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Eliminate the C FFI; Namespace lib API and DeviceManager

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We decided to get rid of the C FFI for libs. It was becoming too intricate
and complicated. It was becoming a technical burden and expanding into
too much extra code. It's unfortunate, but we'll have to give up on getting
out-of-tree hot-loadable libraries the easy way.

It's possible to still do it with cross compilation or by keeping track
of the libstdc++ version that the running harikoff binary was compiled
against. Then we can ensure that our loadable lib code is linked against
that same libstdc++ code and this should ensure ABI stability.
This commit is contained in:
Hayodea Hekol
2025-01-13 21:57:11 -04:00
parent a4f96c8dfa
commit 09caf314f1
11 changed files with 197 additions and 377 deletions
Download Patch File Download Diff File Expand all files Collapse all files
hcore/deviceManager/deviceManager.cpp
+8 -2
View File
@@ -8,6 +8,9 @@
#include <opts.h>
#include <deviceManager/deviceManager.h>
namespace hk {
namespace device {
std::vector<std::shared_ptr<InteroceptorDeviceSpec>>
DeviceManager::interoceptorDeviceSpecs;
std::vector<std::shared_ptr<ExtrospectorDeviceSpec>>
@@ -20,12 +23,15 @@ const std::string DeviceManager::stringifyDeviceSpecs(void)
std::ostringstream oss;
for (const auto& spec : DeviceManager::interoceptorDeviceSpecs) {
oss << "Interoceptor " << CSenseDeviceSpec(*spec);
oss << "Interoceptor " << spec->stringify();
}
for (const auto& spec : DeviceManager::extrospectorDeviceSpecs) {
oss << "Extrospector " << CSenseDeviceSpec(*spec);
oss << "Extrospector " << spec->stringify();
}
return oss.str();
}
} // namespace device
} // namespace hk
hcore/deviceManager/deviceSpecParser.cpp
+6
View File
@@ -10,6 +10,9 @@
#include "deviceSpecp.hh"
#include "deviceSpecl.hh"
namespace hk {
namespace device {
std::string DeviceManager::readDeviceFile(const std::string& filename)
{
std::ifstream file(filename);
@@ -61,3 +64,6 @@ void DeviceManager::parseAllDeviceSpecs(void)
"Check specs for errors");
}
}
} // namespace device
} // namespace hk
hcore/deviceManager/deviceSpecp.yy
+12 -12
View File
@@ -39,9 +39,9 @@ void yyerror(const char *message)
%union {
char* str;
char chr;
SenseDeviceSpec* sensorSpec;
InteroceptorDeviceSpec* interoceptorSpec;
ExtrospectorDeviceSpec* extrospectorSpec;
hk::device::SenseDeviceSpec* sensorSpec;
hk::device::InteroceptorDeviceSpec* interoceptorSpec;
hk::device::ExtrospectorDeviceSpec* extrospectorSpec;
std::vector<std::string>* stringVector;
}
@@ -73,12 +73,12 @@ sensor_spec:
interoceptor_spec:
KEYWORD_SPECTYPE_INTEROSPECTOR PIPE spec_body {
auto spec = std::make_shared<InteroceptorDeviceSpec>(
*static_cast<InteroceptorDeviceSpec *>($3));
auto spec = std::make_shared<hk::device::InteroceptorDeviceSpec>(
*static_cast<hk::device::InteroceptorDeviceSpec *>($3));
spec->sensorType = $1;
DeviceManager::interoceptorDeviceSpecs.push_back(spec);
DeviceManager::senseDeviceSpecs.push_back(spec);
hk::device::DeviceManager::interoceptorDeviceSpecs.push_back(spec);
hk::device::DeviceManager::senseDeviceSpecs.push_back(spec);
delete $3;
}
@@ -86,12 +86,12 @@ interoceptor_spec:
extrospector_spec:
KEYWORD_SPECTYPE_EXTROSPECTOR PIPE spec_body {
auto spec = std::make_shared<ExtrospectorDeviceSpec>(
*static_cast<ExtrospectorDeviceSpec *>($3));
auto spec = std::make_shared<hk::device::ExtrospectorDeviceSpec>(
*static_cast<hk::device::ExtrospectorDeviceSpec *>($3));
spec->sensorType = $1;
DeviceManager::extrospectorDeviceSpecs.push_back(spec);
DeviceManager::senseDeviceSpecs.push_back(spec);
hk::device::DeviceManager::extrospectorDeviceSpecs.push_back(spec);
hk::device::DeviceManager::senseDeviceSpecs.push_back(spec);
delete $3;
}
@@ -99,7 +99,7 @@ extrospector_spec:
spec_body:
STRING PIPE STRING LPAREN opt_params RPAREN PIPE STRING LPAREN opt_params RPAREN PIPE STRING {
$$ = new SenseDeviceSpec();
$$ = new hk::device::SenseDeviceSpec();
$$->sensorType = '\0';
$$->implexor = std::string($1);
$$->api = std::string($3);
hcore/include/deviceManager/deviceManager.h
+6
View File
@@ -9,6 +9,9 @@
#include <iostream>
#include <user/senseDeviceSpec.h>
namespace hk {
namespace device {
class DeviceManager
{
public:
@@ -39,4 +42,7 @@ public:
senseDeviceSpecs;
};
} // namespace device
} // namespace hk
#endif // DEVICEMANAGER_H
hcore/include/senseApis/senseApiLib.h
+5 -69
View File
@@ -11,59 +11,6 @@
namespace hk {
namespace sense_api {
/* C++ version of the C struct above, which Harikoff uses to manage the
* lib and connect implexors to it.
