Included utils to load, unload and get symbols from shared libraries

CMakeLists.txt

@@ -42,6 +42,7 @@ set(rcutils_sources
   src/logging.c
   src/process.c
   src/repl_str.c
+  src/shared_library.c
   src/snprintf.c
   src/split.c
   src/strdup.c
@@ -99,6 +100,8 @@ add_library(
 # which is appropriate when building the dll but not consuming it.
 target_compile_definitions(${PROJECT_NAME} PRIVATE "RCUTILS_BUILDING_DLL")
 
+target_link_libraries(${PROJECT_NAME} ${CMAKE_DL_LIBS})
+
 # Needed if pthread is used for thread local storage.
 if(IOS AND IOS_SDK_VERSION LESS 10.0)
   ament_export_libraries(pthread)
@@ -312,6 +315,17 @@ if(BUILD_TESTING)
     target_link_libraries(test_repl_str ${PROJECT_NAME})
   endif()
 
+  set(append_library_dirs "$<TARGET_FILE_DIR:${PROJECT_NAME}>")
+
+  ament_add_gtest(test_shared_library test/test_shared_library.cpp
+    APPEND_LIBRARY_DIRS "${append_library_dirs}"
+  )
+
+  if(TARGET test_shared_library)
+    add_library(dummy_shared_library test/dummy_shared_library/dummy_shared_library.c)
+    target_link_libraries(test_shared_library ${PROJECT_NAME})
+  endif()
+
   rcutils_custom_add_gtest(test_time
     test/test_time.cpp
     ENV ${memory_tools_test_env_vars})
@@ -350,7 +364,7 @@ endif()
 
 ament_export_dependencies(ament_cmake)
 ament_export_include_directories(include)
-ament_export_libraries(${PROJECT_NAME})
+ament_export_libraries(${PROJECT_NAME} ${CMAKE_DL_LIBS})
 ament_package()
 
 install(

include/rcutils/shared_library.h

@@ -0,0 +1,134 @@
+// Copyright 2020 Open Source Robotics Foundation, Inc.
+//
+// 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.
+
+#ifndef RCUTILS__SHARED_LIBRARY_H_
+#define RCUTILS__SHARED_LIBRARY_H_
+
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+
+#include <string.h>
+
+#ifndef _WIN32
+#include <dlfcn.h>
+typedef void * rcutils_shared_library_handle_t;
+#else
+#include <windows.h>
+typedef HINSTANCE rcutils_shared_library_handle_t;
+#endif  // _WIN32
+
+#include "rcutils/allocator.h"
+#include "rcutils/types/rcutils_ret.h"
+#include "rcutils/macros.h"
+#include "rcutils/visibility_control.h"
+
+/// Handle to a loaded shared library.
+typedef struct RCUTILS_PUBLIC_TYPE rcutils_shared_library_t
+{
+  /// The pointer to the shared library
+  rcutils_shared_library_handle_t lib_pointer;
+  /// The path of the shared_library
+  char * library_path;
+  /// allocator
+  rcutils_allocator_t allocator;
+} rcutils_shared_library_t;
+
+/// Return an empty shared library struct.
+/*
+ * This function returns an empty and zero initialized shared library struct.
+ *
+ * Example:
+ *
+ * ```c
+ * // Do not do this:
+ * // rcutils_shared_library_t foo;
+ * // rcutils_load_shared_library(
+ * //     &foo,
+ * //    "library_name",
+ * //    rcutils_get_default_allocator()); // undefined behavior!
+ * // or
+ * // rcutils_unload_shared_library(&foo); // undefined behavior!
+ *
+ * // Do this instead:
+ * rcutils_shared_library_t bar = rcutils_get_zero_initialized_shared_library();
+ * rcutils_load_shared_library(&bar, "library_name",rcutils_get_default_allocator()); // ok
+ * void * symbol = rcutils_get_symbol(&bar, "bazinga"); // ok
+ * bool is_bazinga_symbol = rcutils_has_symbol(&bar, "bazinga"); // ok
+ * rcutils_unload_shared_library(&bar); // ok
+ * ```
+ * */
+RCUTILS_PUBLIC
+RCUTILS_WARN_UNUSED
+rcutils_shared_library_t
+rcutils_get_zero_initialized_shared_library(void);
+
+/// Return shared library pointer.
+/**
+ * \param[inout] lib struct with the shared library pointer and shared library path name
+ * \param[in] library_path string with the path of the library
+ * \param[in] allocator to be used to allocate and deallocate memory
+ * \return `RCUTILS_RET_OK` if successful, or
+ * \return `RCUTILS_RET_BAD_ALLOC` if memory allocation fails, or
+ * \return `RCUTILS_RET_ERROR` if an unknown error occurs, or
+ * \return `RCUTILS_RET_INVALID_ARGUMENT` for invalid arguments
+ */
+RCUTILS_PUBLIC
+RCUTILS_WARN_UNUSED
+rcutils_ret_t
+rcutils_load_shared_library(
+  rcutils_shared_library_t * lib,
+  const char * library_path,
+  rcutils_allocator_t allocator);
+
+/// Return shared library symbol pointer.
+/**
+ * \param[in] lib struct with the shared library pointer and shared library path name
+ * \param[in] symbol_name name of the symbol inside the shared library
+ * \return shared library symbol pointer, if the symbol doesn't exist then returns NULL.
+ */
+RCUTILS_PUBLIC
+RCUTILS_WARN_UNUSED
+void *
+rcutils_get_symbol(const rcutils_shared_library_t * lib, const char * symbol_name);
+
+/// Return true if the shared library contains a specific symbol name otherwise returns false.
+/**
+ * \param[in] lib struct with the shared library pointer and shared library path name
+ * \param[in] symbol_name name of the symbol inside the shared library
+ * \return if symbols exists returns true, otherwise returns false.
+ */
+RCUTILS_PUBLIC
+RCUTILS_WARN_UNUSED
+bool
+rcutils_has_symbol(const rcutils_shared_library_t * lib, const char * symbol_name);
+
+/// Unload the shared library.
+/**
+ * \param[inout] lib rcutils_shared_library_t to be finalized
+ * \return `RCUTILS_RET_OK` if successful, or
+ * \return `RCUTILS_RET_INVALID_ARGUMENT` for invalid arguments, or
+ * \return `RCUTILS_RET_ERROR` if an unknown error occurs
+ */
+RCUTILS_PUBLIC
+RCUTILS_WARN_UNUSED
+rcutils_ret_t
+rcutils_unload_shared_library(rcutils_shared_library_t * lib);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif  // RCUTILS__SHARED_LIBRARY_H_

