Simplify dl_wrapper

g2o/apps/g2o_cli/CMakeLists.txt

@@ -25,17 +25,6 @@ add_executable(g2o_cli_application
 
 target_link_libraries(g2o_cli_application g2o_cli_library)
 
-set_property(TARGET g2o_cli_library APPEND PROPERTY COMPILE_DEFINITIONS $<$<CONFIG:Debug>:G2O_LIBRARY_POSTFIX="${CMAKE_DEBUG_POSTFIX}">)
-set_property(TARGET g2o_cli_library APPEND PROPERTY COMPILE_DEFINITIONS $<$<CONFIG:RelWithDebInfo>:G2O_LIBRARY_POSTFIX="${CMAKE_RELWITHDEBINFO_POSTFIX}">)
-set_property(TARGET g2o_cli_library APPEND PROPERTY COMPILE_DEFINITIONS $<$<CONFIG:MinSizeRel>:G2O_LIBRARY_POSTFIX="${CMAKE_MINSIZEREL_POSTFIX}">)
-
-#if(POLICY CMP0043)
-#cmake_policy(SET CMP0043 OLD)
-#endif()
-#set_property(TARGET g2o_cli_library APPEND PROPERTY COMPILE_DEFINITIONS_DEBUG          G2O_LIBRARY_POSTFIX="${CMAKE_DEBUG_POSTFIX}")
-#set_property(TARGET g2o_cli_library APPEND PROPERTY COMPILE_DEFINITIONS_RELWITHDEBINFO G2O_LIBRARY_POSTFIX="${CMAKE_RELWITHDEBINFO_POSTFIX}")
-#set_property(TARGET g2o_cli_library APPEND PROPERTY COMPILE_DEFINITIONS_MINSIZEREL     G2O_LIBRARY_POSTFIX="${CMAKE_MINSIZEREL_POSTFIX}")
-
 set_target_properties(g2o_cli_application PROPERTIES OUTPUT_NAME g2o)
 
 install(TARGETS g2o_cli_library g2o_cli_application

g2o/apps/g2o_cli/dl_wrapper.cpp

@@ -30,10 +30,9 @@
 
 #include <algorithm>
 #include <cstdio>
-#include <iostream>
 
 #include "g2o/stuff/filesys_tools.h"
-#include "g2o/stuff/macros.h"
+#include "g2o/stuff/logger.h"
 
 #if defined(UNIX) || defined(CYGWIN)
 #include <dlfcn.h>
@@ -62,6 +61,7 @@ DlWrapper::~DlWrapper() {
 
 int DlWrapper::openLibraries(const std::string& directory,
                              const std::string& pattern) {
+  G2O_TRACE("Loading libraries from {} pattern {}", directory, pattern);
   // cerr << "# loading libraries from " << directory << "\t pattern: " <<
   // pattern << endl;
   string searchPattern = directory + "/" + pattern;
@@ -75,23 +75,8 @@ int DlWrapper::openLibraries(const std::string& directory,
         _filenames.end())
       continue;
 
-      // If we are doing a release build, the wildcards will pick up the
-      // suffixes; unfortunately the "_rd" extension means that we
-      // don't seem to be able to filter out the incompatible files using a
-      // wildcard expansion to wordexp.
-
-#ifndef G2O_LIBRARY_POSTFIX
-    if ((filename.rfind(string("_d.") + SO_EXT) ==
-         filename.length() - 3 - SO_EXT_LEN) ||
-        (filename.rfind(string("_rd.") + SO_EXT) ==
-         filename.length() - 4 - SO_EXT_LEN) ||
-        (filename.rfind(string("_s.") + SO_EXT) ==
-         filename.length() - 3 - SO_EXT_LEN))
-      continue;
-#endif
-
     // open the lib
-    // cerr << "loading " << filename << endl;
+    G2O_TRACE("Loading {}", filename);
     if (openLibrary(filename)) numLibs++;
   }
 
@@ -116,16 +101,18 @@ bool DlWrapper::openLibrary(const std::string& filename) {
 #if defined(UNIX) || defined(CYGWIN)
   void* handle = dlopen(filename.c_str(), RTLD_LAZY);
   if (!handle) {
-    cerr << __PRETTY_FUNCTION__ << " Cannot open library: " << dlerror()
-         << '\n';
+    G2O_ERROR("Cannot open library: {} Error: {}", filename, dlerror());
     return false;
   }
 #elif defined(WINDOWS)
   HMODULE handle = LoadLibrary(filename.c_str());
   if (!handle) {
-    cerr << __PRETTY_FUNCTION__ << " Cannot open library." << endl;
+    G2O_ERROR("Cannot open library: {}", filename);
     return false;
   }
+#else
+#warning "No implementation for openLibrary found"
+  return false;
 #endif
 
   // cerr << "loaded " << filename << endl;

g2o/apps/g2o_cli/dl_wrapper.h

@@ -48,6 +48,12 @@ class G2O_CLI_API DlWrapper {
   DlWrapper();
   virtual ~DlWrapper();
 
+  /**
+   * it's not allowed to draw a copy of the wrapper
+   */
+  DlWrapper(const DlWrapper&) = delete;
+  DlWrapper& operator=(const DlWrapper&) = delete;
+
   /**
    * open all libs from a directory matching a specific pattern.
    * @return number of loaded libs
@@ -72,13 +78,6 @@ class G2O_CLI_API DlWrapper {
   std::vector<HMODULE> _handles;
 #endif
   std::vector<std::string> _filenames;
-
- private:
-  /**
-   * it's not allowed to draw a copy of the wrapper
-   */
-  DlWrapper(const DlWrapper&);
-  DlWrapper& operator=(const DlWrapper&);
 };
 
