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Avoid global static objects
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@jlblancoc
jlblancoc committed May 3, 2024
1 parent 8acf538 commit 3b3c6e9
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Showing 3 changed files with 166 additions and 107 deletions.
24 changes: 16 additions & 8 deletions mola_kernel/src/interfaces/RawDataSourceBase.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -38,12 +38,21 @@ RawDataSourceBase::RawDataSourceBase() = default;

RawDataSourceBase::~RawDataSourceBase()
{
if (!gui_updater_threadpool_.pendingTasks()) return;

MRPT_LOG_INFO_STREAM(
"Dtor called while gui_updater_threadpool_ still has "
<< gui_updater_threadpool_.pendingTasks() << " tasks. Aborting them.");
gui_updater_threadpool_.clear();
if (gui_updater_threadpool_.pendingTasks())
{
MRPT_LOG_INFO_STREAM(
"Dtor called while gui_updater_threadpool_ still has "
<< gui_updater_threadpool_.pendingTasks()
<< " tasks. Aborting them.");
gui_updater_threadpool_.clear();
}
while (worker_pool_export_rawlog_.pendingTasks())
{
MRPT_LOG_THROTTLE_INFO_STREAM(
1.0, "Dtor called while worker_pool_export_rawlog_ still has "
<< worker_pool_export_rawlog_.pendingTasks()
<< " tasks. Waiting for them...");
}
}

void RawDataSourceBase::initialize(const Yaml& cfg)
Expand Down Expand Up @@ -134,7 +143,7 @@ void RawDataSourceBase::sendObservationsToFrontEnds(
if (export_to_rawlog_out_.is_open())
{
auto fut = worker_pool_export_rawlog_.enqueue(
[this](const mrpt::obs::CObservation::Ptr& o) {
[this](mrpt::obs::CObservation::Ptr o) {
if (!o) return;
auto a = mrpt::serialization::archiveFrom(
this->export_to_rawlog_out_);
Expand Down Expand Up @@ -166,7 +175,6 @@ void RawDataSourceBase::sendObservationsToFrontEnds(
ASSERTMSG_(
!vizMods.empty(),
"Could not find a running MolaViz module");

auto viz =
std::dynamic_pointer_cast<VizInterface>(vizMods.at(0));

Expand Down
235 changes: 139 additions & 96 deletions mola_launcher/apps/mola-cli.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -20,7 +20,6 @@
#include <mrpt/system/filesystem.h>

#include <csignal> // sigaction
#include <cstdlib>
#include <iostream>
#include <string>

Expand All @@ -30,80 +29,129 @@
// TODO(jlbc): win32: add SetConsoleCtrlHandler

// Declare supported cli switches ===========
static TCLAP::CmdLine cmd("mola-cli");
static TCLAP::UnlabeledValueArg<std::string> arg_yaml_cfg(
"config", "Input YAML config file (required) (*.yaml)", false, "",
"mola-system.yaml", cmd);

static TCLAP::ValueArg<std::string> arg_verbosity_level(
"v", "verbosity", "Verbosity level: ERROR|WARN|INFO|DEBUG (Default: INFO)",
false, "", "INFO", cmd);

static TCLAP::SwitchArg arg_enable_profiler(
"p", "profiler",
"Enable time profiler by default in all modules (Default: NO)", cmd);

static TCLAP::SwitchArg arg_enable_profiler_whole(
"", "profiler-whole",
"Enable whole-history time profiler in all modules (Default: NO). **DO "
"NOT** use in production, only to benchmark short runs (unbounded memory "
"usage)",
cmd);

static TCLAP::SwitchArg arg_rtti_list_all(
"", "rtti-list-all",
"Loads all MOLA modules, then list all classes registered via mrpt::rtti, "
"and exits.",
cmd);

static TCLAP::ValueArg<std::string> arg_rtti_list_children(
"", "rtti-children-of",
"Loads all MOLA modules, then list all known classes that inherit from the "
"given one, and exits.",
false, "", "mp2p_icp::ICP_Base", cmd);

static TCLAP::SwitchArg arg_list_modules(
"", "list-modules",
"Loads all MOLA modules, then list them. It also shows the list of paths "
"in which the program looks for module dynamic libraries, then exits.",
cmd);

static TCLAP::SwitchArg arg_list_module_shared_dirs(
"", "list-module-shared-dirs",
"Finds all MOLA module source/shared directories, then list them. Paths "
"can be added with the environment variable MOLA_MODULES_SHARED_PATH.",
cmd);

static TCLAP::SwitchArg arg_ros_args(
"", "ros-args",
"Dummy flag, defined just to allow the program invocation from ROS 2 "
"launch files.",
cmd);

void mola_signal_handler(int s);
void mola_install_signal_handler();

static mola::MolaLauncherApp app;
struct Cli
{
TCLAP::CmdLine cmd{"mola-cli"};
TCLAP::UnlabeledValueArg<std::string> arg_yaml_cfg{
"config",
"Input YAML config file (required) (*.yaml)",
false,
"",
"mola-system.yaml",
cmd};

