Make compressor implementations into a plugin via pluginlib #624
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emersonknapp
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zmichaels11
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Jan 29, 2021
| { | ||
| return c1 == c2 || std::tolower(c1) == std::tolower(c2); | ||
| } | ||
| static constexpr const char * name = "rosbag2_compression::BaseCompressorInterface"; |
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is there a difference between constexpr const char * name and constexpr const char name[]?
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yes - the pointer and the array are different C++ types, though I don't understand the details well enough of how they act differently in this situation.
In practice - it builds as char * name, but not as char name[], like so
/usr/bin/ld: librosbag2_compression.so: undefined reference to `rosbag2_compression::CompressionTraits<rosbag2_compression::BaseCompressorInterface>::name'
rosbag2_compression/src/rosbag2_compression/compression_factory_impl.hpp
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rosbag2_compression/src/rosbag2_compression/sequential_compression_writer.cpp
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prajakta-gokhale
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rosbag2_compression/include/rosbag2_compression/compression_factory.hpp
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January 29, 2021 14:36
…properly in tests Signed-off-by: Emerson Knapp <eknapp@amazon.com>
Signed-off-by: Emerson Knapp <eknapp@amazon.com>
Signed-off-by: Emerson Knapp <eknapp@amazon.com>
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Make compressor implementation into a plugin via pluginlib Signed-off-by: Emerson Knapp <eknapp@amazon.com>
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Make compressor implementation into a plugin via pluginlib Signed-off-by: Emerson Knapp <eknapp@amazon.com>
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Part of #598
This is incremental progress - the next step will be to create
rosbag2_compression_zstdpackage and move the zstd implementation there.Key point: Use the
shared_ptrimplementation ofpluginlib::ClassLoaderinstead of eitherunmanagedInstanceoruniqueInstance. The unique version has a custom deleter, meaning we would have to pass around apluginlib::UniquePtr- requiring all uses to include the pluginlib headers, which seems a bit restrictive. The unmanaged instance means that pluginlib can't warn us if we destroy the loader before the instance - this can lead to segfaults on theSequentialReader/Writerdestructors if the member variablescompressor_andcompression_factory_aren't declared in the right order (which they aren't in the current code). This makes the shared library the most desirable, as it allows pluginlib to clean up after itself while letting the rest of the code.