwnedBy(const MetaObjectVector& to_filter, const ClassLoader* owner)
/*****************************************************************************/
{
  MetaObjectVector filtered_objs;
  for(unsigned int c = 0; c < to_filter.size(); c++)
    if(to_filter.at(c)->isOwnedBy(owner))
      filtered_objs.push_back(to_filter.at(c));
  return(filtered_objs);
}

MetaObjectVector filterAllMetaObjectsAssociatedWithLibrary(const MetaObjectVector& to_filter, const std::string& library_path)
/*****************************************************************************/
{
  MetaObjectVector filtered_objs;
  for(unsigned int c = 0; c < to_filter.size(); c++)
    if(to_filter.at(c)->getAssociatedLibraryPath()==library_path)
      filtered_objs.push_back(to_filter.at(c));
  return(filtered_objs);
}

MetaObjectVector allMetaObjectsForClassLoader(const ClassLoader* owner)
/*****************************************************************************/
{
  return(filterAllMetaObjectsOwnedBy(allMetaObjects(), owner));
}

MetaObjectVector allMetaObjectsForLibrary(const std::string& library_path)
/*****************************************************************************/
{
  return(filterAllMetaObjectsAssociatedWithLibrary(allMetaObjects(), library_path));
}

MetaObjectVector allMetaObjectsForLibraryOwnedBy(const std::string& library_path, const ClassLoader* owner)
/*****************************************************************************/
{
  return(filterAllMetaObjectsOwnedBy(allMetaObjectsForLibrary(library_path), owner));
}

void insertMetaObjectIntoGraveyard(AbstractMetaObjectBase* meta_obj)
/*****************************************************************************/
{
  CONSOLE_BRIDGE_logDebug("class_loader.class_loader_private: Inserting MetaObject (class = %s, base_class = %s, ptr = %p) into graveyard", meta_obj->className().c_str(), meta_obj->baseClassName().c_str(), meta_obj);
  getMetaObjectGraveyard().push_back(meta_obj);
}

void destroyMetaObjectsForLibrary(const std::string& library_path, FactoryMap& factories, const ClassLoader* loader)
/*****************************************************************************/
{
  FactoryMap::iterator factory_itr = factories.begin();
  while(factory_itr != factories.end())
  {
    AbstractMetaObjectBase* meta_obj = factory_itr->second;
    if(meta_obj->getAssociatedLibraryPath() == library_path && meta_obj->isOwnedBy(loader))
    {
      meta_obj->removeOwningClassLoader(loader);
      if(!meta_obj->isOwnedByAnybody())
      {
        FactoryMap::iterator factory_itr_copy = factory_itr;
        factory_itr++;
        factories.erase(factory_itr_copy); //Note: map::erase does not return iterator like vector::erase does. Hence the ugliness of this code and a need for copy. Should be fixed in next C++ revision

        //Insert into graveyard
        //We remove the metaobject from its factory map, but we don't destroy it...instead it saved to
        //a "graveyard" to the side. This is due to our static global variable initialization problem
        //that causes factories to not be registered when a library is closed and then reopened. This is
        //because it's truly not closed due to the use of global symbol binding i.e. calling dlopen
        //with RTLD_GLOBAL instead of RTLD_LOCAL. We require using the former as the which is required to support
        //RTTI
        insertMetaObjectIntoGraveyard(meta_obj);
      }
      else
        factory_itr++;
    }
    else
      factory_itr++;
  }
}

void destroyMetaObjectsForLibrary(const std::string& library_path, const ClassLoader* loader)
/*****************************************************************************/
{
  boost::recursive_mutex::scoped_lock lock(getPluginBaseToFactoryMapMapMutex());

  CONSOLE_BRIDGE_logDebug("class_loader.class_loader_private: Removing MetaObjects associated with library %s and class loader %p from global plugin-to-factorymap map.\n", library_path.c_str(), loader);

  //We have to walk through all FactoryMaps to be sure
  BaseToFactoryMapMap& factory_map_map = getGlobalPluginBaseToFactoryMapMap();
  BaseToFactoryMapMap::iterator itr;
  for(itr = factory_map_map.begin(); itr != factory_map_map.end(); itr++)
    destroyMetaObjectsForLibrary(library_path, itr->second, loader);

  CONSOLE_BRIDGE_logDebug("class_loader.class_loader_private: Metaobjects removed.");
}

bool areThereAnyExistingMetaObjectsForLibrary(const std::string& library_path)
/*****************************************************************************/
{
  return(allMetaObjectsForLibrary(library_path).size() > 0);
}

