Update to leverage boost_plugin_loader

Author: Levi-Armstrong

tesseract_task_composer/CMakeLists.txt

@@ -11,6 +11,7 @@ endif()
 
 find_package(console_bridge REQUIRED)
 find_package(tesseract_common REQUIRED)
+find_package(boost_plugin_loader REQUIRED)
 find_package(Boost REQUIRED COMPONENTS serialization)
 find_package(yaml-cpp REQUIRED)
 

tesseract_task_composer/core/CMakeLists.txt

@@ -22,6 +22,7 @@ target_link_libraries(
   ${PROJECT_NAME}
   PUBLIC console_bridge::console_bridge
          tesseract::tesseract_common
+         boost_plugin_loader::boost_plugin_loader
          Boost::boost
          Boost::serialization
          yaml-cpp)
@@ -125,6 +126,7 @@ configure_component(
   DEPENDENCIES
     console_bridge
     tesseract_common
+    boost_plugin_loader
     "Boost REQUIRED COMPONENTS serialization"
     yaml-cpp
   CFG_EXTRAS cmake/core-extras.cmake)
@@ -134,6 +136,10 @@ if(TESSERACT_PACKAGE)
     COMPONENT core
     VERSION ${pkg_extracted_version}
     DESCRIPTION "Tesseract task composer core components"
-    LINUX_DEPENDS "libconsole-bridge-dev" "libyaml-cpp-dev" "${TESSERACT_PACKAGE_PREFIX}tesseract-common"
+    LINUX_DEPENDS
+      "libconsole-bridge-dev"
+      "libyaml-cpp-dev"
+      "boost-plugin-loader"
+      "${TESSERACT_PACKAGE_PREFIX}tesseract-common"
     WINDOWS_DEPENDS "console-bridge" "yaml-cpp" "${TESSERACT_PACKAGE_PREFIX}tesseract-common")
 endif()

tesseract_task_composer/core/include/tesseract_task_composer/core/task_composer_plugin_factory.h

@@ -35,14 +35,15 @@ TESSERACT_COMMON_IGNORE_WARNINGS_PUSH
 TESSERACT_COMMON_IGNORE_WARNINGS_POP
 
 #include <tesseract_common/fwd.h>
+#include <boost_plugin_loader/macros.h>
 #include <filesystem>
 
 // clang-format off
 #define TESSERACT_ADD_TASK_COMPOSER_EXECUTOR_PLUGIN(DERIVED_CLASS, ALIAS)                                                    \
-  TESSERACT_ADD_PLUGIN_SECTIONED(DERIVED_CLASS, ALIAS, TaskExec)
+  EXPORT_CLASS_SECTIONED(DERIVED_CLASS, ALIAS, TaskExec)
 
 #define TESSERACT_ADD_TASK_COMPOSER_NODE_PLUGIN(DERIVED_CLASS, ALIAS)                                                  \
-  TESSERACT_ADD_PLUGIN_SECTIONED(DERIVED_CLASS, ALIAS, TaskNode)
+  EXPORT_CLASS_SECTIONED(DERIVED_CLASS, ALIAS, TaskNode)
 // clang-format on
 
 namespace YAML
@@ -71,7 +72,7 @@ class TaskComposerNodeFactory
                                                    const TaskComposerPluginFactory& plugin_factory) const = 0;
 
 protected:
-  static const std::string SECTION_NAME;
+  static std::string getSection();
   friend class PluginLoader;
 };
 
@@ -88,7 +89,7 @@ class TaskComposerExecutorFactory
   virtual std::unique_ptr<TaskComposerExecutor> create(const std::string& name, const YAML::Node& config) const = 0;
 
 protected:
-  static const std::string SECTION_NAME;
+  static std::string getSection();
   friend class PluginLoader;
 };
 

tesseract_task_composer/core/include/tesseract_task_composer/core/task_composer_task_plugin_factory.h

@@ -26,12 +26,12 @@
 #ifndef TESSERACT_TASK_COMPOSER_TASK_COMPOSER_TASK_PLUGIN_FACTORIES_H
 #define TESSERACT_TASK_COMPOSER_TASK_COMPOSER_TASK_PLUGIN_FACTORIES_H
 
