diff --git a/include/CMakeLists.txt b/include/CMakeLists.txt
index f9166fed9ca846f6e56e28b770f00f103b036382..53669cbdcee7efe3971132485641df1cf7ba90af 100644
--- a/include/CMakeLists.txt
+++ b/include/CMakeLists.txt
@@ -13,11 +13,13 @@
# received a copy of the GNU Lesser General Public License along with
# dynamic-graph. If not, see <http://www.gnu.org/licenses/>.
-# Add default script directory.
+# Add default import directories.
# It is used by the import directive of the sot shell to locate
-# scripts.
-SET(DG_IMPORT_DEFAULT_PATHS
- "${CMAKE_INSTALL_PREFIX}/share/dynamic-graph/script")
+# scripts and plug-ins.
+SET(
+ DG_IMPORT_DEFAULT_PATHS
+ "${CMAKE_INSTALL_PREFIX}/share/dynamic-graph/script:${CMAKE_INSTALL_PREFIX}/${PLUGINDIR}"
+ )
CONFIGURE_FILE(
${PROJECT_NAME}/import-default-paths.h.cmake
diff --git a/include/dynamic-graph/import.h b/include/dynamic-graph/import.h
index 6a9713cb22ccd839d75f7325fda4fd0e02267c4c..8566df45b4bef5e74c586ba77f653f97f4932a9f 100644
--- a/include/dynamic-graph/import.h
+++ b/include/dynamic-graph/import.h
@@ -21,6 +21,8 @@
# include <string>
# include <vector>
+# include <boost/filesystem/path.hpp>
+
namespace dynamicgraph
{
class Interpreter;
@@ -28,7 +30,13 @@ namespace dynamicgraph
{
namespace
{
- extern std::vector<std::string> importPaths;
+ /// \brief Vector of Boost.Filesystem paths.
+ ///
+ /// Used to store paths where the import statement
+ /// will look for scripts or plug-ins.
+ typedef std::vector<boost::filesystem::path> paths_t;
+
+ extern paths_t importPaths;
} // end of anonymous namespace.
/// \brief Implement sot interpretor import command.
diff --git a/src/dgraph/import.cpp b/src/dgraph/import.cpp
index d2e3f91fddb7cb2e25887badad1029897012cac9..e345057a8598aff5062bbfbe8633850bc451f589 100644
--- a/src/dgraph/import.cpp
+++ b/src/dgraph/import.cpp
@@ -27,15 +27,17 @@
#include <vector>
#include <boost/algorithm/string.hpp>
+#include <boost/filesystem.hpp>
#include <boost/foreach.hpp>
#include <boost/format.hpp>
-#include <dynamic-graph/import-default-paths.h>
-#include <dynamic-graph/import.h>
#include <dynamic-graph/debug.h>
#include <dynamic-graph/exception-abstract.h>
#include <dynamic-graph/exception-factory.h>
+#include <dynamic-graph/import-default-paths.h>
+#include <dynamic-graph/import.h>
#include <dynamic-graph/interpreter.h>
+#include <dynamic-graph/plugin-loader.h>
// The default import paths has to be passed from the build system
// as a -D flag for instance.
@@ -47,6 +49,16 @@
static const char* ENV_DG_PATH = "DG_PATH";
+
+// Define OS specific extensions for shared libraries.
+#ifdef _WIN32
+static const char* SHARED_LIBRARY_EXT = ".dll";
+#elif __APPLE__
+static const char* SHARED_LIBRARY_EXT = ".dylib";
+#else
+static const char* SHARED_LIBRARY_EXT = ".so";
+#endif
+
namespace dynamicgraph
{
namespace command
@@ -54,7 +66,7 @@ namespace dynamicgraph
namespace
{
/// Initialize import paths list (called during static initialization).
- std::vector<std::string> initializePaths ();
+ paths_t initializePaths ();
/// \brief Import paths list.
