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Resources can be found in install tree based on libdrake.so location
When an executable depends on `libdrake.so`, it can find the resources in the install tree based on the location of `libdrake.so`. The implementation to find `libdrake.so` is platform specific (MacOS and Linux). In both cases, it finds the location of the library loaded in the process. It extracts its directory and appends its with the relative path to the resource files. This should limit the necessity of programmatically add path to the candidate directory in which the sentinel file is searched.
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Francois Budin
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Dec 8, 2017
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| Original file line number | Diff line number | Diff line change |
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@@ -3,4 +3,4 @@ | |
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| def getDrakePath(): | ||
| return pydrake.common.GetDrakePath() | ||
| return os.path.abspath(pydrake.common.GetDrakePath()) | ||
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| Original file line number | Diff line number | Diff line change |
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| @@ -0,0 +1,124 @@ | ||
| #include "drake/common/find_loaded_library.h" | ||
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| #ifdef __APPLE__ | ||
| #include <dlfcn.h> | ||
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| #include <mach-o/dyld.h> | ||
| #include <mach-o/dyld_images.h> | ||
| #else // Not __APPLE__ | ||
| #include <libgen.h> | ||
| #include <string.h> | ||
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| #include <link.h> | ||
| #endif | ||
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| using std::string; | ||
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| namespace drake { | ||
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| #ifdef __APPLE__ | ||
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| // This code has been adapted from: | ||
| // https://stackoverflow.com/questions/4309117/determining-programmatically-what-modules-are-loaded-in-another-process-os-x/23229148#23229148 | ||
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| // Reads memory from MacOS specific structures into an `unsigned char*`. | ||
| unsigned char * readProcessMemory(mach_vm_address_t addr, | ||
| mach_msg_type_number_t* size) { | ||
| mach_msg_type_number_t dataCnt = | ||
| reinterpret_cast<mach_msg_type_number_t>(*size); | ||
| vm_offset_t readMem; | ||
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| kern_return_t kr = vm_read(mach_task_self(), addr, *size, | ||
| &readMem, &dataCnt); | ||
| if (kr) { | ||
| return NULL; | ||
| } | ||
| return ( reinterpret_cast<unsigned char *>(readMem)); | ||
| } | ||
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| // Gets the list of all the dynamic libraries that have been loaded. Finds | ||
| // `library_name` in the list, and returns its directory path appended | ||
| // with relative directory to find resource files in drake install tree. | ||
| // This function is specific to MacOS | ||
| optional<string> loaded_library_path(const std::string &library_name) { | ||
| optional<string> binary_dirname; | ||
| struct task_dyld_info dyld_info; | ||
| mach_msg_type_number_t count = TASK_DYLD_INFO_COUNT; | ||
| // Getinformation from current process. | ||
| if (task_info(mach_task_self(), TASK_DYLD_INFO, | ||
| reinterpret_cast<task_info_t>(&dyld_info), &count) == KERN_SUCCESS) { | ||
| // Recover list of dynamic libraries. | ||
| mach_msg_type_number_t size = sizeof(struct dyld_all_image_infos); | ||
| uint8_t* data = | ||
| readProcessMemory(dyld_info.all_image_info_addr, &size); | ||
| if (!data) { | ||
| return binary_dirname; | ||
| } | ||
| struct dyld_all_image_infos* infos = | ||
| reinterpret_cast<struct dyld_all_image_infos *>(data); | ||
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| // Recover number of dynamic libraries in list. | ||
| mach_msg_type_number_t size2 = | ||
| sizeof(struct dyld_image_info) * infos->infoArrayCount; | ||
| uint8_t* info_addr = readProcessMemory( | ||
| reinterpret_cast<mach_vm_address_t>(infos->infoArray), &size2); | ||
| if (!info_addr) { | ||
| return binary_dirname; | ||
| } | ||
| struct dyld_image_info* info = | ||
| reinterpret_cast<struct dyld_image_info*>(info_addr); | ||
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| // Loop over the dynamic libraries until `library_name` is found. | ||
| for (uint32_t i=0; i < infos->infoArrayCount; i++) { | ||
| const char * pos_slash = strrchr(info[i].imageFilePath, '/'); | ||
| if (!strcmp(pos_slash + 1, library_name.c_str())) { | ||
| binary_dirname = string(info[i].imageFilePath, | ||
| pos_slash - info[i].imageFilePath); | ||
| break; | ||
| } | ||
| } | ||
| } | ||
| return binary_dirname; | ||
| } | ||
| #else // Not __APPLE__ | ||
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| // This code has been adapted from: | ||
| // http://syprog.blogspot.ru/2011/12/listing-loaded-shared-objects-in-linux.html | ||
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| // Chained list of shared objects | ||
| struct lmap { | ||
| void* base_address; // Base address of the shared object | ||
| char* path; // Absolute file name (path) of the shared object | ||
| void* not_needed; // Pointer to the dynamic section of the SO | ||
| struct lmap *next, *prev; // chain of loaded objects | ||
| }; | ||
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| // Content of that dlopen is saved in this structure. | ||
| struct something { | ||
| void* pointers[3]; | ||
| struct something* ptr; | ||
| }; | ||
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| // Gets the list of all the shared objects that have been loaded. Finds | ||
| // `library_name` in the list, and returns its directory path appended | ||
| // with relative directory to find resource files in drake install tree. | ||
| // This function is specific to Linux. | ||
| optional<string> loaded_library_path(const std::string &library_name) { | ||
| optional<string> binary_dirname; | ||
| struct lmap* pl; | ||
| void* ph = dlopen(NULL, RTLD_NOW); | ||
| struct something* p = reinterpret_cast<struct something*>(ph); | ||
| p = p->ptr; | ||
| pl = reinterpret_cast<struct lmap*>(p->ptr); | ||
| // Loop over loaded shared objects until `library_name` is found. | ||
| while (NULL != pl) { | ||
| if (!strcmp(basename(pl->path), library_name.c_str())) { | ||
| binary_dirname = string(dirname(pl->path)); | ||
| break; | ||
| } | ||
| pl = pl->next; | ||
| } | ||
| return binary_dirname; | ||
| } | ||
| #endif | ||
| } // namespace drake |
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| @@ -0,0 +1,14 @@ | ||
| #pragma once | ||
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| #include <string> | ||
| #include <vector> | ||
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| #include "drake/common/drake_optional.h" | ||
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| namespace drake { | ||
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| optional<std::string> loaded_library_path(const std::string &library_name); | ||
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| } // namespace drake |
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| Original file line number | Diff line number | Diff line change |
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@@ -8,4 +8,5 @@ load( | |
| "drake_cc_googletest", | ||
| "drake_cc_library", | ||
| "drake_cc_test", | ||
| "drake_example_cc_binary", | ||
| ) | ||
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