class mola::MolaLauncherApp

Overview

Main launcher for a MOLA system. See mola-cli for a ready-to-use program.

#include <MolaLauncherApp.h>

class MolaLauncherApp: public mrpt::system::COutputLogger
{
public:
    // typedefs

    typedef std::string module_name_t;
    typedef std::string module_shared_path_t;

    // structs

    struct InfoPerRunningThread;
    struct Parameters;

    // fields

    mrpt::system::CTimeLogger profiler_ {true, "MolaLauncherApp"};
    std::optional<ProfilerSaverAtDtor> profiler_dtor_save_stats_;
    Parameters launcher_params_;

    // methods

    void setup(
        const mrpt::containers::yaml& cfg,
        const std::optional<std::string>& basePath = std::nullopt
        );

    void spin();
    void shutdown();
    void requestSpinExit();
    void addPathModuleLibs(const std::string& path);
    void addPathModuleSources(const std::string& path);
    std::vector<std::string> getModuleLibPaths() const;
    std::vector<std::string> getModuleSourcePaths() const;
    std::vector<std::string> getLoadedModules();

    template <typename T>
    std::vector<std::shared_ptr<T>> findModulesOfType() const;

    std::string findModuleSharedDir(const std::string& moduleName) const;
    void scanAndLoadLibraries();
    std::map<module_name_t, module_shared_path_t> scanForModuleSharedDirectories() const;
};

Fields

mrpt::system::CTimeLogger profiler_ {true, "MolaLauncherApp"}

Time profiler. It’s enabled/disabled status will be inherited (by default, unless set otherwise in their YAML config files) by all modules created upon the call to setup()

std::optional<ProfilerSaverAtDtor> profiler_dtor_save_stats_

Enabled from mola-cli with --profiler-whole to save full profile stats to .m files at program end.

Methods

void setup(
    const mrpt::containers::yaml& cfg,
    const std::optional<std::string>& basePath = std::nullopt
    )

Prepares the SLAM system based on a YAML configuration file. See [mola]/demos/ for example YAML files. At this point, MOLA module libraries are searched in a list of paths and loaded for their classes to be available in name-based class factories. Modules must be named “libmola*” to be loaded.

See also:

addPathModuleLibs, scanAndLoadLibraries

void spin()

(Blocking call) Launch sensor and worker threads and enters into an infinite loop executing the SLAM system, until shutdown() is called (e.g. from another thread or a signal handler).

void shutdown()

Attempts to do a clean shutdown of the system, giving all threads an opportunity to end and save any pending data, etc.

See also:

spin()

void requestSpinExit()

Asks spin() to exit its main loop as soon as possible, without doing any of the actual shutdown work. It only stores into an atomic flag, hence it is async-signal-safe and can be called from a signal handler. Callers are then expected to invoke shutdown() from a regular thread, e.g. right after spin() returns.

See also:

spin(), shutdown()

void addPathModuleLibs(const std::string& path)

Adds a directory to the list of paths to search for MOLA modules (.so/.dll) when setup() is called. The environment variable MOLA_MODULES_LIB_PATH (path1[:path2[:...]]) is automatically added at class construction. Default is CMAKE_LIBRARY_OUTPUT_DIRECTORY.

void addPathModuleSources(const std::string& path)

Adds a directory to the list of paths to search for MOLA module source and shared files. The environment variable MOLA_MODULES_SHARED_PATH (path1[:path2[:...]]) is automatically added at class construction.

Default is ${MOLA_SOURCE_DIR}/modules/

std::vector<std::string> getModuleLibPaths() const

Returns a copy of the current list of paths in which this object will try to look for MOLA modules compiled binaries.

See also:

addPathModuleLibs

std::vector<std::string> getModuleSourcePaths() const

Returns a copy of the current list of paths in which this object will try to look for MOLA modules shared files.

See also:

addPathModuleSources

std::vector<std::string> getLoadedModules()

Returns the current list of loaded module dynamic libraries.

template <typename T>
std::vector<std::shared_ptr<T>> findModulesOfType() const

Returns all currently-running modules whose implementation is (or derives from) T, e.g. findModulesOfType<mola::LidarOdometry>(). Useful for callers that need to reach a specific module instance to invoke type-specific methods beyond the generic ExecutableBase API.

std::string findModuleSharedDir(const std::string& moduleName) const

Returns the absolute path of the root directory where the given module shared files can be found. For BUILD_INTERFACE, this should be the root of each repository source. For INSTALL_INTERFACE, it should be <INSTALL_PREFIX>/share/<MODULE_NAME>/

Returns an empty string if module is not found.

See also:

scanForModuleSharedDirectories() to search for all module paths.

void scanAndLoadLibraries()

Scans and loads MOLA module libraries. This is automatically called within setup(), but it’s provided here in case a user want to only load modules for use the RTTI machinery on them without setting up a complete SLAM system.

See also:

addPathModuleLibs, setup

std::map<module_name_t, module_shared_path_t> scanForModuleSharedDirectories() const

Scans the shared directories and returns a list with found modules and their shared directory.