apollo::cyber::plugin_manager::PluginManager类 参考

#include <plugin_manager.h>

apollo::cyber::plugin_manager::PluginManager 的协作图:

Public 成员函数
	~PluginManager ()
bool	ProcessPluginDescriptionFile (const std::string &file_path, std::string *library_path)
	parse plugin description file and load the library TODO(liangjinping): parse description to struct
bool	LoadPlugin (const std::string &plugin_description_file_path)
	load plugin clases from file
template<typename Base >
std::shared_ptr< Base >	CreateInstance (const std::string &derived_class)
	create plugin instance of derived class based on Base
bool	FindPluginIndexAndLoad (const std::string &plugin_index_path)
	find plugin index file and load plugins
bool	LoadInstalledPlugins ()
	load plugins from installed path
template<typename Base >
std::string	GetPluginClassHomePath (const std::string &class_name)
	@bried get plugin description file location that class belongs to
template<typename Base >
std::string	GetPluginConfPath (const std::string &class_name, const std::string &conf_name)
	get plugin configuration file location
bool	LoadLibrary (const std::string &library_path)
	load library of plugin
template<typename Base >
bool	IsLibraryLoaded (const std::string &class_name)
	check if library of plugin is loaded
template<typename Base >
bool	CheckAndLoadPluginLibrary (const std::string &class_name)
	check if library of plugin is loaded, and load it if not
template<typename Base >
std::vector< std::string >	GetDerivedClassNameByBaseClass ()
	Get all derived class name by base class name

静态 Public 成员函数
static PluginManager *	Instance ()
	get singleton instance of PluginManager

详细描述

在文件 plugin_manager.h 第 37 行定义.

构造及析构函数说明

~PluginManager()

PluginManager::~PluginManager

(

)

在文件 plugin_manager.cc 第 39 行定义.

{}

成员函数说明

CheckAndLoadPluginLibrary()

template<typename Base >

bool PluginManager::CheckAndLoadPluginLibrary

(

const std::string &

class_name

)

check if library of plugin is loaded, and load it if not

参数

class_name

derived class name of plugin

返回

result of checking, true for loaded

在文件 plugin_manager.h 第 231 行定义.

                                                                         {
  if (IsLibraryLoaded<Base>(class_name)) {
    return true;
  }
  int status = 0;
  std::string base_class_name =
      abi::__cxa_demangle(typeid(Base).name(), 0, 0, &status);
  if (plugin_class_plugin_name_map_.find({class_name, base_class_name}) ==
      plugin_class_plugin_name_map_.end()) {
    // not found
    AWARN << "plugin of class " << class_name << " not found, "
          << "please check if it's registered";
    return false;
  }
  std::string plugin_name =
      plugin_class_plugin_name_map_[{class_name, base_class_name}];
  if (plugin_description_map_.find(plugin_name) ==
      plugin_description_map_.end()) {
    // not found
    AWARN << "plugin description of class " << class_name << " not found, "
          << "please check if it's loaded";
    return false;
  }
  auto plugin_description = plugin_description_map_[plugin_name];
  return LoadLibrary(plugin_description->actual_library_path_);
}

CreateInstance()

template<typename Base >

std::shared_ptr< Base > PluginManager::CreateInstance

(

const std::string &

derived_class

)

create plugin instance of derived class based on Base

参数

derived_class

class name of the derived class

返回

instance pointer

在文件 plugin_manager.h 第 150 行定义.

                                    {
  AINFO << "creating plugin instance of " << derived_class;
  if (!CheckAndLoadPluginLibrary<Base>(derived_class)) {
    AERROR << "plugin of class " << derived_class << " have not been loaded";
    return nullptr;
  }
  return class_loader_manager_.CreateClassObj<Base>(derived_class);
}

FindPluginIndexAndLoad()

bool PluginManager::FindPluginIndexAndLoad

(

const std::string &

plugin_index_path

)

find plugin index file and load plugins

参数

plugin_index_path

plugin index file directory

返回

result of loadding plugins, true for success

在文件 plugin_manager.cc 第 106 行定义.

                                        {
  std::vector<std::string> plugin_index_list;
  apollo::cyber::common::FindPathByPattern(plugin_index_path, "", DT_REG, false,
                                           &plugin_index_list);
  bool success = true;
  for (auto plugin_index : plugin_index_list) {
    std::string plugin_name = apollo::cyber::common::GetFileName(plugin_index);
    AINFO << "plugin index[" << plugin_index << "] name[" << plugin_name
          << "] found";
    if (plugin_description_map_.find(plugin_name) !=
        plugin_description_map_.end()) {
      AWARN << "plugin [" << plugin_name << "] already loaded";
      continue;
    }
 
    auto description = std::make_shared<PluginDescription>(plugin_name);
    if (!description->ParseFromIndexFile(plugin_index)) {
      success = false;
      // invalid index file
      continue;
    }
 
