bugfix

genericactiondepotlib/CMakeLists.txt

@@ -21,6 +21,7 @@ set_target_properties(${PROJECT_NAME} PROPERTIES PREFIX "")
 target_include_directories(${PROJECT_NAME} PRIVATE ${PROJECT_SOURCE_DIR}/src ${PROJECT_SOURCE_DIR}/../src)
 
 target_link_libraries(${PROJECT_NAME} BlockTestCore ${Boost_LIBRARIES} Pugixml::Pugixml)
+
 # Add install target
 set_target_properties(${PROJECT_NAME} PROPERTIES LIBRARY_OUTPUT_DIRECTORY "${CMAKE_BINARY_DIR}/${CMAKE_INSTALL_BINDIR}/${PROJECT_NAME}")
 install(TARGETS ${PROJECT_NAME} LIBRARY DESTINATION ${CMAKE_INSTALL_BINDIR}/${PROJECT_NAME})

genericactiondepotlib/src/genericActionDepotStart.cpp

@@ -37,14 +37,14 @@ void Start(char* data,char* name)
 {
     if(data)
     {
-        TXLOG(Severity::info)<<"Library start called:"<<data<<std::endl;
+        //TXLOG(Severity::info)<<"Library start called:"<<data<<std::endl;
         start.configure(data,name);
     }
 }
 
 void Stop(char* data,char* name)
 {
-    TXLOG(Severity::info)<<"Library stop called:"<<std::endl;
+    //TXLOG(Severity::info)<<"Library stop called:"<<std::endl;
 }
 
 

src/clockFacility.cpp

@@ -34,7 +34,7 @@ bool ClockFacility::wait(double value) const
 
         CommandAttributes commandAttributes{{"command","wait"},{"seconds",std::to_string(value)},{"reporterror","false"}};
 
-        auto action=(call)(commandAttributes,nullptr);
+        auto action=(call)(commandAttributes,"");
         action->execute(0);
     }
     else
@@ -58,7 +58,7 @@ std::string ClockFacility::now() const
 
         CommandAttributes commandAttributes{{"command","wait"},{"reporterror","false"}};
 
-        auto action=(call)(commandAttributes,nullptr);
+        auto action=(call)(commandAttributes,"");
         std::stringstream ss;
         ss<<std::setfill('0')<<std::setw(8)<<std::setprecision(4)<<action->getDouble();
         return ss.str();

src/libraryLoader.cpp

@@ -31,6 +31,7 @@ LibraryLoader::LibraryLoader()
 
 bool LibraryLoader::load(const std::string& path)
 {
+    TXLOG(Severity::debug)<<"LibraryLoader constructor"<<std::endl;
     std::string completePath;
     if(!path.empty())
         completePath=path+"/"+testName_;
@@ -47,26 +48,24 @@ bool LibraryLoader::load(const std::string& path)
         pugi::xpath_node nodeLibrary = *it;
         std::string currentPath=nodeLibrary.node().attribute("path").as_string();
         std::string libraryName=nodeLibrary.node().attribute("name").as_string();
-        TXLOG(Severity::info)<<"Try load lib:"<<currentPath<<std::endl;
+        std::string extension;
+#ifdef _WIN32
+        extension=".dll";
+#else                
+        extension=".so";
+#endif        
+        TXLOG(Severity::info)<<"Try load lib:"<<currentPath<<extension<<std::endl;
 
         try
         {
-            void* handle = dlopen(currentPath.c_str(), RTLD_LAZY);
-            if (!handle) {
-                /* fail to load the library */
-                fprintf(stderr, "Error: %s\n", dlerror());
-                return EXIT_FAILURE;
-            }
-
-
             boost::function<funcptr> startFunction =  boost::dll::import<funcptr>(
-                currentPath,
+                currentPath+extension,
                 "Start",
                 boost::dll::load_mode::rtld_lazy
                 );
 
             boost::function<funcptr> stopFunction = boost::dll::import<funcptr>(
-                currentPath,
+                currentPath+extension,
                 "Stop",
                 boost::dll::load_mode::rtld_lazy
                 );
@@ -77,17 +76,17 @@ bool LibraryLoader::load(const std::string& path)
                 startFunction((char*)completePath.c_str(),(char*)libraryName.c_str());    
         }
         catch(boost::exception const& e) {
-            std::cout<<"xxxxxxxxxxxxxxxxxxx"<<boost::diagnostic_information(e, true)<<std::endl;
-            TXLOG(Severity::critical)<<"Custom lib:"<<currentPath<<" error missing Start/Stop function in lib----"<<boost::diagnostic_information(e, true)<<std::endl;
+            TXLOG(Severity::critical)<<"Custom lib:"<<currentPath<<extension<<" error missing Start/Stop function in lib----"<<boost::diagnostic_information(e, true)<<std::endl;
             return false;
         }
-        TXLOG(Severity::info)<<"Custom ok:"<<currentPath<<std::endl;
+        TXLOG(Severity::info)<<"Load lib ok:"<<currentPath<<extension<<std::endl;
     }
     return true;
 }
 