 }  // namespace g2o

g2o/apps/g2o_cli/g2o_common.cpp

@@ -27,13 +27,13 @@
 #include "g2o_common.h"
 
 #include <cstdlib>
-#include <iostream>
+#include <string_view>
 #include <vector>
 
 #include "dl_wrapper.h"
 #include "g2o/stuff/filesys_tools.h"
+#include "g2o/stuff/logger.h"
 #include "g2o/stuff/string_tools.h"
-using namespace ::std;
 
 /*
  * setting up the library filename patterns for the different OS
@@ -71,23 +71,13 @@ HMODULE getMyInstance() {
 }
 #endif
 
-// This can occur if we are doing a release build, and the release
-// postfix is empty
-#ifndef G2O_LIBRARY_POSTFIX
-#define G2O_LIBRARY_POSTFIX ""
-#endif
-
-static const string TYPES_PATTERN = string("*_types_*") +
-                                    string(G2O_LIBRARY_POSTFIX) + string(".") +
-                                    string(SO_EXT);
-static const string SOLVERS_PATTERN = string("*_solver_*") +
-                                      string(G2O_LIBRARY_POSTFIX) +
-                                      string(".") + string(SO_EXT);
+static constexpr std::string_view TYPES_PATTERN = "*_types_*." SO_EXT;
+static constexpr std::string_view SOLVERS_PATTERN = "*_solver_*." SO_EXT;
 
 namespace g2o {
 
-void findArguments(const std::string& option, vector<string>& args, int argc,
-                   char** argv) {
+void findArguments(const std::string& option, std::vector<std::string>& args,
+                   int argc, char** argv) {
   args.clear();
   for (int i = 0; i < argc; ++i) {
     if (argv[i] == option && i + 1 < argc) {
@@ -98,7 +88,7 @@ void findArguments(const std::string& option, vector<string>& args, int argc,
 
 void loadStandardTypes(DlWrapper& dlTypesWrapper, int argc, char** argv) {
   char* envTypesPath = getenv("G2O_TYPES_DIR");
-  string typesPath;
+  std::string typesPath;
 
   if (envTypesPath != NULL) {
     typesPath = envTypesPath;
@@ -117,24 +107,23 @@ void loadStandardTypes(DlWrapper& dlTypesWrapper, int argc, char** argv) {
 #endif
   }
 
-  vector<string> paths = strSplit(typesPath, PATH_SEPARATOR);
-  for (vector<string>::const_iterator it = paths.begin(); it != paths.end();
-       ++it) {
-    if (it->size() > 0) dlTypesWrapper.openLibraries(*it, TYPES_PATTERN);
+  std::vector<std::string> paths = strSplit(typesPath, PATH_SEPARATOR);
+  for (const auto& path : paths) {
+    if (!path.empty())
+      dlTypesWrapper.openLibraries(path, std::string(TYPES_PATTERN));
   }
 
-  vector<string> libs;
+  std::vector<std::string> libs;
   if (argc > 0 && argv != 0) findArguments("-typeslib", libs, argc, argv);
-  for (vector<string>::const_iterator it = libs.begin(); it != libs.end();
-       ++it) {
-    cerr << "Loading types " << *it << endl;
-    dlTypesWrapper.openLibrary(*it);
+  for (const auto& lib : libs) {
+    G2O_INFO("Loading types {}", lib);
+    dlTypesWrapper.openLibrary(lib);
   }
 }
 
 void loadStandardSolver(DlWrapper& dlSolverWrapper, int argc, char** argv) {
   char* envSolversPath = getenv("G2O_SOLVERS_DIR");
-  string solversPath = G2O_DEFAULT_SOLVERS_DIR_;
+  std::string solversPath = G2O_DEFAULT_SOLVERS_DIR_;
 
   if (envSolversPath != NULL) {
     solversPath = envSolversPath;
@@ -152,18 +141,17 @@ void loadStandardSolver(DlWrapper& dlSolverWrapper, int argc, char** argv) {
 #endif
   }
 
-  vector<string> paths = strSplit(solversPath, PATH_SEPARATOR);
-  for (vector<string>::const_iterator it = paths.begin(); it != paths.end();
-       ++it) {
-    if (it->size() > 0) dlSolverWrapper.openLibraries(*it, SOLVERS_PATTERN);
+  std::vector<std::string> paths = strSplit(solversPath, PATH_SEPARATOR);
+  for (const auto& path : paths) {
+    if (!path.empty())
+      dlSolverWrapper.openLibraries(path, std::string(SOLVERS_PATTERN));
   }
 
-  vector<string> libs;
+  std::vector<std::string> libs;
   if (argc > 0 && argv != 0) findArguments("-solverlib", libs, argc, argv);
-  for (vector<string>::const_iterator it = libs.begin(); it != libs.end();
-       ++it) {
-    cerr << "Loading solver " << *it << endl;
-    dlSolverWrapper.openLibrary(*it);
+  for (const auto& lib : libs) {
+    G2O_INFO("Loading solver {}", lib);
+    dlSolverWrapper.openLibrary(lib);
   }
 }