    // if (!class_loader_manager_.LoadLibrary(actual_library_path)) {
    //   success = false;
    //   AWARN << "plugin index[" << plugin_index << "] name[" << plugin_name
    //         << "] load failed, library[" << actual_library_path << "]
    //         invalid";
    //   continue;
    // }
    // lazy load
    plugin_loaded_map_[description->name_] = false;
    plugin_description_map_[description->name_] = description;
    for (auto& class_name_pair : description->class_name_base_class_name_map_) {
      plugin_class_plugin_name_map_[class_name_pair] = description->name_;
    }
    AINFO << "plugin index[" << plugin_index << "] name[" << description->name_
          << "] lazy load success";
  }
  return success;
}

GetDerivedClassNameByBaseClass()

template<typename Base >

std::vector< std::string > PluginManager::GetDerivedClassNameByBaseClass

(

)

Get all derived class name by base class name

返回

all derived class name of base class name

在文件 plugin_manager.h 第 259 行定义.

                                                                   {
  int status = 0;
  std::string base_class_name =
      abi::__cxa_demangle(typeid(Base).name(), 0, 0, &status);
  std::vector<std::string> derived_class_name;
  for (const auto& iter : plugin_class_plugin_name_map_) {
    if (iter.first.second == base_class_name) {
      derived_class_name.push_back(iter.first.first);
    }
  }
  return derived_class_name;
}

GetPluginClassHomePath()

template<typename Base >

std::string PluginManager::GetPluginClassHomePath

(

const std::string &

class_name

)

@bried get plugin description file location that class belongs to

参数

class_name

derived class name

返回

location of plugin description file

在文件 plugin_manager.h 第 161 行定义.

                                 {
  if (!CheckAndLoadPluginLibrary<Base>(class_name)) {
    AERROR << "plugin of class " << class_name << " have not been loaded";
    return "";
  }
  std::string library_path =
      class_loader_manager_.GetClassValidLibrary<Base>(class_name);
  if (library_path == "") {
    AWARN << "plugin of class " << class_name << " not found";
    return "";
  }
  for (auto it = plugin_description_map_.begin();
       it != plugin_description_map_.end(); ++it) {
    if (it->second->actual_library_path_ == library_path) {
      // TODO(liangjinping): remove hard code of relative prefix
      std::string relative_prefix = "share/";
      std::string relative_plugin_home_path =
          apollo::cyber::common::GetDirName(it->second->description_path_);
      if (relative_plugin_home_path.rfind(relative_prefix, 0) == 0) {
        relative_plugin_home_path =
            relative_plugin_home_path.substr(relative_prefix.size());
      }
      return relative_plugin_home_path;
    }
  }
  // not found
  return "";
}

GetPluginConfPath()

template<typename Base >

std::string PluginManager::GetPluginConfPath	(	const std::string &	class_name,
		const std::string &	conf_name
	)

get plugin configuration file location

参数

class_name	derived class name
conf_name	configuration file name

返回

location of plugin configuration file

在文件 plugin_manager.h 第 192 行定义.

                                                                         {
  std::string plugin_home_path = GetPluginClassHomePath<Base>(class_name);
  if (apollo::cyber::common::PathIsAbsolute(plugin_home_path)) {
    // can not detect the plugin relative path
    AWARN << "plugin of class " << class_name << " load from absolute path, "
          << "conf path will be relative to it's description file";
  }
 
  std::string relative_conf_path = plugin_home_path + "/" + conf_name;
  std::string actual_conf_path;
  if (apollo::cyber::common::GetFilePathWithEnv(
          relative_conf_path, "APOLLO_CONF_PATH", &actual_conf_path)) {
    return actual_conf_path;
  }
  return plugin_home_path + "/" + conf_name;
}

Instance()

PluginManager * PluginManager::Instance ( )

static

get singleton instance of PluginManager

返回

instance pointer

在文件 plugin_manager.cc 第 203 行定义.

{ return instance_; }

IsLibraryLoaded()

template<typename Base >

bool PluginManager::IsLibraryLoaded

(

const std::string &

class_name

)

check if library of plugin is loaded

参数

class_name

derived class name of plugin

返回

result of checking, true for loaded

在文件 plugin_manager.h 第 211 行定义.

                                                               {
  int status = 0;
  std::string base_class_name =
      abi::__cxa_demangle(typeid(Base).name(), 0, 0, &status);
  if (plugin_class_plugin_name_map_.find({class_name, base_class_name}) ==
      plugin_class_plugin_name_map_.end()) {
    // not found
    return false;
  }
  std::string plugin_name =
      plugin_class_plugin_name_map_[{class_name, base_class_name}];
  if (plugin_loaded_map_.find(plugin_name) == plugin_loaded_map_.end()) {
    // not found
    return false;
  }
 
  return plugin_loaded_map_[plugin_name];
}

LoadInstalledPlugins()

bool PluginManager::LoadInstalledPlugins

(

)

load plugins from installed path

返回

result of loadding plugins, true for success

在文件 plugin_manager.cc 第 148 行定义.

