diff --git a/CMakeLists.txt b/CMakeLists.txt
index d3dbc36fb2b45953c8d94723f465fa2f9a7b90a6..bffb99c177e10573bd54b12d8f716c547450b59d 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -54,6 +54,7 @@ IF(\"${CMAKE_BUILD_TYPE}\" STREQUAL \"\" )
ELSE(\"${CMAKE_BUILD_TYPE}\" STREQUAL \"\" )
IF(${CMAKE_BUILD_TYPE} STREQUAL DEBUG)
SET(${PROJECT_NAME}_CXXFLAGS ${CMAKE_CXX_FLAGS_DEBUG}) # Useless since CXX_FLAGS, not CXXFLAGS.
+ ADD_DEFINITIONS(-DVP_DEBUG -DVP_DEBUG_MODE=15)
ENDIF(${CMAKE_BUILD_TYPE} STREQUAL DEBUG)
IF(${CMAKE_BUILD_TYPE} STREQUAL RELEASE)
SET(${PROJECT_NAME}_CXXFLAGS ${CMAKE_CXX_FLAGS_RELEASE}) # Same here.
diff --git a/doc/CMakeFiles/CMakeDirectoryInformation.cmake b/doc/CMakeFiles/CMakeDirectoryInformation.cmake
index 010f0321f01cce7826e905a7552d149d85dcb7b1..fab3cc942406b2c4553310a4baa4a16115f71a9d 100644
--- a/doc/CMakeFiles/CMakeDirectoryInformation.cmake
+++ b/doc/CMakeFiles/CMakeDirectoryInformation.cmake
@@ -2,14 +2,15 @@
# Generated by "Unix Makefiles" Generator, CMake Version 2.8
# Relative path conversion top directories.
-SET(CMAKE_RELATIVE_PATH_TOP_SOURCE "/home/blue/sot-devel/dynamicGraph")
-SET(CMAKE_RELATIVE_PATH_TOP_BINARY "/home/blue/sot-devel/dynamicGraph")
+SET(CMAKE_RELATIVE_PATH_TOP_SOURCE "/home/blue/sot-devel/dg")
+SET(CMAKE_RELATIVE_PATH_TOP_BINARY "/home/blue/sot-devel/dg")
# Force unix paths in dependencies.
SET(CMAKE_FORCE_UNIX_PATHS 1)
# The C and CXX include file search paths:
SET(CMAKE_C_INCLUDE_PATH
+ "/usr/local/include"
)
SET(CMAKE_CXX_INCLUDE_PATH ${CMAKE_C_INCLUDE_PATH})
SET(CMAKE_Fortran_INCLUDE_PATH ${CMAKE_C_INCLUDE_PATH})
diff --git a/doc/CMakeFiles/documentation.dir/DependInfo.cmake b/doc/CMakeFiles/documentation.dir/DependInfo.cmake
index ac621c52e06b47ffc097cfb71b45dd121c98b7f7..582405bfaad66675186d3068af6045fd2cfd596d 100644
--- a/doc/CMakeFiles/documentation.dir/DependInfo.cmake
+++ b/doc/CMakeFiles/documentation.dir/DependInfo.cmake
@@ -3,6 +3,12 @@ SET(CMAKE_DEPENDS_LANGUAGES
)
# The set of files for implicit dependencies of each language:
+# Preprocessor definitions for this target.
+SET(CMAKE_TARGET_DEFINITIONS
+ "HAVE_LIBBOOST_THREAD"
+ "HAVE_PTHREAD"
+ )
+
# Targets to which this target links.
SET(CMAKE_TARGET_LINKED_INFO_FILES
)
diff --git a/doc/CMakeFiles/documentation.dir/build.make b/doc/CMakeFiles/documentation.dir/build.make
index 7b353d4a9391c040b5baf2e1f0ae48f6ab776426..d2f95dd0a2a6dc25cf04d9c7c6f1a8974b7490c1 100644
