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RenderEngineManager.cc
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RenderEngineManager.cc
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/*
* Copyright (C) 2015 Open Source Robotics Foundation
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*
*/
#include <map>
#include <ignition/common/Console.hh>
#include <ignition/common/SystemPaths.hh>
#include <ignition/plugin/Loader.hh>
#include "ignition/rendering/config.hh"
#include "ignition/rendering/RenderEngine.hh"
#include "ignition/rendering/RenderEngineManager.hh"
#include "ignition/rendering/RenderEnginePlugin.hh"
/// \brief Private implementation of the RenderEngineManager class
class ignition::rendering::RenderEngineManagerPrivate
{
/// \brief EngineMap that maps engine name to an engine pointer
typedef std::map<std::string, RenderEngine *> EngineMap;
/// \brief EngineMap iterator
typedef EngineMap::iterator EngineIter;
/// \brief Get a pointer to the render engine from an EngineMap iterator
/// \param[in] _iter EngineMap iterator
/// \param[in] _path Another search path for rendering engine plugin.
public: RenderEngine *Engine(EngineIter _iter,
const std::map<std::string, std::string> &_params,
const std::string &_path);
/// \brief Unload the given render engine from an EngineMap iterator.
/// The engine will remain registered and can be loaded again later.
/// \param[in] _iter EngineMap iterator
/// \return True if the engine is unloaded
public: bool UnloadEngine(EngineIter _iter);
/// \brief Register default engines supplied by ign-rendering
public: void RegisterDefaultEngines();
/// \brief Unregister an engine using an EngineMap iterator.
/// Once an engine is unregistered, it can no longer be loaded. Use
/// RenderEngineManagerPrivate::UnloadEngine to unload the engine without
/// unregistering it if you wish to load the engine again
/// \param[in] _iter EngineMap iterator
public: void UnregisterEngine(EngineIter _iter);
/// \brief Load a render engine plugin
/// \param[in] _filename Filename of plugin shared library
/// \param[in] _path Another search path for rendering engine plugin.
/// \return True if the plugin is loaded successfully
public: bool LoadEnginePlugin(const std::string &_filename,
const std::string &_path);
/// \brief Unload a render engine plugin.
/// \param[in] _engineName Name of engine associated with this plugin
/// \return True if the plugin is unloaded successfully
public: bool UnloadEnginePlugin(const std::string &_engineName);
/// \brief Engines that have been registered
public: EngineMap engines;
/// \brief A map of default engine name to its plugin library name
public: std::map<std::string, std::string> defaultEngines;
/// \brief A map of loaded engine plugins to its plugin name
public: std::map<std::string, std::string> enginePlugins;
/// \brief Plugin loader for managing render engine plugin libraries
public: ignition::plugin::Loader pluginLoader;
};
using namespace ignition;
using namespace rendering;
//////////////////////////////////////////////////
// RenderEngineManager
//////////////////////////////////////////////////
RenderEngineManager::RenderEngineManager() :
dataPtr(new RenderEngineManagerPrivate)
{
this->dataPtr->RegisterDefaultEngines();
}
//////////////////////////////////////////////////
RenderEngineManager::~RenderEngineManager()
{
}
//////////////////////////////////////////////////
unsigned int RenderEngineManager::EngineCount() const
{
return this->dataPtr->engines.size();
}
//////////////////////////////////////////////////
bool RenderEngineManager::HasEngine(const std::string &_name) const
{
auto iter = this->dataPtr->engines.find(_name);
return iter != this->dataPtr->engines.end();
}
//////////////////////////////////////////////////
RenderEngine *RenderEngineManager::Engine(const std::string &_name,