 LibraryLoader::~LibraryLoader()
 {
+    TXLOG(Severity::debug)<<"LibraryLoader destructor"<<std::endl;
     for(auto current:stopFunction_)
     {
         if(current)

src/testsDepot.cpp

@@ -30,8 +30,6 @@ TestsDepot::~TestsDepot()
 
 bool TestsDepot::load(const std::string& path)
 {
-    TXLOG(Severity::info)<<"Try load library"<<std::endl;
-
     std::string completePath;
     if(!path.empty())
         completePath=path+"/"+testName_;

test/test.xml

@@ -1,8 +1,8 @@
 <?xml version="1.0"?>
 <testlist repetitions="1">
 	<settings robotname="icubSim" realrobot="false" onlysimcommands="yarpcheckrobotisvertical checkRobot yarpreset applyForce" netclock="true" neverexecutecommands="" logseverity="debug" loggingtime="0.01" tablename="test/tables/main.tab" waitcommand="yarpwait" nowcommand="yarpnow" loggingcommand="infologgeryarp" />
-	<library enabled="true" path="genericactiondepot/genericactiondepot.so" name="genericactiondepot" note="System generic action library" />
-	<library enabled="true" path="yarpactiondepot/yarpactiondepot.so" name="yarpactiondepot" note="Yarp action library" />
+	<library enabled="true" path="genericactiondepot/genericactiondepot" name="genericactiondepot" note="System generic action library" />
+	<library enabled="true" path="yarpactiondepot/yarpactiondepot" name="yarpactiondepot" note="Yarp action library" />
 	<librarysettings enabled="true" name="genericactiondepot" />
 	<librarysettings enabled="true" name="yarpactiondepot" wrappername="/right_leg /left_leg /torso /head /right_arm /left_arm" />
 	<test file="test/0001.xml" repetitions="0" code="0001" />
@@ -14,7 +14,7 @@
 	<prerequisite enabled="true" command="yarpserver" waitafter="5000" param="--silent" prefix="" kill="true" />
 	<prerequisite enabled="false" command="gzserver" waitafter="5000" param="--verbose -e ode --profile ode_default -slibgazebo_yarp_clock.so icub.world" prefix="" kill="true" />
 	<prerequisite enabled="true" command="gzserver" waitafter="5000" param="--verbose -e ode --profile ode_default -slibgazebo_yarp_clock.so icub_fixed.world" prefix="" kill="true" />
-	<prerequisite enabled="true" command="gzclient" waitafter="5000" param="" prefix="" kill="true" />
+	<prerequisite enabled="false" command="gzclient" waitafter="5000" param="" prefix="" kill="true" />
 	<prerequisite enabled="false" command="yarpdev" waitafter="5000" param="--device transformServer --ROS::enable_ros_publisher 1 --ROS::enable_ros_subscriber 1 --transforms_lifetime 0.5" prefix="YARP_CLOCK=/clock" kill="true" />
 	<prerequisite enabled="false" command="yarprobotinterface" waitafter="5000" param="--config main-fbe.xml" prefix="" kill="true" />
 	<prerequisite enabled="false" command="roslaunch" waitafter="5000" param="icub robotStatePublisher.launch" prefix="" kill="true" />

yarpactiondepotlib/CMakeLists.txt

@@ -48,7 +48,7 @@ add_library(${PROJECT_NAME} MODULE ${allSrc})
 set_target_properties(${PROJECT_NAME} PROPERTIES PREFIX "")
 
 target_include_directories(${PROJECT_NAME} PRIVATE ${YARP_HELPERS_INCLUDE_DIR} ${PROJECT_SOURCE_DIR}/src ${PROJECT_SOURCE_DIR}/../src)
-target_link_libraries(${PROJECT_NAME} PRIVATE BlockTestCore YARP::YARP_OS YARP::YARP_init YARP::YARP_dev YARP::YARP_conf YARP::YARP_sig YARP::YARP_math YARP::YARP_rosmsg ClockRpc Pugixml::Pugixml)
+target_link_libraries(${PROJECT_NAME} PRIVATE BlockTestCore ${Boost_LIBRARIES} YARP::YARP_OS YARP::YARP_init YARP::YARP_dev YARP::YARP_conf YARP::YARP_sig YARP::YARP_math YARP::YARP_rosmsg ClockRpc Pugixml::Pugixml)
 
 # Add install target
 set_target_properties(${PROJECT_NAME} PROPERTIES LIBRARY_OUTPUT_DIRECTORY "${CMAKE_BINARY_DIR}/${CMAKE_INSTALL_BINDIR}/${PROJECT_NAME}")

yarpactiondepotlib/src/yarpActionDepotStart.cpp

@@ -20,6 +20,7 @@
 #include "pugixml.hpp"
 
 static YarpActionDepotStart start;
+std::string YarpActionDepotStart::robotName_{""};
 std::map<std::string,PolyDriver_sptr> YarpActionDepotStart::polyDriverDepot_;
 
 YarpActionDepotStart::YarpActionDepotStart()