--- a/doc/CMakeFiles/documentation.dir/build.make
+++ b/doc/CMakeFiles/documentation.dir/build.make
@@ -38,19 +38,19 @@ RM = /usr/bin/cmake -E remove -f
CMAKE_EDIT_COMMAND = /usr/bin/ccmake
# The top-level source directory on which CMake was run.
-CMAKE_SOURCE_DIR = /home/blue/sot-devel/dynamicGraph
+CMAKE_SOURCE_DIR = /home/blue/sot-devel/dg
# The top-level build directory on which CMake was run.
-CMAKE_BINARY_DIR = /home/blue/sot-devel/dynamicGraph
+CMAKE_BINARY_DIR = /home/blue/sot-devel/dg
# Utility rule file for documentation.
doc/CMakeFiles/documentation: doc/html/index.html
doc/html/index.html:
- $(CMAKE_COMMAND) -E cmake_progress_report /home/blue/sot-devel/dynamicGraph/CMakeFiles $(CMAKE_PROGRESS_1)
+ $(CMAKE_COMMAND) -E cmake_progress_report /home/blue/sot-devel/dg/CMakeFiles $(CMAKE_PROGRESS_1)
@$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --blue --bold "Generating html/index.html"
- cd /home/blue/sot-devel/dynamicGraph/doc && /usr/bin/doxygen "/home/blue/sot-devel/dynamicGraph/doc/package.dox"
+ cd /home/blue/sot-devel/dg/doc && /usr/bin/doxygen "/home/blue/sot-devel/dg/doc/package.dox"
documentation: doc/CMakeFiles/documentation
documentation: doc/html/index.html
@@ -62,10 +62,10 @@ doc/CMakeFiles/documentation.dir/build: documentation
.PHONY : doc/CMakeFiles/documentation.dir/build
doc/CMakeFiles/documentation.dir/clean:
- cd /home/blue/sot-devel/dynamicGraph/doc && $(CMAKE_COMMAND) -P CMakeFiles/documentation.dir/cmake_clean.cmake
+ cd /home/blue/sot-devel/dg/doc && $(CMAKE_COMMAND) -P CMakeFiles/documentation.dir/cmake_clean.cmake
.PHONY : doc/CMakeFiles/documentation.dir/clean
doc/CMakeFiles/documentation.dir/depend:
- cd /home/blue/sot-devel/dynamicGraph && $(CMAKE_COMMAND) -E cmake_depends "Unix Makefiles" /home/blue/sot-devel/dynamicGraph /home/blue/sot-devel/dynamicGraph/doc /home/blue/sot-devel/dynamicGraph /home/blue/sot-devel/dynamicGraph/doc /home/blue/sot-devel/dynamicGraph/doc/CMakeFiles/documentation.dir/DependInfo.cmake --color=$(COLOR)
+ cd /home/blue/sot-devel/dg && $(CMAKE_COMMAND) -E cmake_depends "Unix Makefiles" /home/blue/sot-devel/dg /home/blue/sot-devel/dg/doc /home/blue/sot-devel/dg /home/blue/sot-devel/dg/doc /home/blue/sot-devel/dg/doc/CMakeFiles/documentation.dir/DependInfo.cmake --color=$(COLOR)
.PHONY : doc/CMakeFiles/documentation.dir/depend
diff --git a/doc/Makefile b/doc/Makefile
index 0c9423e1ff4b3d4a1569ccdd98a5098711391c08..e8efa66605c52bc6fd503d8d1a74a48c58fd2c00 100644
--- a/doc/Makefile
+++ b/doc/Makefile
@@ -42,10 +42,10 @@ RM = /usr/bin/cmake -E remove -f
CMAKE_EDIT_COMMAND = /usr/bin/ccmake
# The top-level source directory on which CMake was run.
-CMAKE_SOURCE_DIR = /home/blue/sot-devel/dynamicGraph
+CMAKE_SOURCE_DIR = /home/blue/sot-devel/dg
# The top-level build directory on which CMake was run.
-CMAKE_BINARY_DIR = /home/blue/sot-devel/dynamicGraph
+CMAKE_BINARY_DIR = /home/blue/sot-devel/dg
#=============================================================================
# Targets provided globally by CMake.
@@ -111,16 +111,26 @@ rebuild_cache:
rebuild_cache/fast: rebuild_cache
.PHONY : rebuild_cache/fast
+# Special rule for the target test
+test:
+ @$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --cyan "Running tests..."