const std::map<std::string, std::string> &_params,
const std::string &_path)
{
// check in the list of available engines
auto iter = this->dataPtr->engines.find(_name);
if (iter == this->dataPtr->engines.end())
{
ignerr << "No render-engine registered with name: " << _name << std::endl;
return nullptr;
}
return this->dataPtr->Engine(iter, _params, _path);
}
//////////////////////////////////////////////////
RenderEngine *RenderEngineManager::EngineAt(unsigned int _index,
const std::map<std::string, std::string> &_params,
const std::string &_path)
{
if (_index >= this->EngineCount())
{
ignerr << "Invalid render-engine index: " << _index << std::endl;
return nullptr;
}
auto iter = this->dataPtr->engines.begin();
std::advance(iter, _index);
return this->dataPtr->Engine(iter, _params, _path);
}
//////////////////////////////////////////////////
bool RenderEngineManager::UnloadEngine(const std::string &_name)
{
// check in the list of available engines
auto iter = this->dataPtr->engines.find(_name);
if (iter == this->dataPtr->engines.end())
{
ignerr << "No render-engine registered with name: " << _name << std::endl;
return false;
}
return this->dataPtr->UnloadEngine(iter);
}
//////////////////////////////////////////////////
bool RenderEngineManager::UnloadEngineAt(unsigned int _index)
{
if (_index >= this->EngineCount())
{
ignerr << "Invalid render-engine index: " << _index << std::endl;
return false;
}
auto iter = this->dataPtr->engines.begin();
std::advance(iter, _index);
return this->dataPtr->UnloadEngine(iter);
}
//////////////////////////////////////////////////
void RenderEngineManager::RegisterEngine(const std::string &_name,
RenderEngine *_engine)
{
if (!_engine)
{
ignerr << "Render-engine cannot be null" << std::endl;
return;
}
if (this->HasEngine(_name))
{
ignerr << "Render-engine already registered with name: "
<< _name << std::endl;
return;
}
this->dataPtr->engines[_name] = _engine;
}
//////////////////////////////////////////////////
void RenderEngineManager::UnregisterEngine(const std::string &_name)
{
auto iter = this->dataPtr->engines.find(_name);
if (iter != this->dataPtr->engines.end())
{
this->dataPtr->UnregisterEngine(iter);
}
}
//////////////////////////////////////////////////
void RenderEngineManager::UnregisterEngine(RenderEngine *_engine)
{
if (!_engine)
return;
auto begin = this->dataPtr->engines.begin();
auto end = this->dataPtr->engines.end();
for (auto iter = begin; iter != end; ++iter)
{
if (iter->second == _engine)
{
this->dataPtr->UnregisterEngine(iter);
return;
}
}
}
//////////////////////////////////////////////////
void RenderEngineManager::UnregisterEngineAt(unsigned int _index)
{
if (_index >= this->EngineCount())
{
ignerr << "Invalid render-engine index: " << _index << std::endl;
return;
}
auto iter = this->dataPtr->engines.begin();
std::advance(iter, _index);
this->dataPtr->UnregisterEngine(iter);
}
//////////////////////////////////////////////////
// RenderEngineManagerPrivate
//////////////////////////////////////////////////
RenderEngine *RenderEngineManagerPrivate::Engine(EngineIter _iter,
const std::map<std::string, std::string> &_params,
const std::string &_path)
{
RenderEngine *engine = _iter->second;
if (!engine)
{
// check if it's an engine in the list of default engines provided by
// ign-rendering. If so, load it
auto defaultIt = this->defaultEngines.find(_iter->first);
if (defaultIt != this->defaultEngines.end())
{
std::string libName = defaultIt->second;
if (this->LoadEnginePlugin(libName, _path))
{
auto engineIt = this->engines.find(_iter->first);
if (engineIt != this->engines.end())
engine = engineIt->second;
}
}
}
if (!engine)
return nullptr;
if (!engine->IsInitialized())
{
engine->Load(_params);
engine->Init();
}
return engine;
}
//////////////////////////////////////////////////
bool RenderEngineManagerPrivate::UnloadEngine(EngineIter _iter)
{
