Removed poco dependency

.appveyor.yml

@@ -33,7 +33,6 @@ install:
   - mkdir ros2
   - cd ros2
   - git clone https://github.com/ros2/console_bridge_vendor.git
-  - git clone https://github.com/ros2/poco_vendor.git
   - cd ..\..\..
   - call "C:\Program Files (x86)\Microsoft Visual Studio\2017\Community\VC\Auxiliary\Build\vcvarsall.bat" x86_amd64
   - set "PATH=%PATH%;C:\Python37;C:\Python37\Scripts"

.travis.yml

@@ -18,11 +18,11 @@ install:
   - |
     if [[ "$TRAVIS_OS_NAME" == "linux" ]]; then
         sudo apt-get update -qq
-        sudo apt-get install cmake cppcheck libxml2-utils libpoco-dev python3 python3-pip python3-empy python3-pyparsing python3-setuptools wget
+        sudo apt-get install cmake cppcheck libxml2-utils python3 python3-pip python3-empy python3-pyparsing python3-setuptools wget
     else
         brew update
         brew outdated cmake || brew upgrade cmake || brew install cmake
-        brew install cppcheck console_bridge poco uncrustify
+        brew install cppcheck console_bridge uncrustify
         brew unlink python@2
         brew outdated python3 || brew upgrade python3 || brew install python3
     fi
@@ -43,7 +43,6 @@ script:
   - git clone https://github.com/ament/uncrustify_vendor.git
   - cd $AMENT_WS_SRC/ros2
   - git clone https://github.com/ros2/console_bridge_vendor.git
-  - git clone https://github.com/ros2/poco_vendor.git
   - cd $AMENT_WS
   # Link source into workspace's source space
   - ln -s $TRAVIS_BUILD_DIR ./src

CMakeLists.txt

@@ -18,12 +18,12 @@ endif()
 
 find_package(console_bridge_vendor REQUIRED) # Provides console_bridge 0.4.0 on platforms without it.
 find_package(console_bridge REQUIRED)
-find_package(poco_vendor REQUIRED)  # Provides FindPoco.cmake and Poco on platforms without it.
-find_package(Poco REQUIRED COMPONENTS Foundation)
-link_directories(${Poco_LIBRARY_DIR})
+
+find_package(rcpputils REQUIRED)
 
 if(ament_cmake_FOUND)
   ament_export_dependencies(console_bridge)
+  ament_export_dependencies(rcpputils)
   ament_export_include_directories(include)
 endif()
 
@@ -37,12 +37,12 @@ add_library(${PROJECT_NAME} SHARED ${${PROJECT_NAME}_SRCS})
 if(ament_cmake_FOUND)
   target_include_directories(${PROJECT_NAME}
     PUBLIC include)
-  ament_target_dependencies(${PROJECT_NAME} "console_bridge" "Poco")
+  ament_target_dependencies(${PROJECT_NAME} "console_bridge" "rcpputils")
   ament_export_libraries(${PROJECT_NAME})
 else()
   target_include_directories(${PROJECT_NAME}
-    PUBLIC include ${console_bridge_INCLUDE_DIRS} ${Poco_INCLUDE_DIRS})
-  target_link_libraries(${PROJECT_NAME} ${console_bridge_LIBRARIES} ${Poco_LIBRARIES})
+    PUBLIC include ${console_bridge_INCLUDE_DIRS})
+  target_link_libraries(${PROJECT_NAME} ${console_bridge_LIBRARIES})
 endif()
 if(WIN32)
   # Causes the visibility macros to use dllexport rather than dllimport
@@ -77,7 +77,6 @@ else()
   set(TARGET_NAME ${PROJECT_NAME})
   set(PKGCONFIG_LIBS
     ${console_bridge_LIBRARIES}
-    ${Poco_LIBRARIES}
   )
 
