poco动态加载class
fulincao
on
Jun 10, 20222022-06-10T00:00:00+08:00
Updated
Jul 20, 20222022-07-20T18:07:34+08:00
2 min
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了解一下apollo mainboard的启动流程,觉得挺灵活的。在此记录一下,并自己简单实现了一下demo。
mainboard 启动流程
- 启动命令mainboad -d xxx.dag
- 读取dag文件，尤其是module_library字段和class_name
- 通过poco动态加载module_library，并在module_library中加载class_name
- 实例化对象Component
- 调用其Init,Proc函数
mainboard根据dag文件动态加载不同的class，执行不同的操作。具有极大的灵活方便且统一调度。同时所有component都基于一个基类ComponentBase，约束了其行为。
- 示例dag文件
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| module_config {
module_library : "XXXX.so"
components {
class_name : "XXXX"
config {
name: "xxxx"
config_file_path : "xxxx.pb.txt"
}
}
}
|
基于poco的demo
- 安装poco
- apt安装sudo apt install libpoco-dev
- 源码安装见POCO
- poco SharedLibrary介绍SaredLibrary
- 简单demo
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| /******************************************************************************
* Copyright 2022 All Rights Reserved.
********************************************************/
#include <iostream>
#include <string>
#include <Poco/ClassLibrary.h> // NOLINT
#include <Poco/ClassLoader.h> // NOLINT
#include <Poco/SharedLibrary.h> // NOLINT
class Component {
public:
Component() {}
virtual ~Component() {}
virtual bool Init() = 0;
virtual bool Proc() = 0;
};
class RtkComponent : public Component {
public:
bool Init() override { return true; }
bool Proc() override {
std::cout << "hello rtk component" << std::endl;
return true;
}
};
class CameraComponent : public Component {
public:
bool Init() override { return true; }
bool Proc() override {
std::cout << "hello camera component" << std::endl;
return true;
}
};
POCO_BEGIN_MANIFEST(Component)
POCO_EXPORT_CLASS(RtkComponent)
POCO_EXPORT_CLASS(CameraComponent)
POCO_END_MANIFEST
int main(int argc, char* argv[]) {
if (argc < 3) {
std::cout << "args not enough" << std::endl;
std::cout << "example: test_poco library_path classname" << std::endl;
return -1;
}
std::string library_path(argv[1]);
std::string classname(argv[2]);
std::cout << "load library:" << library_path
<< " , load classname: " << classname << std::endl;
Poco::ClassLoader<Component> clc;
try {
clc.loadLibrary(library_path);
} catch (const Poco::Exception e) {
std::cerr << e.displayText() << std::endl;
return -1;
}
auto* base = clc.create(classname);
if (base->Init()) {
base->Proc();
}
return 0;
}
// ./test_poco ./libcomponent.so CameraComponent
// ./test_poco ./libcomponent.so RtkComponent
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| project(test)
add_executable(test_poco test_poco.cpp)
add_library(component SHARED test_poco.cpp)
target_link_libraries(test_poco
PocoFoundation
)
target_link_libraries(component
PocoFoundation
)
|
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CC BY 4.0
by the author.
