first commit

2026-01-31 17:20:07 +07:00
commit 091aad07d4
17 changed files with 6500 additions and 0 deletions
--- a/include/robot/plugin_loader_helper.h
+++ b/include/robot/plugin_loader_helper.h
@@ -0,0 +1,106 @@
+/*********************************************************************
+ *
+ * Software License Agreement (BSD License)
+ *
+ * Plugin Loader Helper for Boost.DLL
+ * Maps symbol names (export names) to library file paths
+ * Similar to plugins.xml but for boost::dll
+ *********************************************************************/
+#ifndef ROBOT_PLUGIN_LOADER_HELPER_H_
+#define ROBOT_PLUGIN_LOADER_HELPER_H_
+
+#include <string>
+#include <vector>
+#include <map>
+#include <yaml-cpp/yaml.h>
+#include <filesystem>
+#include <robot/robot.h>
+
+namespace robot
+{
+
+/**
+ * @class PluginLoaderHelper
+ * @brief Helper class to find library paths from symbol names (export names)
+ * 
+ * This class reads a YAML configuration file (similar to plugins.xml) that maps
+ * symbol names (export names used in BOOST_DLL_ALIAS) to library file paths.
+ * 
+ * Usage:
+ *   PluginLoaderHelper loader;
+ *   std::string lib_path = loader.findLibraryPath("CustomPlanner");
+ *   if (!lib_path.empty()) {
+ *     // Use lib_path with boost::dll::import_alias
+ *   }
+ */
+class PluginLoaderHelper
+{
+public:
+  /**
+   * @brief Constructor
+   */
+  PluginLoaderHelper();
+
+  /**
+   * @brief Constructor
+   * @param nh NodeHandle to read parameters from
+   * @param config_namespace Namespace in NodeHandle where plugins are stored (default: root)
+   */
+  PluginLoaderHelper(robot::NodeHandle nh, const std::string& config_namespace = "");
+
+  /**
+   * @brief Find library path from symbol name (export name)
+   * @param symbol_name The export name (e.g., "CustomPlanner", "PNKXLocalPlanner")
+   * @return Full path to the library file, or empty string if not found
+   */
+  std::string findLibraryPath(const std::string& symbol_name);
+
+  /**
+   * @brief Check if a symbol is registered
+   * @param symbol_name The export name
+   * @return True if symbol is found in config
+   */
+  bool hasSymbol(const std::string& symbol_name) const;
+
+  /**
+   * @brief Set NodeHandle and namespace for reading plugins
+   * @param nh NodeHandle to read parameters from
+   * @param config_namespace Namespace in NodeHandle where plugins are stored
+   */
+  void setNodeHandle(robot::NodeHandle nh, const std::string& config_namespace = "");
+
+  /**
+   * @brief Get all registered symbol names
+   * @return Vector of all symbol names
+   */
+  std::vector<std::string> getRegisteredSymbols() const;
+
+  /**
+   * @brief Get build directory (CMAKE_BINARY_DIR) at runtime
+   * @return Build directory path, or empty if not found
+   */
+  static std::string getBuildDirectory();
+
+  /**
+   * @brief Get workspace path at runtime
+   * @return Workspace path (e.g., /home/robotics/AGV/Diff_Wheel_Prj/t800_v2_ws), or empty if not found
+   */
+  static std::string getWorkspacePath();
+
+private:
+  /**
+   * @brief Resolve library path (handle relative paths, search in search_paths)
+   * @param library_path Path from config (may be relative or absolute)
+   * @return Resolved absolute path, or empty if not found
+   */
+  std::string resolveLibraryPath(const std::string& library_path) const;
+
+  robot::NodeHandle nh_;                    // NodeHandle to read parameters
+  std::string config_namespace_;            // Namespace for plugins in NodeHandle
+  std::vector<std::string> search_paths_;   // Search paths for libraries
+};
+
+} // namespace robot
+
+#endif // ROBOT_PLUGIN_LOADER_HELPER_H_
+