*/
class SenseApiDesc
{
public:
class ExportedImplexorApiDesc
{
public:
ExportedImplexorApiDesc(const CExportedImplexorApiDesc& cDesc)
// The caller should sanity check before calling this constructor.
: name(cDesc.name)
{}
const std::string name;
};
public:
SenseApiDesc() = default;
SenseApiDesc(const CSenseApiDesc& cDesc)
// The caller should sanity check before calling this constructor.
: name(cDesc.name),
sal_mgmt_libOps(cDesc.sal_mgmt_libOps)
{
for (uint32_t i = 0; i < cDesc.numExportedImplexorApis; ++i)
{
if (!CExportedImplexorApiDesc_sanityCheck(
&cDesc.exportedImplexorApis[i]))
{
throw std::runtime_error(
"Sanity check failed for exported implexor API descriptor");
}
exportedImplexorApis.push_back(
ExportedImplexorApiDesc(cDesc.exportedImplexorApis[i]));
}
}
std::string name;
// These are the implexors whose APIs this lib exports.
std::vector<ExportedImplexorApiDesc> exportedImplexorApis;
Csal_mgmt_libOps* sal_mgmt_libOps;
std::string stringify() const {
std::string result = "Name: " + name + "\n";
result += "Exported Implexor APIs:\n";
for (const auto& api : exportedImplexorApis) {
result += " - " + api.name + "\n";
}
return result;
}
};
class SenseApiLib
{
private:
@@ -86,27 +33,16 @@ public:
HK_GET_SENSE_API_DESC_FN_NAME(descFn)
{}
void setSenseApiDesc(const CSenseApiDesc* desc)
void setSenseApiDesc(const SenseApiDesc &desc)
{
if (!CSenseApiDesc_sanityCheck(desc) ||
!Csal_mgmt_libOps_sanityCheck(desc->sal_mgmt_libOps))
if (!SenseApiDesc::sanityCheck(desc))
{
throw std::runtime_error(
std::string(__func__) + ": Sanity check failed for sense API "
"descriptor in library '" + libraryPath + "'");
}
for (uint32_t i = 0; i < desc->numExportedImplexorApis; ++i)
{
if (!CExportedImplexorApiDesc_sanityCheck(
&desc->exportedImplexorApis[i]))
{
throw std::runtime_error(
std::string(__func__) + ": Sanity check failed for "
"exported implexor API descriptor in library '"
+ libraryPath + "'");
}
}
new (&senseApiDesc) SenseApiDesc(*desc); // Placement new
senseApiDesc = desc;
}
public:
@@ -119,7 +55,7 @@ public:
/**
* @brief Every sense API lib is required to provide a function that returns
* a CSenseApiDesc struct. This struct states which API the lib uses to
* a SenseApiDesc struct. This struct states which API the lib uses to
* connect Harikoff to the sense provider it supports.