//Loaded Library Vector manipulation
/*****************************************************************************/
/*****************************************************************************/
/*****************************************************************************/
LibraryVector::iterator findLoadedLibrary(const std::string& library_path)
/*****************************************************************************/
{
  LibraryVector& open_libraries =  getLoadedLibraryVector();
  LibraryVector::iterator itr;
  for(itr = open_libraries.begin(); itr != open_libraries.end(); itr++ )
  {
    if(itr->first == library_path)
      break;
  }
  return(itr);
}

bool isLibraryLoadedByAnybody(const std::string& library_path)
/*****************************************************************************/
{
  boost::recursive_mutex::scoped_lock lock(getLoadedLibraryVectorMutex());

  LibraryVector& open_libraries =  getLoadedLibraryVector();
  LibraryVector::iterator itr = findLoadedLibrary(library_path);

  if(itr != open_libraries.end())
  {
    assert(itr->second->isLoaded() == true); //Ensure Poco actually thinks the library is loaded
    return(true);
  }
  else
    return(false);
};

bool isLibraryLoaded(const std::string& library_path, ClassLoader* loader)
/*****************************************************************************/
{
  bool is_lib_loaded_by_anyone = isLibraryLoadedByAnybody(library_path);
  int num_meta_objs_for_lib = allMetaObjectsForLibrary(library_path).size();
  int num_meta_objs_for_lib_bound_to_loader = allMetaObjectsForLibraryOwnedBy(library_path,loader).size();
  bool are_meta_objs_bound_to_loader = (num_meta_objs_for_lib == 0) ? true : (num_meta_objs_for_lib_bound_to_loader <= num_meta_objs_for_lib);

  return(is_lib_loaded_by_anyone && are_meta_objs_bound_to_loader);
}

std::vector<std::string> getAllLibrariesUsedByClassLoader(const ClassLoader* loader)
/*****************************************************************************/
{
  MetaObjectVector all_loader_meta_objs = allMetaObjectsForClassLoader(loader);
  std::vector<std::string> all_libs;
  for(unsigned int c = 0; c < all_loader_meta_objs.size(); c++)
  {
    std::string lib_path = all_loader_meta_objs.at(c)->getAssociatedLibraryPath();
    if(std::find(all_libs.begin(), all_libs.end(), lib_path) == all_libs.end())
      all_libs.push_back(lib_path);
  }
  return(all_libs);
}


//Implementation of Remaining Core plugin_private Functions
/*****************************************************************************/
/*****************************************************************************/
/*****************************************************************************/

void addClassLoaderOwnerForAllExistingMetaObjectsForLibrary(const std::string& library_path, ClassLoader* loader)
/*****************************************************************************/
{
  MetaObjectVector all_meta_objs = allMetaObjectsForLibrary(library_path);
  for(unsigned int c = 0; c < all_meta_objs.size(); c++)
  {
    AbstractMetaObjectBase* meta_obj = all_meta_objs.at(c);
    CONSOLE_BRIDGE_logDebug("class_loader.class_loader_private: Tagging existing MetaObject %p (base = %s, derived = %s) with class loader %p (library path = %s).", meta_obj, meta_obj->baseClassName().c_str(), meta_obj->className().c_str(), loader, loader ? loader->getLibraryPath().c_str() : "NULL");
    all_meta_objs.at(c)->addOwningClassLoader(loader);
  }
}

void revivePreviouslyCreateMetaobjectsFromGraveyard(const std::string& library_path, ClassLoader* loader)
/*****************************************************************************/
{
  boost::recursive_mutex::scoped_lock b2fmm_lock(getPluginBaseToFactoryMapMapMutex());
  MetaObjectVector& graveyard = getMetaObjectGraveyard();

  for(MetaObjectVector::iterator itr = graveyard.begin(); itr != graveyard.end(); itr++)
  {
    AbstractMetaObjectBase* obj = *itr;
    if(obj->getAssociatedLibraryPath() == library_path)
    {
      CONSOLE_BRIDGE_logDebug("class_loader.class_loader_private: Resurrected factory metaobject from graveyard, class = %s, base_class = %s ptr = %p...bound to ClassLoader %p (library path = %s)", obj->className().c_str(), obj->baseClassName().c_str(), obj, loader, loader ? loader->getLibraryPath().c_str() : "NULL");

      obj->addOwningClassLoader(loader);
      assert(obj->typeidBaseClassName() != "UNSET");
      FactoryMap& factory = getFactoryMapForBaseClass(obj->typeidBaseClassName());
      factory[obj->className()] = obj;
    }
  }
}

void purgeGraveyardOfMetaobjects(const std::string& library_path, ClassLoader* loader, bool delete_objs)
/*****************************************************************************/
{
  MetaObjectVector all_meta_objs = allMetaObjects();
  boost::recursive_mutex::scoped_lock b2fmm_lock(getPluginBaseToFactoryMapMapMutex()); //Note: Lock must happen after call to allMetaObjects as that will lock

