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Configurable ROS2 initialization arguments and perhaps native subdirectory path library loading? #134

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Configurable ROS2 initialization arguments and perhaps native subdirectory path library loading? #134

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d43d23a
rcl init overload
ha-ves Jul 31, 2024
fa354bd
loadlib custom path under executable directory
ha-ves Aug 1, 2024
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19 changes: 17 additions & 2 deletions rcldotnet/RCLdotnet.cs
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Original file line number Diff line number Diff line change
Expand Up @@ -1470,14 +1470,29 @@ public static void SpinOnce(Node node, long timeout)
}
}

/// <summary>
/// Initialize ROS2 with app's launch arguments.
/// </summary>
public static void Init()
{
string[] args = System.Environment.GetCommandLineArgs();
Init(args);
}

/// <summary>
/// Initialize ROS2 with supplied arguments.
/// </summary>
/// <remarks>
/// This is overloaded so that it can support arguments set up during run-time.
/// </remarks>
/// <param name="args">ROS2 arguments to pass along.</param>
public static void Init(string[] args)
{
lock (syncLock)
{
if (!initialized)
{
string[] args = System.Environment.GetCommandLineArgs();
RCLRet ret = RCLdotnetDelegates.native_rcl_init(args.Length, args);
RCLRet ret = RCLdotnetDelegates.native_rcl_init(args.Length, args.Length <= 0 ? null : args);
RCLExceptionHelper.CheckReturnValue(ret, $"{nameof(RCLdotnetDelegates.native_rcl_init)}() failed.");
initialized = true;
}
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14 changes: 10 additions & 4 deletions rcldotnet_common/DllLoadUtils.cs
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Original file line number Diff line number Diff line change
Expand Up @@ -16,6 +16,7 @@
// Based on http://dimitry-i.blogspot.com.es/2013/01/mononet-how-to-dynamically-load-native.html

using System;
using System.IO;
using System.Runtime.InteropServices;

namespace ROS2
Expand Down Expand Up @@ -195,6 +196,8 @@ public void RegisterNativeFunction<FunctionType>(IntPtr nativeLibrary, string na
IntPtr nativeFunctionPointer = GetProcAddress(nativeLibrary, nativeFunctionName);
functionDelegate = (FunctionType)Marshal.GetDelegateForFunctionPointer(nativeFunctionPointer, typeof(FunctionType));
}

public const string AssemblyDirectory = "ros2";
}

public class DllLoadUtilsUWP : DllLoadUtilsAbs
Expand All @@ -215,7 +218,7 @@ public class DllLoadUtilsUWP : DllLoadUtilsAbs

public override IntPtr LoadLibrary(string fileName)
{
string libraryName = fileName + "_native.dll";
string libraryName = Path.Combine(AppDomain.CurrentDomain.BaseDirectory, AssemblyDirectory, fileName + "_native.dll");
IntPtr ptr = LoadPackagedLibraryUWP(libraryName);
if (ptr == IntPtr.Zero)
{
Expand All @@ -228,6 +231,9 @@ public override IntPtr LoadLibrary(string fileName)
public class DllLoadUtilsWindowsDesktop : DllLoadUtilsAbs
{

[DllImport("kernel32.dll", EntryPoint = "GetLastError", SetLastError = true, ExactSpelling = true)]
private static extern int GetLastError();

[DllImport("kernel32.dll", EntryPoint = "LoadLibraryA", SetLastError = true, ExactSpelling = true)]
private static extern IntPtr LoadLibraryA(string fileName, int reserved = 0);

Expand All @@ -243,7 +249,7 @@ public class DllLoadUtilsWindowsDesktop : DllLoadUtilsAbs

public override IntPtr LoadLibrary(string fileName)
{
string libraryName = fileName + "_native.dll";
string libraryName = Path.Combine(AppDomain.CurrentDomain.BaseDirectory, AssemblyDirectory, fileName + "_native.dll");
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IMHO this is a bit of a patch.
The search path should not be set to a hard path, as you cannot change the path of the library now. it is better to use the "AddDllDirectory" function. https://learn.microsoft.com/en-us/windows/win32/api/libloaderapi/nf-libloaderapi-adddlldirectory.
This is also the recommended solution from microsoft in the LoadLibraryA function https://learn.microsoft.com/en-us/windows/win32/api/libloaderapi/nf-libloaderapi-loadlibrarya

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How about the UWP part? I haven't found any recommendation on loading from sub-directory in UWP.

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seems like there is no "addDllDirectory" for UWP. but following the microsoft documentation it says that you need to add the path to the packagedepency in the application package manifest https://learn.microsoft.com/en-us/windows/win32/api/winbase/nf-winbase-loadpackagedlibrary

IntPtr ptr = LoadLibraryA(libraryName);
if (ptr == IntPtr.Zero)
{
Expand Down Expand Up @@ -287,7 +293,7 @@ public override IntPtr GetProcAddress(IntPtr dllHandle, string name)

public override IntPtr LoadLibrary(string fileName)
{
string libraryName = "lib" + fileName + "_native.so";
string libraryName = Path.Combine(AppDomain.CurrentDomain.BaseDirectory, AssemblyDirectory, "lib" + fileName + "_native.so");
IntPtr ptr = dlopen(libraryName, RTLD_NOW);
if (ptr == IntPtr.Zero)
{
Expand Down Expand Up @@ -334,7 +340,7 @@ public override IntPtr GetProcAddress(IntPtr dllHandle, string name)

public override IntPtr LoadLibrary(string fileName)
{
string libraryName = "lib" + fileName + "_native.dylib";
string libraryName = Path.Combine(AppDomain.CurrentDomain.BaseDirectory, AssemblyDirectory, "lib" + fileName + "_native.dylib");
IntPtr ptr = dlopen(libraryName, RTLD_NOW);
if (ptr == IntPtr.Zero)
{
Expand Down