-#include <tesseract_common/class_loader.h>
+#include <boost_plugin_loader/macros.h>
 
 namespace tesseract_planning
 {
 // LCOV_EXCL_START
-TESSERACT_PLUGIN_ANCHOR_DECL(TaskComposerTaskFactoryAnchor)
+PLUGIN_ANCHOR_DECL(TaskComposerTaskFactoryAnchor)
 // LCOV_EXCL_STOP
 }  // namespace tesseract_planning
 

tesseract_task_composer/core/src/task_composer_plugin_factory.cpp

@@ -31,29 +31,32 @@ TESSERACT_COMMON_IGNORE_WARNINGS_PUSH
 TESSERACT_COMMON_IGNORE_WARNINGS_POP
 
 #include <tesseract_common/resource_locator.h>
-#include <tesseract_common/plugin_loader.h>
 #include <tesseract_common/yaml_utils.h>
 #include <tesseract_common/yaml_extenstions.h>
 #include <tesseract_task_composer/core/task_composer_plugin_factory.h>
 #include <tesseract_task_composer/core/task_composer_node.h>
 #include <tesseract_task_composer/core/task_composer_executor.h>
+#include <boost_plugin_loader/plugin_loader.hpp>
+#include <boost/algorithm/string.hpp>
+#include <console_bridge/console.h>
 
 static const std::string TESSERACT_TASK_COMPOSER_PLUGIN_DIRECTORIES_ENV = "TESSERACT_TASK_COMPOSER_PLUGIN_"
                                                                           "DIRECTORIES";
 static const std::string TESSERACT_TASK_COMPOSER_PLUGINS_ENV = "TESSERACT_TASK_COMPOSER_PLUGINS";
 
 namespace tesseract_planning
 {
-const std::string TaskComposerExecutorFactory::SECTION_NAME = "TaskExec";
-const std::string TaskComposerNodeFactory::SECTION_NAME = "TaskNode";
+std::string TaskComposerExecutorFactory::getSection() { return "TaskExec"; }
+
+std::string TaskComposerNodeFactory::getSection() { return "TaskNode"; }
 
 struct TaskComposerPluginFactory::Implementation
 {
   mutable std::map<std::string, TaskComposerExecutorFactory::Ptr> executor_factories;
   mutable std::map<std::string, TaskComposerNodeFactory::Ptr> node_factories;
   tesseract_common::PluginInfoContainer executor_plugin_info;
   tesseract_common::PluginInfoContainer task_plugin_info;
-  tesseract_common::PluginLoader plugin_loader;
+  boost_plugin_loader::PluginLoader plugin_loader;
 };
 
 TaskComposerPluginFactory::TaskComposerPluginFactory() : impl_(std::make_unique<Implementation>())
@@ -303,7 +306,7 @@ TaskComposerPluginFactory::createTaskComposerExecutor(const std::string& name,
     if (it != executor_factories.end())
       return it->second->create(name, plugin_info.config);
 
-    auto plugin = impl_->plugin_loader.instantiate<TaskComposerExecutorFactory>(plugin_info.class_name);
+    auto plugin = impl_->plugin_loader.createInstance<TaskComposerExecutorFactory>(plugin_info.class_name);
     if (plugin == nullptr)
     {
       CONSOLE_BRIDGE_logWarn("Failed to load symbol '%s'", plugin_info.class_name.c_str());
@@ -345,7 +348,7 @@ TaskComposerPluginFactory::createTaskComposerNode(const std::string& name,
     if (it != node_factories.end())
       return it->second->create(name, plugin_info.config, *this);
 
-    auto plugin = impl_->plugin_loader.instantiate<TaskComposerNodeFactory>(plugin_info.class_name);
+    auto plugin = impl_->plugin_loader.createInstance<TaskComposerNodeFactory>(plugin_info.class_name);
     if (plugin == nullptr)
     {
       CONSOLE_BRIDGE_logWarn("Failed to load symbol '%s'", plugin_info.class_name.c_str());

tesseract_task_composer/core/src/task_composer_task_plugin_factory.cpp

@@ -37,6 +37,8 @@
 #include <tesseract_task_composer/core/nodes/sync_task.h>
 #include <tesseract_task_composer/core/test_suite/test_task.h>
 