  MetaObjectVector& graveyard = getMetaObjectGraveyard();
  MetaObjectVector::iterator itr = graveyard.begin();

  while(itr != graveyard.end())
  {
    AbstractMetaObjectBase* obj = *itr;
    if(obj->getAssociatedLibraryPath() == library_path)
    {
      CONSOLE_BRIDGE_logDebug("class_loader.class_loader_private: Purging factory metaobject from graveyard, class = %s, base_class = %s ptr = %p...bound to ClassLoader %p (library path = %s)", obj->className().c_str(), obj->baseClassName().c_str(), obj, loader, loader ? loader->getLibraryPath().c_str() : "NULL");

      bool is_address_in_graveyard_same_as_global_factory_map = std::find(all_meta_objs.begin(), all_meta_objs.end(), *itr) != all_meta_objs.end();
      itr = graveyard.erase(itr);
      if(delete_objs)
      {
        if(is_address_in_graveyard_same_as_global_factory_map)
          CONSOLE_BRIDGE_logDebug("class_loader.class_loader_private: Newly created metaobject factory in global factory map map has same address as one in graveyard -- metaobject has been purged from graveyard but not deleted.");
        else
        {
          assert(hasANonPurePluginLibraryBeenOpened() == false);
          CONSOLE_BRIDGE_logDebug("class_loader.class_loader_private: Also destroying metaobject %p (class = %s, base_class = %s, library_path = %s) in addition to purging it from graveyard.", obj, obj->className().c_str(), obj->baseClassName().c_str(), obj->getAssociatedLibraryPath().c_str());
          delete(obj); //Note: This is the only place where metaobjects can be destroyed
        }
      }
    }
    else
      itr++;
  }
}

void loadLibrary(const std::string& library_path, ClassLoader* loader)
/*****************************************************************************/
{
  static boost::recursive_mutex loader_mutex;
  CONSOLE_BRIDGE_logDebug("class_loader.class_loader_private: Attempting to load library %s on behalf of ClassLoader handle %p...\n", library_path.c_str(), loader);
  boost::recursive_mutex::scoped_lock loader_lock(loader_mutex);

  //If it's already open, just update existing metaobjects to have an additional owner.
  if(isLibraryLoadedByAnybody(library_path))
  {
    boost::recursive_mutex::scoped_lock lock(getPluginBaseToFactoryMapMapMutex());
    CONSOLE_BRIDGE_logDebug("class_loader.class_loader_private: Library already in memory, but binding existing MetaObjects to loader if necesesary.\n");
    addClassLoaderOwnerForAllExistingMetaObjectsForLibrary(library_path, loader);
    return;
  }

  Poco::SharedLibrary* library_handle = NULL;

  {

    try
    {
      setCurrentlyActiveClassLoader(loader);
      setCurrentlyLoadingLibraryName(library_path);
      library_handle = new Poco::SharedLibrary(library_path);
    }
    catch(const Poco::LibraryLoadException& e)
    {
      setCurrentlyLoadingLibraryName("");
      setCurrentlyActiveClassLoader(NULL);
      throw(class_loader::LibraryLoadException("Could not load library (Poco exception = " + std::string(e.message()) + ")"));
    }
    catch(const Poco::LibraryAlreadyLoadedException& e)
    {
      setCurrentlyLoadingLibraryName("");
      setCurrentlyActiveClassLoader(NULL);
      throw(class_loader::LibraryLoadException("Library already loaded (Poco exception = " + std::string(e.message()) + ")"));
    }
    catch(const Poco::NotFoundException& e)
    {
      setCurrentlyLoadingLibraryName("");
      setCurrentlyActiveClassLoader(NULL);
      throw(class_loader::LibraryLoadException("Library not found (Poco exception = " + std::string(e.message()) + ")"));
    }

    setCurrentlyLoadingLibraryName("");
    setCurrentlyActiveClassLoader(NULL);
  }

  assert(library_handle != NULL);
  CONSOLE_BRIDGE_logDebug("class_loader.class_loader_private: Successfully loaded library %s into memory (Poco::SharedLibrary handle = %p).", library_path.c_str(), library_handle);

  //Graveyard scenario
  unsigned int num_lib_objs = allMetaObjectsForLibrary(library_path).size();
  if(num_lib_objs == 0)
  {
    CONSOLE_BRIDGE_logDebug("class_loader.class_loader_private: Though the library %s was just loaded, it seems no factory metaobjects were registered. Checking factory graveyard for previously loaded metaobjects...", library_path.c_str());
    revivePreviouslyCreateMetaobjectsFromGraveyard(library_path, loader);
    purgeGraveyardOfMetaobjects(library_path, loader, false); //Note: The 'false' indicates we don't want to invoke delete on the metaobject
  }
  else
  {
    CONSOLE_BRIDGE_logDebug("class_loader.class_loader_private: Library %s generated new factory metaobjects on load. Destroying graveyarded objects from previous loads...", library_path.c_str());
    purgeGraveyardOfMetaobjects(library_path, loader, true);
  }