TCLAP::ValueArg<std::string> arg_verbosity_level{
"v",
"verbosity",
"Verbosity level: ERROR|WARN|INFO|DEBUG (Default: INFO)",
false,
"",
"INFO",
cmd};

TCLAP::SwitchArg arg_enable_profiler{
"p", "profiler",
"Enable time profiler by default in all modules (Default: NO)", cmd};

TCLAP::SwitchArg arg_enable_profiler_whole{
"", "profiler-whole",
"Enable whole-history time profiler in all modules (Default: NO). **DO "
"NOT** use in production, only to benchmark short runs (unbounded "
"memory "
"usage)",
cmd};

TCLAP::SwitchArg arg_rtti_list_all{
"", "rtti-list-all",
"Loads all MOLA modules, then list all classes registered via "
"mrpt::rtti, "
"and exits.",
cmd};

TCLAP::ValueArg<std::string> arg_rtti_list_children{
"",
"rtti-children-of",
"Loads all MOLA modules, then list all known classes that inherit from "
"the "
"given one, and exits.",
false,
"",
"mp2p_icp::ICP_Base",
cmd};

TCLAP::SwitchArg arg_list_modules{
"", "list-modules",
"Loads all MOLA modules, then list them. It also shows the list of "
"paths "
"in which the program looks for module dynamic libraries, then exits.",
cmd};

TCLAP::SwitchArg arg_list_module_shared_dirs{
"", "list-module-shared-dirs",
"Finds all MOLA module source/shared directories, then list them. "
"Paths "
"can be added with the environment variable MOLA_MODULES_SHARED_PATH.",
cmd};

TCLAP::SwitchArg arg_ros_args{
"", "ros-args",
"Dummy flag, defined just to allow the program invocation from ROS 2 "
"launch files.",
cmd};
};

namespace
{
mola::MolaLauncherApp* theApp = nullptr;

void mola_signal_handler(int s)
{
std::cerr << "Caught signal " << s << ". Shutting down..." << std::endl;
if (theApp) theApp->shutdown();
// exit(0);
}

void mola_install_signal_handler()
{
struct sigaction sigIntHandler;

sigIntHandler.sa_handler = &mola_signal_handler;
sigemptyset(&sigIntHandler.sa_mask);
sigIntHandler.sa_flags = 0;

sigaction(SIGINT, &sigIntHandler, nullptr);
}

// Default task for mola-cli: launching a SLAM system
// -----------------------------------------------------
static int mola_cli_launch_slam()
int mola_cli_launch_slam(Cli& cli)
{
// Load YAML config file:
if (!arg_yaml_cfg.isSet())
if (!cli.arg_yaml_cfg.isSet())
{
TCLAP::ArgException e(
"mola-system.yaml is required to launch a SLAM system.");
cmd.getOutput()->failure(cmd, e);
cli.cmd.getOutput()->failure(cli.cmd, e);
return 1;
}
const auto file_yml = arg_yaml_cfg.getValue();
const auto file_yml = cli.arg_yaml_cfg.getValue();

auto cfg = mola::load_yaml_file(file_yml);

mola::MolaLauncherApp app;
theApp = &app; // for the signal handler

if (cli.arg_verbosity_level.isSet())
{
using vl = mrpt::typemeta::TEnumType<mrpt::system::VerbosityLevel>;
const auto v = vl::name2value(cli.arg_verbosity_level.getValue());
app.setVerbosityLevel(v);
}

app.profiler_.enable(
arg_enable_profiler.isSet() || arg_enable_profiler_whole.isSet());
app.profiler_.enableKeepWholeHistory(arg_enable_profiler_whole.isSet());
cli.arg_enable_profiler.isSet() ||
cli.arg_enable_profiler_whole.isSet());
app.profiler_.enableKeepWholeHistory(cli.arg_enable_profiler_whole.isSet());