+ /usr/bin/ctest --force-new-ctest-process $(ARGS)
+.PHONY : test
+
+# Special rule for the target test
+test/fast: test
+.PHONY : test/fast
+
# The main all target
all: cmake_check_build_system
- cd /home/blue/sot-devel/dynamicGraph && $(CMAKE_COMMAND) -E cmake_progress_start /home/blue/sot-devel/dynamicGraph/CMakeFiles /home/blue/sot-devel/dynamicGraph/doc/CMakeFiles/progress.marks
- cd /home/blue/sot-devel/dynamicGraph && $(MAKE) -f CMakeFiles/Makefile2 doc/all
- $(CMAKE_COMMAND) -E cmake_progress_start /home/blue/sot-devel/dynamicGraph/CMakeFiles 0
+ cd /home/blue/sot-devel/dg && $(CMAKE_COMMAND) -E cmake_progress_start /home/blue/sot-devel/dg/CMakeFiles /home/blue/sot-devel/dg/doc/CMakeFiles/progress.marks
+ cd /home/blue/sot-devel/dg && $(MAKE) -f CMakeFiles/Makefile2 doc/all
+ $(CMAKE_COMMAND) -E cmake_progress_start /home/blue/sot-devel/dg/CMakeFiles 0
.PHONY : all
# The main clean target
clean:
- cd /home/blue/sot-devel/dynamicGraph && $(MAKE) -f CMakeFiles/Makefile2 doc/clean
+ cd /home/blue/sot-devel/dg && $(MAKE) -f CMakeFiles/Makefile2 doc/clean
.PHONY : clean
# The main clean target
@@ -129,22 +139,22 @@ clean/fast: clean
# Prepare targets for installation.
preinstall: all
- cd /home/blue/sot-devel/dynamicGraph && $(MAKE) -f CMakeFiles/Makefile2 doc/preinstall
+ cd /home/blue/sot-devel/dg && $(MAKE) -f CMakeFiles/Makefile2 doc/preinstall
.PHONY : preinstall
# Prepare targets for installation.
preinstall/fast:
- cd /home/blue/sot-devel/dynamicGraph && $(MAKE) -f CMakeFiles/Makefile2 doc/preinstall
+ cd /home/blue/sot-devel/dg && $(MAKE) -f CMakeFiles/Makefile2 doc/preinstall
.PHONY : preinstall/fast
# clear depends
depend:
- cd /home/blue/sot-devel/dynamicGraph && $(CMAKE_COMMAND) -H$(CMAKE_SOURCE_DIR) -B$(CMAKE_BINARY_DIR) --check-build-system CMakeFiles/Makefile.cmake 1
+ cd /home/blue/sot-devel/dg && $(CMAKE_COMMAND) -H$(CMAKE_SOURCE_DIR) -B$(CMAKE_BINARY_DIR) --check-build-system CMakeFiles/Makefile.cmake 1
.PHONY : depend
# Convenience name for target.
doc/CMakeFiles/documentation.dir/rule:
- cd /home/blue/sot-devel/dynamicGraph && $(MAKE) -f CMakeFiles/Makefile2 doc/CMakeFiles/documentation.dir/rule
+ cd /home/blue/sot-devel/dg && $(MAKE) -f CMakeFiles/Makefile2 doc/CMakeFiles/documentation.dir/rule