   # Prepare and install necessary files to support finding of the library

class_loader-extras.cmake

@@ -1,5 +1 @@
 include("${class_loader_DIR}/class_loader_hide_library_symbols.cmake")
-
-find_package(poco_vendor REQUIRED)
-find_package(Poco REQUIRED COMPONENTS Foundation)
-list(APPEND class_loader_LIBRARIES ${Poco_LIBRARIES})

include/class_loader/class_loader_core.hpp

@@ -35,6 +35,7 @@
 #include <cstddef>
 #include <cstdio>
 #include <map>
+#include <memory>
 #include <mutex>
 #include <string>
 #include <typeinfo>
@@ -56,13 +57,7 @@
 #include "class_loader/meta_object.hpp"
 #include "class_loader/visibility_control.hpp"
 
-// Forward declaration to avoid including poco headers directly.
-namespace Poco
-{
-
-class SharedLibrary;
-
-}
+#include "rcpputils/shared_library.hpp"
 
 /**
  * @note This header file is the internal implementation of the plugin system which is exposed via the ClassLoader class
@@ -82,7 +77,7 @@ typedef std::string ClassName;
 typedef std::string BaseClassName;
 typedef std::map<ClassName, impl::AbstractMetaObjectBase *> FactoryMap;
 typedef std::map<BaseClassName, FactoryMap> BaseToFactoryMapMap;
-typedef std::pair<LibraryPath, Poco::SharedLibrary *> LibraryPair;
+typedef std::pair<LibraryPath, std::shared_ptr<rcpputils::SharedLibrary>> LibraryPair;
 typedef std::vector<LibraryPair> LibraryVector;
 typedef std::vector<AbstractMetaObjectBase *> MetaObjectVector;
 
@@ -99,7 +94,7 @@ CLASS_LOADER_PUBLIC
 BaseToFactoryMapMap & getGlobalPluginBaseToFactoryMapMap();
 
 /**
- * @brief Gets a handle to a list of open libraries in the form of LibraryPairs which encode the library path+name and the handle to the underlying Poco::SharedLibrary
+ * @brief Gets a handle to a list of open libraries in the form of LibraryPairs which encode the library path+name and the handle to the underlying shared library
  * @return A reference to the global vector that tracks loaded libraries
  */
 CLASS_LOADER_PUBLIC

include/class_loader/meta_object.hpp

@@ -29,8 +29,7 @@
  * POSSIBILITY OF SUCH DAMAGE.
  */
 
-// Note: This header defines a simplication of Poco::MetaObject
-// that allows us to tag MetaObjects with an associated library name.
+// Note: This header defines a simplication of a shared library
 
 #ifndef CLASS_LOADER__META_OBJECT_HPP_
 #define CLASS_LOADER__META_OBJECT_HPP_

package.xml

@@ -13,17 +13,15 @@
   <author>Mirza Shah</author>
   <author>Dirk Thomas</author>
 
-  <buildtool_depend>ament_cmake</buildtool_depend>
-
   <build_depend>console_bridge_vendor</build_depend>
   <build_depend>libconsole-bridge-dev</build_depend>
-  <build_depend>libpoco-dev</build_depend>
-  <build_depend>poco_vendor</build_depend>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
 
   <exec_depend>console_bridge_vendor</exec_depend>
   <exec_depend>libconsole-bridge-dev</exec_depend>
-  <exec_depend>libpoco-dev</exec_depend>
-  <exec_depend>poco_vendor</exec_depend>
+
+  <depend>rcpputils</depend>
 
   <test_depend>ament_cmake_gtest</test_depend>
   <test_depend>ament_lint_auto</test_depend>

src/class_loader.cpp

@@ -29,8 +29,6 @@
 
 #include "class_loader/class_loader.hpp"
 
-#include <Poco/SharedLibrary.h>
-
 #include <string>
 
 namespace class_loader
@@ -48,33 +46,9 @@ void ClassLoader::setUnmanagedInstanceBeenCreated(bool state)
   ClassLoader::has_unmananged_instance_been_created_ = state;
 }
 