// Create SLAM system:
app.setup(cfg, mrpt::system::extractFileDirectory(file_yml));
Expand All @@ -118,6 +166,9 @@ static int mola_cli_launch_slam()
// -----------------------------------------------------
int mola_cli_rtti_list_all()
{
mola::MolaLauncherApp app;
theApp = &app; // for the signal handler

app.scanAndLoadLibraries();

std::vector<const mrpt::rtti::TRuntimeClassId*> lst =
Expand All @@ -130,11 +181,14 @@ int mola_cli_rtti_list_all()

// list children of a given class:
// -----------------------------------------------------
int mola_cli_rtti_list_child()
int mola_cli_rtti_list_child(Cli& cli)
{
mola::MolaLauncherApp app;
theApp = &app; // for the signal handler

app.scanAndLoadLibraries();

const auto parentName = arg_rtti_list_children.getValue();
const auto parentName = cli.arg_rtti_list_children.getValue();

std::cout << "Listing children of class: " << parentName << "\n";

Expand All @@ -154,6 +208,9 @@ int mola_cli_rtti_list_child()

int mola_cli_list_modules()
{
mola::MolaLauncherApp app;
theApp = &app; // for the signal handler

// show paths:
std::vector<std::string> lst = app.getModuleLibPaths();
std::cout << "MOLA_MODULES_LIB_PATH has " << lst.size()
Expand All @@ -174,6 +231,9 @@ int mola_cli_list_modules()

int mola_cli_list_module_shared_dirs()
{
mola::MolaLauncherApp app;
theApp = &app; // for the signal handler

const auto mod2path_lst = app.scanForModuleSharedDirectories();

int longestName = 1;
Expand All @@ -187,33 +247,34 @@ int mola_cli_list_module_shared_dirs()
return 0;
}

} // namespace

int main(int argc, char** argv)
{
try
{
Cli cli;

// Parse arguments:
if (!cmd.parse(argc, argv)) return 1; // should exit.
if (!cli.cmd.parse(argc, argv)) return 1; // should exit.

mola_install_signal_handler();

// Define the verbosity level here so it affects all possible commands
// of mola-cli:
if (arg_verbosity_level.isSet())
{
using vl = mrpt::typemeta::TEnumType<mrpt::system::VerbosityLevel>;
const auto v = vl::name2value(arg_verbosity_level.getValue());
app.setVerbosityLevel(v);
}

// Different tasks that can be dine with mola-cli:
if (arg_rtti_list_all.isSet()) return mola_cli_rtti_list_all();
if (arg_rtti_list_children.isSet()) return mola_cli_rtti_list_child();
if (arg_list_modules.isSet()) return mola_cli_list_modules();
if (arg_list_module_shared_dirs.isSet())
if (cli.arg_rtti_list_all.isSet()) //
return mola_cli_rtti_list_all();

if (cli.arg_rtti_list_children.isSet())
return mola_cli_rtti_list_child(cli);

if (cli.arg_list_modules.isSet()) //
return mola_cli_list_modules();

if (cli.arg_list_module_shared_dirs.isSet())
return mola_cli_list_module_shared_dirs();

// Default task:
return mola_cli_launch_slam();
return mola_cli_launch_slam(cli);

return 0;
}
Expand All @@ -223,21 +284,3 @@ int main(int argc, char** argv)
return 1;
}
}

void mola_signal_handler(int s)
{
std::cerr << "Caught signal " << s << ". Shutting down..." << std::endl;
app.shutdown();
exit(0);
}

void mola_install_signal_handler()
{
struct sigaction sigIntHandler;

sigIntHandler.sa_handler = &mola_signal_handler;
sigemptyset(&sigIntHandler.sa_mask);
sigIntHandler.sa_flags = 0;

sigaction(SIGINT, &sigIntHandler, nullptr);
}
14 changes: 11 additions & 3 deletions mola_launcher/src/MolaLauncherApp.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -491,9 +491,17 @@ void MolaLauncherApp::executor_thread(InfoPerRunningThread& rds)
<< mrpt::exception_to_str(e));
threads_must_end_ = true;
}
// using namespace std::chrono_literals;
// Give time for all threads to end:
// std::this_thread::sleep_for(25ms);

// make sure dtor is called now:
if (rds.impl)
{
MRPT_LOG_DEBUG_STREAM(
"About to destruct module '" << rds.name << "', shared_ptr with "
<< rds.impl.use_count()
<< " references.");
rds.impl.reset();
MRPT_LOG_DEBUG_STREAM("Done with dtor of module '" << rds.name << "'");
}
}

ExecutableBase::Ptr MolaLauncherApp::nameServerImpl(const std::string& name)
Expand Down

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