Merge branch 'rolling' into add_sanitizer_ci

Author: ahcorde

.appveyor.yml

@@ -2,6 +2,36 @@
 Changelog for package class_loader
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.9.0 (2025-04-25)
+------------------
+* Remove CODEOWNERS and mirror-rolling-to-main workflow (`#215 <https://github.com/ros/class_loader/issues/215>`_)
+* Contributors: Alejandro Hernández Cordero
+
+2.8.0 (2024-04-26)
+------------------
+
+2.7.0 (2023-12-26)
+------------------
+* Remove all uses of ament_target_dependencies. (`#210 <https://github.com/ros/class_loader/issues/210>`_)
+* Update to C++17 (`#209 <https://github.com/ros/class_loader/issues/209>`_)
+* Contributors: Chris Lalancette
+
+2.6.0 (2023-04-28)
+------------------
+
+2.5.0 (2023-02-13)
+------------------
+* make sanitizer happy (`#205 <https://github.com/ros/class_loader/issues/205>`_)
+* [rolling] Update maintainers - 2022-11-07 (`#206 <https://github.com/ros/class_loader/issues/206>`_)
+* Contributors: Audrow Nash, Chen Lihui
+
+2.4.0 (2022-11-02)
+------------------
+* Remove appveyor configuration. (`#204 <https://github.com/ros/class_loader/issues/204>`_)
+* Just fix a typo in a comment. (`#203 <https://github.com/ros/class_loader/issues/203>`_)
+* make the meta-object alive in the lifecycle of the registered plugin (`#201 <https://github.com/ros/class_loader/issues/201>`_)
+* Contributors: Chen Lihui, Chris Lalancette
+
 2.3.1 (2022-09-13)
 ------------------
 * Mirror rolling to ros2

.appveyor/remove_python27_from_path.bat

@@ -2,9 +2,10 @@ cmake_minimum_required(VERSION 3.5)
 
 project(class_loader)
 
-# Default to C++14
+# Default to C++17
 if(NOT CMAKE_CXX_STANDARD)
-  set(CMAKE_CXX_STANDARD 14)
+  set(CMAKE_CXX_STANDARD 17)
+  set(CMAKE_CXX_STANDARD_REQUIRED ON)
 endif()
 if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
   add_compile_options(-Wall -Wextra -Wpedantic)
@@ -30,19 +31,18 @@ if(ament_cmake_FOUND)
   ament_export_dependencies(rcpputils)
 endif()
 
-set(${PROJECT_NAME}_SRCS
+add_library(${PROJECT_NAME} ${explicit_library_type}
   src/class_loader.cpp
   src/class_loader_core.cpp
   src/meta_object.cpp
   src/multi_library_class_loader.cpp
 )
-add_library(${PROJECT_NAME} ${explicit_library_type} ${${PROJECT_NAME}_SRCS})
 target_include_directories(${PROJECT_NAME} PUBLIC
   "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
   "$<INSTALL_INTERFACE:include/${PROJECT_NAME}>")
 
 if(ament_cmake_FOUND)
-  target_link_libraries(${PROJECT_NAME}
+  target_link_libraries(${PROJECT_NAME} PUBLIC
     console_bridge::console_bridge
     rcpputils::rcpputils)
   ament_export_targets(${PROJECT_NAME})

.github/workflows/mirror-rolling-to-ros2.yaml

@@ -238,7 +238,7 @@ class ClassLoader
 
   /**
    * @brief  Attempts to unload a library loaded within scope of the ClassLoader. If the library is
-   * not opened, this method has no effect. If the library is opened by other another ClassLoader,
+   * not opened, this method has no effect. If the library is opened by another ClassLoader,
    * the library will NOT be unloaded internally -- however this ClassLoader will no longer be able
    * to instantiate class_loader bound to that library. If there are plugin objects that exist in
    * memory created by this classloader, a warning message will appear and the library will not be

CHANGELOG.rst

@@ -282,6 +282,23 @@ registerPlugin(const std::string & class_name, const std::string & base_class_na
           break;
         }
       }
+
+      BaseToFactoryMapMap & factory_map_map = getGlobalPluginBaseToFactoryMapMap();
+      bool erase_flag = false;
+      for (auto & factory_map_item : factory_map_map) {
+        FactoryMap & factory_map = factory_map_item.second;
+        for (auto iter = factory_map.begin(); iter != factory_map.end(); ++iter) {
+          if (iter->second == p) {
+            factory_map.erase(iter);
+            erase_flag = true;
+            break;
+          }
+        }
+        if (erase_flag) {
+          break;
+        }
+      }
+
       getPluginBaseToFactoryMapMapMutex().unlock();
 
 #ifndef _WIN32

CMakeLists.txt

@@ -1,20 +1,20 @@
 <?xml version="1.0"?>
 <package format="2">
   <name>class_loader</name>
-  <version>2.3.1</version>
+  <version>2.9.0</version>
   <description>
     The class_loader package is a ROS-independent package for loading plugins during runtime and the foundation of the higher level ROS "pluginlib" library.
     class_loader utilizes the host operating system's runtime loader to open runtime libraries (e.g. .so/.dll files), introspect the library for exported plugin classes, and allows users to instantiate objects of these exported classes without the explicit declaration (i.e. header file) for those classes.
   </description>
 
   <maintainer email="geoff@openrobotics.org">Geoffrey Biggs</maintainer>
-  <maintainer email="michael@openrobotics.org">Michael Carroll</maintainer>
 
   <license>BSD</license>
 
   <url type="website">http://ros.org/wiki/class_loader</url>
 
   <author>Dirk Thomas</author>
+  <author email="michael@openrobotics.org">Michael Carroll</author>
   <author email="michel@ekumenlabs.com">Michel Hidalgo</author>
   <author>Mirza Shah</author>
   <author email="stevenragnarok@osrfoundation.org">Steven! Ragnarök</author>

include/class_loader/class_loader.hpp

@@ -117,10 +117,10 @@ int ClassLoader::unloadLibrary()
 
 int ClassLoader::unloadLibraryInternal(bool lock_plugin_ref_count)
 {
-  std::lock_guard<std::recursive_mutex> load_ref_lock(load_ref_count_mutex_);
   if (lock_plugin_ref_count) {
     plugin_ref_count_mutex_.lock();
   }
+  std::lock_guard<std::recursive_mutex> load_ref_lock(load_ref_count_mutex_);
 
   try {
     if (plugin_ref_count_ > 0) {

include/class_loader/class_loader_core.hpp

@@ -521,9 +521,12 @@ void unloadLibrary(const std::string & library_path, ClassLoader * loader)
         throw class_loader::LibraryUnloadException(
                 "Could not unload library (rcpputils exception = " + std::string(e.what()) + ")");
       }
+    } else {
+      CONSOLE_BRIDGE_logDebug(
+        "class_loader.impl: "
+        "Attempt to unload library %s that class_loader is unaware of or is already unloaded",
+        library_path.c_str());
     }
-    throw class_loader::LibraryUnloadException(
-            "Attempt to unload library that class_loader is unaware of.");
   }
 }