-std::string systemLibraryPrefix()
-{
-#ifndef _WIN32
-  return "lib";
-#endif
-  return "";
-}
-
-std::string systemLibrarySuffix()
-{
-// Poco should be compiled with `#define POCO_NO_SHARED_LIBRARY_DEBUG_SUFFIX`
-// to automatically remove the trailing `d` from the shared library suffix
-//   return Poco::SharedLibrary::suffix();
-#ifdef __linux__
-  return ".so";
-#elif __APPLE__
-  return ".dylib";
-#elif _WIN32
-  return ".dll";
-#else
-  return Poco::SharedLibrary::suffix();
-#endif
-}
-
 std::string systemLibraryFormat(const std::string & library_name)
 {
-  return systemLibraryPrefix() + library_name + systemLibrarySuffix();
+  return rcpputils::get_platform_library_name(library_name);
 }
 
 ClassLoader::ClassLoader(const std::string & library_path, bool ondemand_load_unload)

src/class_loader_core.cpp

@@ -30,10 +30,9 @@
 #include "class_loader/class_loader_core.hpp"
 #include "class_loader/class_loader.hpp"
 
-#include <Poco/SharedLibrary.h>
-
 #include <cassert>
 #include <cstddef>
+#include <memory>
 #include <string>
 #include <vector>
 
@@ -296,7 +295,7 @@ bool isLibraryLoadedByAnybody(const std::string & library_path)
   LibraryVector::iterator itr = findLoadedLibrary(library_path);
 
   if (itr != open_libraries.end()) {
-    assert(itr->second->isLoaded() == true);  // Ensure Poco actually thinks the library is loaded
+    assert(itr->second != nullptr);  // Ensure that the library is loaded
     return true;
   } else {
     return false;
@@ -445,31 +444,25 @@ void loadLibrary(const std::string & library_path, ClassLoader * loader)
     return;
   }
 
-  Poco::SharedLibrary * library_handle = nullptr;
+  std::shared_ptr<rcpputils::SharedLibrary> library_handle;
+
   static std::recursive_mutex loader_mutex;
 
   {
     std::lock_guard<std::recursive_mutex> loader_lock(loader_mutex);
 
+    setCurrentlyActiveClassLoader(loader);
+    setCurrentlyLoadingLibraryName(library_path);
     try {
-      setCurrentlyActiveClassLoader(loader);
-      setCurrentlyLoadingLibraryName(library_path);
-      library_handle = new Poco::SharedLibrary(library_path);
-    } catch (const Poco::LibraryLoadException & e) {
-      setCurrentlyLoadingLibraryName("");
-      setCurrentlyActiveClassLoader(nullptr);
-      throw class_loader::LibraryLoadException(
-              "Could not load library (Poco exception = " + std::string(e.message()) + ")");
-    } catch (const Poco::LibraryAlreadyLoadedException & e) {
+      library_handle = std::make_shared<rcpputils::SharedLibrary>(library_path.c_str());
+    } catch (const std::runtime_error & e) {
       setCurrentlyLoadingLibraryName("");
       setCurrentlyActiveClassLoader(nullptr);
-      throw class_loader::LibraryLoadException(
-              "Library already loaded (Poco exception = " + std::string(e.message()) + ")");
-    } catch (const Poco::NotFoundException & e) {
+      throw class_loader::LibraryLoadException("Could not load library " + std::string(e.what()));
+    } catch (const std::bad_alloc & e) {
       setCurrentlyLoadingLibraryName("");
       setCurrentlyActiveClassLoader(nullptr);
-      throw class_loader::LibraryLoadException(
-              "Library not found (Poco exception = " + std::string(e.message()) + ")");
+      throw class_loader::LibraryLoadException("Bad alloc " + std::string(e.what()));
     }
 
     setCurrentlyLoadingLibraryName("");
@@ -479,8 +472,8 @@ void loadLibrary(const std::string & library_path, ClassLoader * loader)
   assert(library_handle != nullptr);
   CONSOLE_BRIDGE_logDebug(
     "class_loader.impl: "
-    "Successfully loaded library %s into memory (Poco::SharedLibrary handle = %p).",
-    library_path.c_str(), reinterpret_cast<void *>(library_handle));
+    "Successfully loaded library %s into memory (handle = %p).",
+    library_path.c_str(), reinterpret_cast<void *>(library_handle.get()));
 