  //Insert library into global loaded library vectory
  boost::recursive_mutex::scoped_lock llv_lock(getLoadedLibraryVectorMutex());
  LibraryVector& open_libraries =  getLoadedLibraryVector();
  open_libraries.push_back(LibraryPair(library_path, library_handle)); //Note: Poco::SharedLibrary automatically calls load() when library passed to constructor
}

void unloadLibrary(const std::string& library_path, ClassLoader* loader)
/*****************************************************************************/
{
  if(hasANonPurePluginLibraryBeenOpened())
  {
    CONSOLE_BRIDGE_logDebug("class_loader.class_loader_private: Cannot unload %s or ANY other library as a non-pure plugin library was opened. As class_loader has no idea which libraries class factories were exported from, it can safely close any library without potentially unlinking symbols that are still actively being used. You must refactor your plugin libraries to be made exclusively of plugins in order for this error to stop happening.", library_path.c_str());
  }
  else
  {
    CONSOLE_BRIDGE_logDebug("class_loader.class_loader_private: Unloading library %s on behalf of ClassLoader %p...", library_path.c_str(), loader);
    boost::recursive_mutex::scoped_lock lock(getLoadedLibraryVectorMutex());
    LibraryVector& open_libraries =  getLoadedLibraryVector();
    LibraryVector::iterator itr = findLoadedLibrary(library_path);
    if(itr != open_libraries.end())
    {
      Poco::SharedLibrary* library = itr->second;
      std::string library_path = itr->first;
      try
      {
        destroyMetaObjectsForLibrary(library_path, loader);

        //Remove from loaded library list as well if no more factories associated with said library
        if(!areThereAnyExistingMetaObjectsForLibrary(library_path))
        {
          CONSOLE_BRIDGE_logDebug("class_loader.class_loader_private: There are no more MetaObjects left for %s so unloading library and removing from loaded library vector.\n", library_path.c_str());
          library->unload();
          assert(library->isLoaded() == false);
          delete(library);
          itr = open_libraries.erase(itr);
        }
        else
          CONSOLE_BRIDGE_logDebug("class_loader.class_loader_private: MetaObjects still remain in memory meaning other ClassLoaders are still using library, keeping library %s open.", library_path.c_str());
        return;
      }
      catch(const Poco::RuntimeException& e)
      {
        delete(library);
        throw(class_loader::LibraryUnloadException("Could not unload library (Poco exception = " + std::string(e.message()) + ")"));
      }
    }
    throw(class_loader::LibraryUnloadException("Attempt to unload library that class_loader is unaware of."));
  }
}


//Other
/*****************************************************************************/
/*****************************************************************************/
/*****************************************************************************/

void printDebugInfoToScreen()
/*****************************************************************************/
{
  printf("*******************************************************************************\n");
  printf("*****               class_loader_private DEBUG INFORMATION                   *****\n");
  printf("*******************************************************************************\n");

  printf("OPEN LIBRARIES IN MEMORY:\n");
  printf("--------------------------------------------------------------------------------\n");
  boost::recursive_mutex::scoped_lock lock(getLoadedLibraryVectorMutex());
  LibraryVector libs = getLoadedLibraryVector();
  for(unsigned int c = 0; c < libs.size(); c++)
    printf("Open library %i = %s (Poco SharedLibrary handle = %p)\n", c, (libs.at(c)).first.c_str(), (libs.at(c)).second);

  printf("METAOBJECTS (i.e. FACTORIES) IN MEMORY:\n");
  printf("--------------------------------------------------------------------------------\n");
  MetaObjectVector meta_objs = allMetaObjects();
  for(unsigned int c = 0; c < meta_objs.size(); c++)
  {
    AbstractMetaObjectBase* obj = meta_objs.at(c);
    printf("Metaobject %i (ptr = %p):\n TypeId = %s\n Associated Library = %s\n",
           c,
           obj,
           (typeid(*obj).name()),
           obj->getAssociatedLibraryPath().c_str());

    ClassLoaderVector loaders = obj->getAssociatedClassLoaders();
    for(unsigned int i = 0; i < loaders.size(); i++)
      printf(" Associated Loader %i = %p\n", i, loaders.at(i));
    printf("--------------------------------------------------------------------------------\n");
  }

  printf("********************************** END DEBUG **********************************\n");
  printf("*******************************************************************************\n\n");
}




} //End namespace class_loader_private
} //End namespace class_loader