src/shared_library.c

@@ -0,0 +1,157 @@
+// Copyright 2020 Open Source Robotics Foundation, Inc.
+//
+// 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.
+
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+#include <stdio.h>
+#include <stdlib.h>
+
+#include "rcutils/error_handling.h"
+#include "rcutils/shared_library.h"
+#include "rcutils/strdup.h"
+
+rcutils_shared_library_t
+rcutils_get_zero_initialized_shared_library(void)
+{
+  rcutils_shared_library_t zero_initialized_shared_library;
+  zero_initialized_shared_library.library_path = NULL;
+  zero_initialized_shared_library.lib_pointer = NULL;
+  zero_initialized_shared_library.allocator = rcutils_get_zero_initialized_allocator();
+  return zero_initialized_shared_library;
+}
+
+rcutils_ret_t
+rcutils_load_shared_library(
+  rcutils_shared_library_t * lib,
+  const char * library_path,
+  rcutils_allocator_t allocator)
+{
+  RCUTILS_CHECK_ARGUMENT_FOR_NULL(lib, RCUTILS_RET_INVALID_ARGUMENT);
+  RCUTILS_CHECK_ARGUMENT_FOR_NULL(library_path, RCUTILS_RET_INVALID_ARGUMENT);
+  RCUTILS_CHECK_ALLOCATOR(&allocator, return RCUTILS_RET_INVALID_ARGUMENT);
+
+  lib->allocator = allocator;
+
+  lib->library_path = rcutils_strdup(library_path, lib->allocator);
+  if (NULL == lib->library_path) {
+    RCUTILS_SET_ERROR_MSG("unable to allocate memory");
+    return RCUTILS_RET_BAD_ALLOC;
+  }
+
+#ifndef _WIN32
+  lib->lib_pointer = dlopen(lib->library_path, RTLD_LAZY);
+  if (!lib->lib_pointer) {
+    RCUTILS_SET_ERROR_MSG_WITH_FORMAT_STRING("LoadLibrary error: %s", dlerror());
+#else
+  lib->lib_pointer = LoadLibrary(lib->library_path);
+  if (!lib->lib_pointer) {
+    RCUTILS_SET_ERROR_MSG_WITH_FORMAT_STRING("LoadLibrary error: %lu", GetLastError());
+#endif  // _WIN32
+    lib->allocator.deallocate(lib->library_path, lib->allocator.state);
+    lib->library_path = NULL;
+    return RCUTILS_RET_ERROR;
+  }
+  return RCUTILS_RET_OK;
+}
+
+void *
+rcutils_get_symbol(const rcutils_shared_library_t * lib, const char * symbol_name)
+{
+  if (!lib || !lib->lib_pointer || (symbol_name == NULL)) {
+    RCUTILS_SET_ERROR_MSG("invalid inputs arguments");
+    return NULL;
+  }
+
+#ifndef _WIN32
+  void * lib_symbol = dlsym(lib->lib_pointer, symbol_name);
+  char * error = dlerror();
+  if (error != NULL) {
+    RCUTILS_SET_ERROR_MSG_WITH_FORMAT_STRING(
+      "Error getting the symbol '%s'. Error '%s'",
+      symbol_name, error);
+    return NULL;
+  }
+#else
+  void * lib_symbol = GetProcAddress(lib->lib_pointer, symbol_name);
+  if (lib_symbol == NULL) {
+    RCUTILS_SET_ERROR_MSG_WITH_FORMAT_STRING(
+      "Error getting the symbol '%s'. Error '%d'",
+      symbol_name, GetLastError());
+    return NULL;
+  }
+#endif  // _WIN32
+  if (!lib_symbol) {
+    RCUTILS_SET_ERROR_MSG_WITH_FORMAT_STRING(
+      "symbol '%s' doesnt' exit in library '%s'",
+      symbol_name, lib->library_path);
+    return NULL;
+  }
+  return lib_symbol;