///
@@ -64,33 +76,28 @@ namespace dynamicgraph
///
/// The look-up is made from right to left:
///
+ /// On Unix:
/// importPaths = A:B:C
+ /// On Microsoft Windows:
+ /// importPaths = A;B;C
///
/// When typing ``import foo'', C will be searched first then B
/// and A. The search stops when the file is found.
- std::vector<std::string> importPaths = initializePaths ();
+ paths_t importPaths = initializePaths ();
/// Search for a module.
///
/// Returns the module full absolute path or an empty string if
/// it cannot be found.
- std::string searchModule (const std::string& module);
+ boost::filesystem::path searchModule (const std::string& module);
- /// \brief Remove quotes form a string.
+ /// \brief Remove quotes from a string.
///
/// Transform strings such as "foo" or 'foo' into foo.
void removeQuotes (std::string& msg);
- std::vector<std::string> initializePaths ()
+ paths_t initializePaths ()
{
- std::vector<std::string> importPaths;
- importPaths.push_back (DG_IMPORT_DEFAULT_PATHS);
-
- // Search for the environment variable value.
- char* ScriptPath = getenv (ENV_DG_PATH);
- if (!ScriptPath)
- return importPaths;
-
// Split the environment variable.
std::string environmentSeparator;
@@ -102,45 +109,136 @@ namespace dynamicgraph
environmentSeparator = ":";
#endif // defined _WIN32 || defined __CYGWIN__
+
+ // Declare variables that will be returned.
+ paths_t importPaths;
+
+ // Split the built-in values.
+ std::vector<std::string> splittedDefaultPaths;
+ boost::split (splittedDefaultPaths,
+ DG_IMPORT_DEFAULT_PATHS,
+ boost::is_any_of (environmentSeparator));
+
+ // Insert them back.
+ {
+ std::back_insert_iterator<paths_t> bi (importPaths);
+ std::copy (splittedDefaultPaths.begin (),
+ splittedDefaultPaths.end (), bi);
+ }
+
+ // Search for the environment variable value.
+ char* ScriptPath = getenv (ENV_DG_PATH);
+ if (!ScriptPath)
+ return importPaths;
+
std::vector<std::string> splittedEnvironmentVariable;
boost::split (splittedEnvironmentVariable, ScriptPath,
boost::is_any_of (environmentSeparator));
- // Insert it back.
- std::back_insert_iterator<std::vector<std::string> > bi (importPaths);
- std::copy (splittedEnvironmentVariable.begin (),
- splittedEnvironmentVariable.end (), bi);
+ // Insert it back
+ std::back_insert_iterator<paths_t> bi (importPaths);
+ std::copy (splittedEnvironmentVariable.begin (),
+ splittedEnvironmentVariable.end (), bi);
return importPaths;
}
- std::string searchModule (const std::string& module)
+ boost::filesystem::path searchModule (const std::string& module)
{
- // Make sure the traversal is right to left to enforce
- // correct priorities.
- typedef std::vector<std::string>::const_reverse_iterator citer_t;
- for (citer_t it = importPaths.rbegin ();
- it != importPaths.rend (); ++it)
+ // To ensure correct priorities, the traversal has to
+ // done left to right.