.PHONY : doc/CMakeFiles/documentation.dir/rule
# Convenience name for target.
@@ -153,7 +163,7 @@ documentation: doc/CMakeFiles/documentation.dir/rule
# fast build rule for target.
documentation/fast:
- cd /home/blue/sot-devel/dynamicGraph && $(MAKE) -f doc/CMakeFiles/documentation.dir/build.make doc/CMakeFiles/documentation.dir/build
+ cd /home/blue/sot-devel/dg && $(MAKE) -f doc/CMakeFiles/documentation.dir/build.make doc/CMakeFiles/documentation.dir/build
.PHONY : documentation/fast
# Help Target
@@ -169,6 +179,7 @@ help:
@echo "... install/strip"
@echo "... list_install_components"
@echo "... rebuild_cache"
+ @echo "... test"
.PHONY : help
@@ -180,6 +191,6 @@ help:
# No rule that depends on this can have commands that come from listfiles
# because they might be regenerated.
cmake_check_build_system:
- cd /home/blue/sot-devel/dynamicGraph && $(CMAKE_COMMAND) -H$(CMAKE_SOURCE_DIR) -B$(CMAKE_BINARY_DIR) --check-build-system CMakeFiles/Makefile.cmake 0
+ cd /home/blue/sot-devel/dg && $(CMAKE_COMMAND) -H$(CMAKE_SOURCE_DIR) -B$(CMAKE_BINARY_DIR) --check-build-system CMakeFiles/Makefile.cmake 0
.PHONY : cmake_check_build_system
diff --git a/doc/cmake_install.cmake b/doc/cmake_install.cmake
index 1f320649546fa8e4c7c7916f78f8d13bdc8eb2fc..81e11920ec5eaf1eac2a17f52aec4c121715ed9c 100644
--- a/doc/cmake_install.cmake
+++ b/doc/cmake_install.cmake
@@ -1,4 +1,4 @@
-# Install script for directory: /home/blue/sot-devel/dynamicGraph/doc
+# Install script for directory: /home/blue/sot-devel/dg/doc
# Set the install prefix
IF(NOT DEFINED CMAKE_INSTALL_PREFIX)
@@ -12,7 +12,7 @@ IF(NOT DEFINED CMAKE_INSTALL_CONFIG_NAME)
STRING(REGEX REPLACE "^[^A-Za-z0-9_]+" ""
CMAKE_INSTALL_CONFIG_NAME "${BUILD_TYPE}")
ELSE(BUILD_TYPE)
- SET(CMAKE_INSTALL_CONFIG_NAME "RELEASE")
+ SET(CMAKE_INSTALL_CONFIG_NAME "")
ENDIF(BUILD_TYPE)
MESSAGE(STATUS "Install configuration: \"${CMAKE_INSTALL_CONFIG_NAME}\"")
ENDIF(NOT DEFINED CMAKE_INSTALL_CONFIG_NAME)
@@ -33,14 +33,14 @@ IF(NOT DEFINED CMAKE_INSTALL_SO_NO_EXE)
ENDIF(NOT DEFINED CMAKE_INSTALL_SO_NO_EXE)
IF(NOT CMAKE_INSTALL_COMPONENT OR "${CMAKE_INSTALL_COMPONENT}" STREQUAL "Unspecified")
- FILE(INSTALL DESTINATION "/home/blue/sot-lib/share/doc/dynamic-graph" TYPE DIRECTORY FILES "/home/blue/sot-devel/dynamicGraph/doc/html")
+ FILE(INSTALL DESTINATION "/home/blue/sot-lib/share/doc/dynamic-graph" TYPE DIRECTORY FILES "/home/blue/sot-devel/dg/doc/html")
ENDIF(NOT CMAKE_INSTALL_COMPONENT OR "${CMAKE_INSTALL_COMPONENT}" STREQUAL "Unspecified")
IF(NOT CMAKE_INSTALL_COMPONENT OR "${CMAKE_INSTALL_COMPONENT}" STREQUAL "Unspecified")
- FILE(INSTALL DESTINATION "/home/blue/sot-lib/share/doc/dynamic-graph/html" TYPE FILE FILES "/home/blue/sot-devel/dynamicGraph/doc/dynamicGraph.doxytag")
+ FILE(INSTALL DESTINATION "/home/blue/sot-lib/share/doc/dynamic-graph/html" TYPE FILE FILES "/home/blue/sot-devel/dg/doc/dynamic-graph.doxytag")
ENDIF(NOT CMAKE_INSTALL_COMPONENT OR "${CMAKE_INSTALL_COMPONENT}" STREQUAL "Unspecified")
IF(NOT CMAKE_INSTALL_COMPONENT OR "${CMAKE_INSTALL_COMPONENT}" STREQUAL "Unspecified")
- FILE(INSTALL DESTINATION "/home/blue/sot-lib/share/doc/dynamic-graph/html" TYPE DIRECTORY FILES "/home/blue/sot-devel/dynamicGraph/doc/pictures")
+ FILE(INSTALL DESTINATION "/home/blue/sot-lib/share/doc/dynamic-graph/html" TYPE DIRECTORY FILES "/home/blue/sot-devel/dg/doc/pictures")
ENDIF(NOT CMAKE_INSTALL_COMPONENT OR "${CMAKE_INSTALL_COMPONENT}" STREQUAL "Unspecified")
diff --git a/doc/package.dox b/doc/package.dox
index 8a2be686f8c5b36d84c6adf8b486d035edbcf43c..c991c9b79036dcf0efdffa1f24cdc1fec04ba947 100644