   // Graveyard scenario
   size_t num_lib_objs = allMetaObjectsForLibrary(library_path).size();
@@ -530,35 +523,28 @@ void unloadLibrary(const std::string & library_path, ClassLoader * loader)
     LibraryVector & open_libraries = getLoadedLibraryVector();
     LibraryVector::iterator itr = findLoadedLibrary(library_path);
     if (itr != open_libraries.end()) {
-      Poco::SharedLibrary * library = itr->second;
+      auto library = itr->second;
       std::string library_path = itr->first;
-      try {
-        destroyMetaObjectsForLibrary(library_path, loader);
-
-        // Remove from loaded library list as well if no more factories associated with said library
-        if (!areThereAnyExistingMetaObjectsForLibrary(library_path)) {
-          CONSOLE_BRIDGE_logDebug(
-            "class_loader.impl: "
-            "There are no more MetaObjects left for %s so unloading library and "
-            "removing from loaded library vector.\n",
-            library_path.c_str());
-          library->unload();
-          assert(library->isLoaded() == false);
-          delete (library);
-          itr = open_libraries.erase(itr);
-        } else {
-          CONSOLE_BRIDGE_logDebug(
-            "class_loader.impl: "
-            "MetaObjects still remain in memory meaning other ClassLoaders are still using library"
-            ", keeping library %s open.",
-            library_path.c_str());
-        }
-        return;
-      } catch (const Poco::RuntimeException & e) {
-        delete (library);
-        throw class_loader::LibraryUnloadException(
-                "Could not unload library (Poco exception = " + std::string(e.message()) + ")");
+      destroyMetaObjectsForLibrary(library_path, loader);
+
+      // Remove from loaded library list as well if no more factories associated with said library
+      if (!areThereAnyExistingMetaObjectsForLibrary(library_path)) {
+        CONSOLE_BRIDGE_logDebug(
+          "class_loader.impl: "
+          "There are no more MetaObjects left for %s so unloading library and "
+          "removing from loaded library vector.\n",
+          library_path.c_str());
+
+        library.reset();
+        itr = open_libraries.erase(itr);
+      } else {
+        CONSOLE_BRIDGE_logDebug(
+          "class_loader.impl: "
+          "MetaObjects still remain in memory meaning other ClassLoaders are still using library"
+          ", keeping library %s open.",
+          library_path.c_str());
       }
+      return;
     }
     throw class_loader::LibraryUnloadException(
             "Attempt to unload library that class_loader is unaware of.");
@@ -580,8 +566,8 @@ void printDebugInfoToScreen()
   LibraryVector libs = getLoadedLibraryVector();
   for (size_t c = 0; c < libs.size(); c++) {
     printf(
-      "Open library %zu = %s (Poco SharedLibrary handle = %p)\n",
-      c, (libs.at(c)).first.c_str(), reinterpret_cast<void *>((libs.at(c)).second));
+      "Open library %zu = %s (handle = %p)\n",
+      c, (libs.at(c)).first.c_str(), reinterpret_cast<void *>((libs.at(c)).second.get()));
   }
 
   printf("METAOBJECTS (i.e. FACTORIES) IN MEMORY:\n");