                                         {
  if (apollo::cyber::common::GetEnv("APOLLO_PLUGIN_SEARCH_IN_BAZEL_OUTPUT") ==
      "1") {
    AWARN << "search plugin index path under bazel-bin enabled, it may take "
             "longer time to load plugins";
    // enable scanning cyber_plugin_index path under bazel-bin
    const std::string apollo_root =
        apollo::cyber::common::GetEnv("APOLLO_ROOT_DIR");
    // TODO(infra): make it configurable or detect automatically
    const std::string bazel_bin_path = apollo_root + "/bazel-bin";
    std::vector<std::string> user_plugin_index_path_list;
    AINFO << "scanning plugin index path under " << bazel_bin_path;
    FindPlunginIndexPath(bazel_bin_path, &user_plugin_index_path_list);
    // load user plugin with higher priority
    for (auto dir : user_plugin_index_path_list) {
      AINFO << "loading user plugins from path[" << dir << "]";
      FindPluginIndexAndLoad(dir);
    }
  }
 
  std::string plugin_index_path =
      apollo::cyber::common::GetEnv("APOLLO_PLUGIN_INDEX_PATH");
  if (plugin_index_path.empty()) {
    // env not set, use default
    const std::string apollo_distribution_home =
        apollo::cyber::common::GetEnv("APOLLO_DISTRIBUTION_HOME");
    const std::string plugin_index_path =
        apollo_distribution_home + "/share/cyber_plugin_index";
  }
  AINFO << "loading plugins from APOLLO_PLUGIN_INDEX_PATH[" << plugin_index_path
        << "]";
  size_t begin = 0;
  size_t index;
  do {
    index = plugin_index_path.find(':', begin);
    auto p = plugin_index_path.substr(begin, index - begin);
    if (apollo::cyber::common::DirectoryExists(p)) {
      AINFO << "loading plugins from plugin index path[" << p << "]";
      FindPluginIndexAndLoad(p);
    } else {
      AWARN << "plugin index path[" << p << "] not exists";
    }
    begin = index + 1;
  } while (index != std::string::npos);
  return true;
}

LoadLibrary()

bool PluginManager::LoadLibrary

(

const std::string &

library_path

)

load library of plugin

参数

library_path

library path

返回

result of loading library, true for success

在文件 plugin_manager.cc 第 195 行定义.

                                                             {
  if (!class_loader_manager_.LoadLibrary(library_path)) {
    AWARN << "plugin library[" << library_path << "] load failed";
    return false;
  }
  return true;
}

LoadPlugin()

bool PluginManager::LoadPlugin

(

const std::string &

plugin_description_file_path

)

load plugin clases from file

参数

pluin_description_file_path

file path

返回

result of loadding plugin, true for success

在文件 plugin_manager.cc 第 58 行定义.

                                                   {
  AINFO << "loading plugin from description[" << plugin_description_file_path
        << "]";
 
  auto description =
      std::make_shared<apollo::cyber::plugin_manager::PluginDescription>();
  if (!description->ParseFromDescriptionFile(plugin_description_file_path)) {
    return false;
  }
 
  if (plugin_description_map_.find(description->name_) !=
      plugin_description_map_.end()) {
    AWARN << "plugin [" << description->name_ << "] already loaded";
    return true;
  }
 
  if (!LoadLibrary(description->actual_library_path_)) {
    AWARN << "plugin description[" << plugin_description_file_path << "] name["
          << description->name_ << "] load failed, library["
          << description->actual_library_path_ << "] invalid";
    return false;
  }
 
  plugin_loaded_map_[description->name_] = true;
  plugin_description_map_[description->name_] = description;
  for (auto& class_name_pair : description->class_name_base_class_name_map_) {
    plugin_class_plugin_name_map_[class_name_pair] = description->name_;
  }
  AINFO << "plugin description[" << plugin_description_file_path << "] name["
        << description->name_ << "] load success";
  return true;
}

ProcessPluginDescriptionFile()

bool PluginManager::ProcessPluginDescriptionFile	(	const std::string &	file_path,
		std::string *	library_path
	)

parse plugin description file and load the library TODO(liangjinping): parse description to struct

参数

file_path

the path of plugin description file

返回

process result, true for success

在文件 plugin_manager.cc 第 41 行定义.

                                                                          {
  tinyxml2::XMLDocument doc;
  if (doc.LoadFile(file_path.c_str()) != tinyxml2::XML_SUCCESS) {
    AWARN << "fail to process file " << file_path;
    return false;
  }
  const tinyxml2::XMLElement* root = doc.RootElement();
 
  // TODO(liangjinping): parse as struct
  *library_path = root->Attribute("path");
 
  // TODO(liangjinping): parse description file and do something more
 
  return true;
}

---

该类的文档由以下文件生成:

• cyber/plugin_manager/plugin_manager.h
• cyber/plugin_manager/plugin_manager.cc