--- a/doc/package.dox
+++ b/doc/package.dox
@@ -162,7 +162,7 @@ TAGFILES = \
/html/dynamicsJRLJapan.doxytag=/html \
/html/hrp2Dynamics.doxytag=/html \
/html/walkGenJrl.doxytag=/html
-GENERATE_TAGFILE = dynamicGraph.doxytag
+GENERATE_TAGFILE = dynamic-graph.doxytag
ALLEXTERNALS = NO
EXTERNAL_GROUPS = YES
PERL_PATH = /usr/bin/perl
@@ -180,7 +180,7 @@ SEARCHENGINE = YES
#---------------------------------------------------------------------------
# Project related configuration options
#---------------------------------------------------------------------------
-PROJECT_NAME = "dynamicGraph library"
+PROJECT_NAME = "dynamic-graph library"
PROJECT_NUMBER = 1.0.0
#---------------------------------------------------------------------------
@@ -210,13 +210,13 @@ SHOW_DIRECTORIES = NO
#---------------------------------------------------------------------------
FILE_PATTERNS = *.h *.idl
EXCLUDE_PATTERNS =
-INPUT = /home/blue/sot-devel/dynamicGraph/src \
- /home/blue/sot-devel/dynamicGraph/doc/additionalDoc
+INPUT = /home/blue/sot-devel/dg/include \
+ /home/blue/sot-devel/dg/doc/additionalDoc
#---------------------------------------------------------------------------
# configuration options related to inserting images
#---------------------------------------------------------------------------
-IMAGE_PATH = /home/blue/sot-devel/dynamicGraph/doc/figures
+IMAGE_PATH = /home/blue/sot-devel/dg/doc/figures
#---------------------------------------------------------------------------
# configuration options related to source browsing
#---------------------------------------------------------------------------
@@ -233,9 +233,9 @@ VERBATIM_HEADERS = NO
# configuration options related to the HTML output
#---------------------------------------------------------------------------
HTML_OUTPUT = html
-HTML_STYLESHEET = /home/blue/sot-devel/dynamicGraph/doc/package.css
-HTML_HEADER = /home/blue/sot-devel/dynamicGraph/doc/header.html
-HTML_FOOTER = /home/blue/sot-devel/dynamicGraph/doc/footer.html
+HTML_STYLESHEET = /home/blue/sot-devel/dg/doc/package.css
+HTML_HEADER = /home/blue/sot-devel/dg/doc/header.html
+HTML_FOOTER = /home/blue/sot-devel/dg/doc/footer.html
#---------------------------------------------------------------------------
# configuration options related to the LaTeX output
diff --git a/include/dynamic-graph/interpreter.h b/include/dynamic-graph/interpreter.h
index 756963427b47efe62c27347ccfcbfbb201b090b2..b3057d03255b96cd7823d1bb74e7fc43c767d18f 100644
--- a/include/dynamic-graph/interpreter.h
+++ b/include/dynamic-graph/interpreter.h
@@ -104,7 +104,7 @@ class DYNAMICGRAPH_EXPORT Interpreter
bool deregisterFunction( const std::string& funname );
- /*! \brief Return the reference to the plugin loader. */
+ /*! \brief Set the reference of the plugin loader. */
void referencePluginLoader( PluginLoader* dl__ )
{ dlPtr = dl__; }
diff --git a/include/dynamic-graph/plugin-loader.h b/include/dynamic-graph/plugin-loader.h
index f86f63537d26abf628cc380e4bbda9ffcde0a327..e4c1542dc96575d54814e44ff0ea00defc89ab45 100644
--- a/include/dynamic-graph/plugin-loader.h
+++ b/include/dynamic-graph/plugin-loader.h
@@ -97,7 +97,12 @@ class DYNAMICGRAPH_EXPORT PluginLoader
void addPlugin( const std::string& name, const std::string& dir="" );
/*! \brief Load the plugins previously added */
void loadPlugins( void );
+ /*! \brief Remove from the user memory the dynamic library related to the plugin. */
void unloadPlugin( const std::string& plugname );
+ /*! \brief Remove all the dynamic libraries related to the plugins.