+ typedef paths_t::const_iterator citer_t;
+ for (citer_t it = importPaths.begin ();
+ it != importPaths.end (); ++it)
{
- const std::string& path = *it;
+ const boost::filesystem::path& dir = *it;
+ if (!boost::filesystem::is_directory (dir))
+ continue;
+
+ boost::filesystem::path path = dir / module;
+ boost::filesystem::path pathPlugin = path;
+ pathPlugin.replace_extension (SHARED_LIBRARY_EXT);
+
+ if (boost::filesystem::exists (pathPlugin)
+ && (boost::filesystem::is_regular_file (pathPlugin)
+ || boost::filesystem::is_symlink (pathPlugin)))
+ return pathPlugin;
+
+ if (boost::filesystem::exists (path)
+ && (boost::filesystem::is_regular_file (path)
+ || boost::filesystem::is_symlink (path)))
+ return path;
+ }
+
+ return boost::filesystem::path ();
+ }
- assert (!path.empty ());
+ void removeQuotes (std::string& msg)
+ {
+ if ((msg[0] == '"' && msg[msg.length () - 1] == '"')
+ || (msg[0] == '\'' && msg[msg.length () - 1] == '\''))
+ msg = msg.substr (1, msg.length () - 2);
+ }
- std::string filename (path);
- if (filename[filename.length () - 1] != '/')
- filename += "/";
- filename += module;
- std::ifstream file (filename.c_str ());
- if (file.is_open () && file.good ())
- return filename;
+ void importScript (dynamicgraph::Interpreter& interpreter,
+ const boost::filesystem::path& path,
+ std::ifstream& file,
+ std::ostream& os)
+ {
+ int lineIdx = 0;
+ try
+ {
+ while (file.good ())
+ {
+ dgDEBUGIN (15);
+ ++lineIdx;
+
+ std::string line;
+ std::getline (file, line);
+ if (line.empty ())
+ continue;
+
+ std::istringstream iss (line);
+ std::string currentCmdName;
+ std::string currentCmdArgs;
+ if (iss >> currentCmdName)
+ {
+ std::getline (iss, currentCmdArgs);
+ boost::format fmt ("Run ``%1%'' with args ``%2%''");
+ fmt % currentCmdName % currentCmdArgs;
+ dgDEBUG(25) << fmt.str () << std::endl;
+ std::istringstream issArgs (currentCmdArgs);
+ interpreter.cmd (currentCmdName, issArgs, os);
+ }
+ dgDEBUGOUT (15);
+ }
+ }
+ catch (ExceptionAbstract& exc)
+ {
+ // FIXME: come on...
+ std::string& msg =
+ const_cast<std::string&> (exc.getStringMessage ());
+ boost::format fmt (" (in line %1% of file ``%2%'')");
+ fmt % lineIdx % path.file_string ();
+ msg = msg + fmt.str ();
+ std::cout << msg << std::endl;
+ throw;
}
- return std::string ();
}
- void removeQuotes (std::string& msg)
+ void importPlugin (dynamicgraph::Interpreter& interpreter,
+ const boost::filesystem::path& path,
+ std::ostream&)
{
- if ((msg[0] == '"' && msg[msg.length () - 1] == '"')
- || (msg[0] == '\'' && msg[msg.length () - 1] == '\''))
- msg = msg.substr (1, msg.length () - 2);
+ if (!interpreter.dlPtr)
+ {
+ DG_THROW ExceptionFactory
+ (ExceptionFactory::DYNAMIC_LOADING,
+ "No plug-in loader available.");
+ return;
+ }
+ interpreter.dlPtr->addPlugin (path.filename (),
+ path.parent_path ().file_string ());
+ interpreter.dlPtr->loadPlugins ();
}
} // end of anonymous namespace.
@@ -167,23 +265,26 @@ namespace dynamicgraph
// Get rid of quotes.
removeQuotes (module);
- std::string filename = searchModule (module);
- std::ifstream file (filename.c_str ());
- if (filename.empty () || !file.is_open () || !file.good ())
+ // Get the absolute path of the module.