+}
+
+bool
+rcutils_has_symbol(const rcutils_shared_library_t * lib, const char * symbol_name)
+{
+  if (!lib || !lib->lib_pointer || symbol_name == NULL) {
+    return false;
+  }
+
+#ifndef _WIN32
+  // the correct way to test for an error is to call dlerror() to clear any old error conditions,
+  // then call dlsym(), and then call dlerror() again, saving its return value into a variable,
+  // and check whether this saved value is not NULL.
+  dlerror(); /* Clear any existing error */
+  void * lib_symbol = dlsym(lib->lib_pointer, symbol_name);
+  return dlerror() == NULL && lib_symbol != 0;
+#else
+  void * lib_symbol = GetProcAddress(lib->lib_pointer, symbol_name);
+  return GetLastError() == 0 && lib_symbol != 0;
+#endif  // _WIN32
+}
+
+rcutils_ret_t
+rcutils_unload_shared_library(rcutils_shared_library_t * lib)
+{
+  RCUTILS_CHECK_ARGUMENT_FOR_NULL(lib, RCUTILS_RET_INVALID_ARGUMENT);
+  RCUTILS_CHECK_ARGUMENT_FOR_NULL(lib->lib_pointer, RCUTILS_RET_INVALID_ARGUMENT);
+  RCUTILS_CHECK_ARGUMENT_FOR_NULL(lib->library_path, RCUTILS_RET_INVALID_ARGUMENT);
+  RCUTILS_CHECK_ALLOCATOR(&lib->allocator, return RCUTILS_RET_INVALID_ARGUMENT);
+
+  rcutils_ret_t ret = RCUTILS_RET_OK;
+#ifndef _WIN32
+  // The function dlclose() returns 0 on success, and nonzero on error.
+  int error_code = dlclose(lib->lib_pointer);
+  if (error_code) {
+    RCUTILS_SET_ERROR_MSG_WITH_FORMAT_STRING("dlclose error: %s", dlerror());
+#else
+  // If the function succeeds, the return value is nonzero.
+  int error_code = FreeLibrary(lib->lib_pointer);
+  if (!error_code) {
+    RCUTILS_SET_ERROR_MSG_WITH_FORMAT_STRING("FreeLibrary error: %lu", GetLastError());
+#endif  // _WIN32
+    ret = RCUTILS_RET_ERROR;
+  }
+
+  lib->allocator.deallocate(lib->library_path, lib->allocator.state);
+  lib->library_path = NULL;
+  lib->lib_pointer = NULL;
+  lib->allocator = rcutils_get_zero_initialized_allocator();
+  return ret;
+}
+
+#ifdef __cplusplus
+}
+#endif

test/dummy_shared_library/dummy_shared_library.c

@@ -0,0 +1,20 @@
+// Copyright 2020 Open Source Robotics Foundation, Inc.
+//
+// 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 "./dummy_shared_library.h" // NOLINT
+
+void print_name()
+{
+  printf("print_name\n");
+}

test/dummy_shared_library/dummy_shared_library.h

@@ -0,0 +1,33 @@
+// Copyright 2020 Open Source Robotics Foundation, Inc.
+//
+// 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.
+
+#ifndef DUMMY_SHARED_LIBRARY__DUMMY_SHARED_LIBRARY_H_
+#define DUMMY_SHARED_LIBRARY__DUMMY_SHARED_LIBRARY_H_
+
+#if _WIN32
+#ifdef DUMMY_SHARED_LIBRARY_BUILDING_DLL
+#define DUMMY_SHARED_LIBRARY_PUBLIC __declspec(dllexport)
+#else
+#define DUMMY_SHARED_LIBRARY_PUBLIC __declspec(dllimport)
+#endif
+#else
+#define DUMMY_SHARED_LIBRARY_PUBLIC
+#endif
+
+#include <stdio.h>
+
+DUMMY_SHARED_LIBRARY_PUBLIC
+void print_foo();
+
+#endif  // DUMMY_SHARED_LIBRARY__DUMMY_SHARED_LIBRARY_H_