+ For non-re-entrant plugins this method HAS TO be called. */
+ void unloadAllPlugins();
+
const std::map< std::string,std::string > getLoadedPluginNames( void )
{ return loadedPluginNames; }
diff --git a/src/dgraph/interpreter.cpp b/src/dgraph/interpreter.cpp
index 92bde1d568aa1bb3863b7f57ce145850b7a87869..9236029476b2285daa86d558990475c740093798 100644
--- a/src/dgraph/interpreter.cpp
+++ b/src/dgraph/interpreter.cpp
@@ -194,7 +194,7 @@ cmdLoadPlugin( const std::string& cmdLine, std::istringstream& cmdArg, std::ostr
dgDEBUG(25)<<"sotShell.dlPtr ="<< this->dlPtr <<endl;
dlPtr->loadPlugins();
dgDEBUG(25)<<"sotShell.dlPtr ="<< this->dlPtr <<endl;
- }catch( ExceptionAbstract& e ) { dgDEBUG(5) << e << endl; throw e; }
+ }catch( ExceptionAbstract& e ) { dgDEBUG(5) << "ExceptionAbstract " << e << endl; throw e; }
}
else { os << "!! Dynamic loading functionalities not accessible through the shell." <<endl; }
}
diff --git a/src/dgraph/plugin-loader.cpp b/src/dgraph/plugin-loader.cpp
index 719d1923c0fdfda303782126e27fe25c8aa13676..1393d4f92d49f544a554028d14a0070456a2c6c5 100644
--- a/src/dgraph/plugin-loader.cpp
+++ b/src/dgraph/plugin-loader.cpp
@@ -261,3 +261,51 @@ searchPlugin( const std::string& plugname )
return *plugFullName;
}
+
+
+void PluginLoader::
+unloadAllPlugins()
+{
+ dgDEBUGIN( 15 );
+
+ PluginRefMap::KeyMap::iterator plugkey = pluginRefs->keyMap.begin();
+
+ while( plugkey!=pluginRefs->keyMap.end() )
+ {
+#ifndef WIN32
+ const int errCode = dlclose(plugkey->second);
+#else
+ const int errCode = FreeLibrary(plugkey->second);
+#endif
+ if( errCode )
+ {
+#ifndef WIN32
+ dgDEBUG(1) << "Error while unloading <" << plugkey->first <<"> : "
+ << dlerror() <<endl;
+#else
+ // Retrieve the system error message for the last-error code
+ LPTSTR pszMessage;
+ DWORD dwLastError = GetLastError();
+ FormatMessage(
+ FORMAT_MESSAGE_ALLOCATE_BUFFER |
+ FORMAT_MESSAGE_FROM_SYSTEM |
+ FORMAT_MESSAGE_IGNORE_INSERTS,
+ NULL,
+ dwLastError,
+ MAKELANGID(LANG_NEUTRAL, SUBLANG_DEFAULT),
+ (LPTSTR)&pszMessage,
+ 0, NULL );
+
+ dgDEBUG(1) << "Error while unloading <" << plugkey->first <<"> : "
+ << pszMessage <<endl;
+
+ LocalFree(pszMessage);
+#endif
+ }
+ plugkey++;
+ }
+
+ //pluginRefs.erase( plugkey );
+
+ dgDEBUGOUT( 15 );
+}