+ boost::filesystem::path path = searchModule (module);
+
+ std::ifstream file (path.file_string ().c_str ());
+ if (!boost::filesystem::is_regular_file (path)
+ || !file.is_open () || !file.good ())
{
std::string scriptDirectories;
- if (importPaths.empty ())
+ if (importPaths.empty ())
scriptDirectories = "empty";
else
{
- BOOST_FOREACH (const std::string& path, importPaths)
+ BOOST_FOREACH (const boost::filesystem::path& path, importPaths)
{
- scriptDirectories += path;
+ scriptDirectories += path.file_string ();
scriptDirectories += ", ";
}
scriptDirectories = scriptDirectories.substr
- (0, scriptDirectories.length () - 2);
+ (0, scriptDirectories.length () - 2);
}
boost::format fmt
@@ -191,48 +292,14 @@ namespace dynamicgraph
fmt % module;
fmt % scriptDirectories;
DG_THROW ExceptionFactory
- (ExceptionFactory::READ_FILE, fmt.str ());
+ (ExceptionFactory::READ_FILE, fmt.str ());
return;
}
- int lineIdx = 0;
- try
- {
- while (file.good ())
- {
- ++lineIdx;
- dgDEBUGIN (15);
-
- std::string line;
- std::getline (file, line);
- if (line.empty ())
- continue;
-
- std::istringstream iss (line);
- std::string currentCmdName;
- std::string currentCmdArgs;
- if (iss >> currentCmdName)
- {
- std::getline (iss, currentCmdArgs);
- boost::format fmt ("Run ``%1%'' with args ``%2%''");
- fmt % currentCmdName % currentCmdArgs;
- dgDEBUG(25) << fmt.str () << std::endl;
- std::istringstream issArgs (currentCmdArgs);
- interpreter.cmd (currentCmdName, issArgs, os);
- }
- dgDEBUGOUT (15);
- }
- }
- catch (ExceptionAbstract& exc)
- {
- // FIXME: come on...
- std::string& msg = const_cast<std::string&> (exc.getStringMessage ());
- boost::format fmt (" (in line %1% of file ``%2%'')");
- fmt % lineIdx % filename;
- msg = msg + fmt.str ();
- std::cout << msg << std::endl;
- throw;
- }
+ if (path.extension () != SHARED_LIBRARY_EXT)
+ importScript (interpreter, path, file, os);
+ else
+ importPlugin (interpreter, path, os);
dgDEBUGOUT(15);
}
@@ -266,8 +333,8 @@ namespace dynamicgraph
<< std::endl;
return;
}
- if (!importPaths.empty ())
- importPaths.pop_back ();
+ if (!importPaths.empty ())
+ importPaths.pop_back ();
}
} // end of namespace command.
diff --git a/tests/data/empty.sot b/tests/data/empty.dg
similarity index 100%
rename from tests/data/empty.sot
rename to tests/data/empty.dg
diff --git a/tests/interpreter.cpp b/tests/interpreter.cpp
index 477fa53a03cfac060461aa8e45f3e40c8b1657ad..1412cc1b1af412fd740d864c2ff5520797e482ee 100644
--- a/tests/interpreter.cpp
+++ b/tests/interpreter.cpp
@@ -113,7 +113,7 @@ BOOST_AUTO_TEST_CASE (cmd_help)
BOOST_AUTO_TEST_CASE (cmd_run_emptyfile)
{
dynamicgraph::Interpreter shell;
- RUN_COMMAND ("run", TESTS_DATADIR "/empty.sot");
+ RUN_COMMAND ("run", TESTS_DATADIR "/empty.dg");
BOOST_CHECK (output.is_empty ());
}
@@ -164,7 +164,7 @@ BOOST_AUTO_TEST_CASE (cmd_import_push)
// Import empty file.
{
- RUN_COMMAND ("import", "empty.sot");
+ RUN_COMMAND ("import", "empty.dg");
BOOST_CHECK (output.is_empty ());
}
@@ -175,11 +175,11 @@ BOOST_AUTO_TEST_CASE (cmd_import_push)
}
// Import empty file again: this will fail
- // as empty.sot is *NOT* in a standard location.
+ // as empty.dg is *NOT* in a standard location.
{
output_test_stream output;
std::stringstream ss;
- ss << "empty.sot";
+ ss << "empty.dg";
std::istringstream args (ss.str ());
// Make sure this trigger an error.