+#include <boost_plugin_loader/macros.h>
+
 namespace tesseract_planning
 {
 using DoneTaskFactory = TaskComposerTaskFactory<DoneTask>;
@@ -49,7 +51,7 @@ using GraphTaskFactory = TaskComposerTaskFactory<TaskComposerGraph>;
 using PipelineTaskFactory = TaskComposerTaskFactory<TaskComposerPipeline>;
 
 // LCOV_EXCL_START
-TESSERACT_PLUGIN_ANCHOR_IMPL(TaskComposerTaskFactoryAnchor)
+PLUGIN_ANCHOR_IMPL(TaskComposerTaskFactoryAnchor)
 // LCOV_EXCL_STOP
 
 }  // namespace tesseract_planning

tesseract_task_composer/package.xml

@@ -18,6 +18,7 @@
   <depend>tesseract_command_language</depend>
   <depend>tesseract_motion_planners</depend>
   <depend>tesseract_time_parameterization</depend>
+  <depend>boost_plugin_loader</depend>
   <depend>taskflow</depend>
 
   <build_depend>eigen</build_depend>

tesseract_task_composer/planning/include/tesseract_task_composer/planning/planning_task_composer_plugin_factories.h

@@ -26,12 +26,12 @@
 #ifndef TESSERACT_TASK_COMPOSER_PLANNING_TASK_COMPOSER_PLUGIN_FACTORIES_H
 #define TESSERACT_TASK_COMPOSER_PLANNING_TASK_COMPOSER_PLUGIN_FACTORIES_H
 
-#include <tesseract_common/class_loader.h>
+#include <boost_plugin_loader/macros.h>
 
 namespace tesseract_planning
 {
 // LCOV_EXCL_START
-TESSERACT_PLUGIN_ANCHOR_DECL(TaskComposerPlanningFactoriesAnchor)
+PLUGIN_ANCHOR_DECL(TaskComposerPlanningFactoriesAnchor)
 // LCOV_EXCL_STOP
 }  // namespace tesseract_planning
 

tesseract_task_composer/planning/src/factories/planning_task_composer_core_plugin_factories.cpp

@@ -44,6 +44,8 @@
 
 #include <tesseract_motion_planners/simple/simple_motion_planner.h>
 
+#include <boost_plugin_loader/macros.h>
+
 namespace tesseract_planning
 {
 using ContinuousContactCheckTaskFactory = TaskComposerTaskFactory<ContinuousContactCheckTask>;
@@ -62,7 +64,7 @@ using SimpleMotionPlannerTaskFactory = TaskComposerTaskFactory<MotionPlannerTask
 using ProcessPlanningInputTaskFactory = TaskComposerTaskFactory<ProcessPlanningInputTask>;
 
 // LCOV_EXCL_START
-TESSERACT_PLUGIN_ANCHOR_IMPL(TaskComposerPlanningFactoriesAnchor)
+PLUGIN_ANCHOR_IMPL(TaskComposerPlanningFactoriesAnchor)
 // LCOV_EXCL_STOP
 
 }  // namespace tesseract_planning

tesseract_task_composer/taskflow/include/tesseract_task_composer/taskflow/taskflow_task_composer_plugin_factories.h

@@ -26,12 +26,12 @@
 #ifndef TESSERACT_TASK_COMPOSER_TASKFLOW_TASK_COMPOSER_PLUGIN_FACTORIES_H
 #define TESSERACT_TASK_COMPOSER_TASKFLOW_TASK_COMPOSER_PLUGIN_FACTORIES_H
 
-#include <tesseract_common/class_loader.h>
+#include <boost_plugin_loader/macros.h>
 
 namespace tesseract_planning
 {
 // LCOV_EXCL_START
-TESSERACT_PLUGIN_ANCHOR_DECL(TaskComposerTaskflowFactoriesAnchor)
+PLUGIN_ANCHOR_DECL(TaskComposerTaskflowFactoriesAnchor)
 // LCOV_EXCL_STOP
 }  // namespace tesseract_planning