test/CMakeLists.txt

@@ -6,10 +6,10 @@ add_library(${PROJECT_NAME}_TestPlugins1 EXCLUDE_FROM_ALL SHARED plugins1.cpp)
 if(ament_cmake_FOUND)
   target_include_directories(${PROJECT_NAME}_TestPlugins1
     PUBLIC "../include")
-  ament_target_dependencies(${PROJECT_NAME}_TestPlugins1 "console_bridge" "Poco")
+  ament_target_dependencies(${PROJECT_NAME}_TestPlugins1 "console_bridge")
 else()
   target_include_directories(${PROJECT_NAME}_TestPlugins1
-    PUBLIC "../include" ${console_bridge_INCLUDE_DIRS} ${Poco_INCLUDE_DIRS})
+    PUBLIC "../include" ${console_bridge_INCLUDE_DIRS})
 endif()
 target_link_libraries(${PROJECT_NAME}_TestPlugins1 ${PROJECT_NAME})
 class_loader_hide_library_symbols(${PROJECT_NAME}_TestPlugins1)
@@ -18,10 +18,10 @@ add_library(${PROJECT_NAME}_TestPlugins2 EXCLUDE_FROM_ALL SHARED plugins2.cpp)
 if(ament_cmake_FOUND)
   target_include_directories(${PROJECT_NAME}_TestPlugins2
     PUBLIC "../include")
-  ament_target_dependencies(${PROJECT_NAME}_TestPlugins2 "console_bridge" "Poco")
+  ament_target_dependencies(${PROJECT_NAME}_TestPlugins2 "console_bridge")
 else()
   target_include_directories(${PROJECT_NAME}_TestPlugins2
-    PUBLIC "../include" ${console_bridge_INCLUDE_DIRS} ${Poco_INCLUDE_DIRS})
+    PUBLIC "../include" ${console_bridge_INCLUDE_DIRS})
 endif()
 target_link_libraries(${PROJECT_NAME}_TestPlugins2 ${PROJECT_NAME})
 class_loader_hide_library_symbols(${PROJECT_NAME}_TestPlugins2)
@@ -40,11 +40,11 @@ if(TARGET ${PROJECT_NAME}_utest)
   if(ament_cmake_FOUND)
     target_include_directories(${PROJECT_NAME}_utest
       PUBLIC "../include")
-    ament_target_dependencies(${PROJECT_NAME}_utest "console_bridge" "Poco")
+    ament_target_dependencies(${PROJECT_NAME}_utest "console_bridge")
   else()
     target_include_directories(${PROJECT_NAME}_utest
-      PUBLIC "../include" ${console_bridge_INCLUDE_DIRS} ${Poco_INCLUDE_DIRS})
-    target_link_libraries(${PROJECT_NAME}_utest ${Poco_LIBRARIES})
+      PUBLIC "../include" ${console_bridge_INCLUDE_DIRS})
+    target_link_libraries(${PROJECT_NAME}_utest)
   endif()
   target_link_libraries(${PROJECT_NAME}_utest ${PROJECT_NAME})
   if(NOT WIN32)
@@ -62,11 +62,11 @@ if(TARGET ${PROJECT_NAME}_unique_ptr_test)
   if(ament_cmake_FOUND)
     target_include_directories(${PROJECT_NAME}_unique_ptr_test
       PUBLIC "../include")
-    ament_target_dependencies(${PROJECT_NAME}_unique_ptr_test "Poco")
+    ament_target_dependencies(${PROJECT_NAME}_unique_ptr_test)
   else()
     target_include_directories(${PROJECT_NAME}_unique_ptr_test
-      PUBLIC "../include" ${Poco_INCLUDE_DIRS})
-    target_link_libraries(${PROJECT_NAME}_unique_ptr_test ${Poco_LIBRARIES})
+      PUBLIC "../include")
+    target_link_libraries(${PROJECT_NAME}_unique_ptr_test)
   endif()
   target_link_libraries(${PROJECT_NAME}_unique_ptr_test ${PROJECT_NAME})
   if(NOT WIN32)