RenderEngine *engine = _iter->second;
if (!engine)
return false;
engine->Destroy();
return this->UnloadEnginePlugin(engine->Name());
}
//////////////////////////////////////////////////
void RenderEngineManagerPrivate::RegisterDefaultEngines()
{
// TODO(anyone): Find a cleaner way to get the default engine library name
// cppcheck-suppress unreadVariable
std::string libName = "ignition-rendering" +
std::to_string(IGNITION_RENDERING_MAJOR_VERSION) + "-";
// cppcheck-suppress unusedVariable
std::string engineName;
#if HAVE_OGRE
engineName = "ogre";
this->defaultEngines[engineName] = libName + engineName;
if (this->engines.find(engineName) == this->engines.end())
this->engines[engineName] = nullptr;
#endif
#if HAVE_OGRE2
engineName = "ogre2";
this->defaultEngines[engineName] = libName + engineName;
if (this->engines.find(engineName) == this->engines.end())
this->engines[engineName] = nullptr;
#endif
#if HAVE_OPTIX
engineName = "optix";
this->defaultEngines[engineName] = libName + engineName;
if (this->engines.find(engineName) == this->engines.end())
this->engines[engineName] = nullptr;
#endif
}
//////////////////////////////////////////////////
bool RenderEngineManagerPrivate::LoadEnginePlugin(
const std::string &_filename, const std::string &_path)
{
ignmsg << "Loading plugin [" << _filename << "]" << std::endl;
ignition::common::SystemPaths systemPaths;
// Add default install folder.
systemPaths.AddPluginPaths(std::string(IGN_RENDERING_PLUGIN_PATH));
// Add extra search path.
systemPaths.AddPluginPaths(_path);
auto pathToLib = systemPaths.FindSharedLibrary(_filename);
if (pathToLib.empty())
{
ignerr << "Failed to load plugin [" << _filename <<
"] : couldn't find shared library." << std::endl;
return false;
}
// Load plugin
auto pluginNames = this->pluginLoader.LoadLib(pathToLib);
if (pluginNames.empty())
{
ignerr << "Failed to load plugin [" << _filename <<
"] : couldn't load library on path [" << pathToLib <<
"]." << std::endl;
return false;
}
std::string pluginName = *pluginNames.begin();
if (pluginName.empty())
{
ignerr << "Failed to load plugin [" << _filename <<
"] : couldn't load library on path [" << pathToLib <<
"]." << std::endl;
return false;
}
auto commonPlugin = this->pluginLoader.Instantiate(pluginName);
if (!commonPlugin)
{
ignerr << "Failed to load plugin [" << _filename <<
"] : couldn't instantiate plugin on path [" << pathToLib <<
"]." << std::endl;
return false;
}
auto plugin =
commonPlugin->QueryInterface<ignition::rendering::RenderEnginePlugin>();
if (!plugin)
{
ignerr << "Failed to load plugin [" << _filename <<
"] : couldn't get interface [" << pluginName <<
"]." << std::endl;
return false;
}
// this triggers the engine to be instantiated
std::string engineName = plugin->Name();
this->engines[engineName] = plugin->Engine();
// store engine plugin data so plugin can be unloaded later
this->enginePlugins[engineName] = pluginName;
return true;
}
//////////////////////////////////////////////////
bool RenderEngineManagerPrivate::UnloadEnginePlugin(
const std::string &_engineName)
{
auto it = this->enginePlugins.find(_engineName);
if (it == this->enginePlugins.end())
{
ignmsg << "Skip unloading engine plugin. [" << _engineName << "] "
<< "not loaded from plugin." << std::endl;
return false;
}
std::string pluginName = it->second;
this->enginePlugins.erase(it);
if (!this->pluginLoader.ForgetLibraryOfPlugin(pluginName))
{
ignerr << "Failed to unload plugin: " << pluginName << std::endl;
}
auto engineIt = this->engines.find(_engineName);
if (engineIt == this->engines.end())
return false;
// set to null - this means engine is still registered but not loaded
this->engines[_engineName] = nullptr;
return true;
}
//////////////////////////////////////////////////
void RenderEngineManagerPrivate::UnregisterEngine(EngineIter _iter)
{
_iter->second->Destroy();
this->engines.erase(_iter);
}