*
* This getter function should be visible to dlsym() so that Harikoff can
hcore/include/senseApis/senseApiManager.h
+2 -2
View File
@@ -38,8 +38,8 @@ public:
void finalizeAllSenseApiLibs(void);
void attachAllSenseDevicesFromSpecs(void);
void attachSenseDevice(const SenseDeviceSpec& spec);
void detachSenseDevice(const SenseDeviceSpec& spec);
void attachSenseDevice(const device::SenseDeviceSpec& spec);
void detachSenseDevice(const device::SenseDeviceSpec& spec);
void detachAllSenseDevices(void);
std::string stringifyLibs() const;
hcore/senseApis/senseApiManager.cpp
+16 -27
View File
@@ -38,20 +38,18 @@ static std::optional<std::string> findLibraryPath(
std::cerr << std::string(__func__) + ": library '"
+ libraryPath + "' isn't in search bespoke search paths: ";
for (const auto& path : searchPaths)
{
for (const auto& path : searchPaths) {
std::cerr << path << " ";
}
std::cerr << std::endl;
std::cerr << "Trying to load " + libraryPath + " from system default search "
"paths\n";
std::cerr << "Trying to load " + libraryPath + " from system default "
"search paths\n";
return std::nullopt;
}
SenseApiLib& SenseApiManager::loadSenseApiLib(const std::string& libraryPath)
{
const CSenseApiDesc *libApiDesc;
std::optional<std::string> fullPath = findLibraryPath(libraryPath);
std::string resolvedPath = fullPath.value_or(libraryPath);
@@ -90,14 +88,7 @@ SenseApiLib& SenseApiManager::loadSenseApiLib(const std::string& libraryPath)
+ libraryPath + "'");
}
libApiDesc = func();
if (!libApiDesc)
{
throw std::runtime_error(
std::string(__func__) + ": getSenseApiDesc() returned NULL for "
"library '" + libraryPath + "'");
}
const SenseApiDesc &libApiDesc = func();
auto lib = std::make_unique<SenseApiLib>(
libraryPath, dlopen_handle.release(), func);
lib->setSenseApiDesc(libApiDesc);
@@ -173,24 +164,24 @@ std::string SenseApiManager::stringifyLibs() const
void SenseApiManager::initializeSenseApiLib(SenseApiLib& lib)
{
if (!lib.senseApiDesc.sal_mgmt_libOps->initializeInd)
if (!lib.senseApiDesc.sal_mgmt_libOps.initializeInd)
{
throw std::runtime_error(
std::string(__func__) + ": initializeInd() is NULL for library '"
+ lib.libraryPath + "'");
}
lib.senseApiDesc.sal_mgmt_libOps->initializeInd();
lib.senseApiDesc.sal_mgmt_libOps.initializeInd();
}
void SenseApiManager::finalizeSenseApiLib(SenseApiLib& lib)
{
if (!lib.senseApiDesc.sal_mgmt_libOps->finalizeInd)
if (!lib.senseApiDesc.sal_mgmt_libOps.finalizeInd)
{
throw std::runtime_error(
std::string(__func__) + ": finalizeInd() is NULL for library '"
+ lib.libraryPath + "'");
}
lib.senseApiDesc.sal_mgmt_libOps->finalizeInd();
lib.senseApiDesc.sal_mgmt_libOps.finalizeInd();
}
void SenseApiManager::initializeAllSenseApiLibs(void)
@@ -207,7 +198,7 @@ void SenseApiManager::finalizeAllSenseApiLibs(void)
}
}
void SenseApiManager::attachSenseDevice(const SenseDeviceSpec& spec)
void SenseApiManager::attachSenseDevice(const device::SenseDeviceSpec& spec)
{
auto libOpt = getSenseApiLibByApiName(spec.api);
if (!libOpt)
@@ -217,17 +208,16 @@ void SenseApiManager::attachSenseDevice(const SenseDeviceSpec& spec)
+ spec.api + "'");
}
auto& lib = libOpt.value().get();
if (!lib.senseApiDesc.sal_mgmt_libOps->attachDeviceReq)
if (!lib.senseApiDesc.sal_mgmt_libOps.attachDeviceReq)
{
throw std::runtime_error(
std::string(__func__) + ": attachDeviceReq() is NULL for library '"
+ lib.libraryPath + "'");
}
CSenseDeviceSpec cSpec(spec);
lib.senseApiDesc.sal_mgmt_libOps->attachDeviceReq(&cSpec);
lib.senseApiDesc.sal_mgmt_libOps.attachDeviceReq(&spec);
}
void SenseApiManager::detachSenseDevice(const SenseDeviceSpec& spec)
void SenseApiManager::detachSenseDevice(const device::SenseDeviceSpec& spec)
{
auto libOpt = getSenseApiLibByApiName(spec.api);
if (!libOpt)
@@ -237,26 +227,25 @@ void SenseApiManager::detachSenseDevice(const SenseDeviceSpec& spec)
+ spec.api + "'");
}
auto& lib = libOpt.value().get();
if (!lib.senseApiDesc.sal_mgmt_libOps->detachDeviceReq)
if (!lib.senseApiDesc.sal_mgmt_libOps.detachDeviceReq)
{
throw std::runtime_error(
std::string(__func__) + ": detachDeviceReq() is NULL for library '"
+ lib.libraryPath + "'");
}
CSenseDeviceSpec cSpec(spec);
lib.senseApiDesc.sal_mgmt_libOps->detachDeviceReq(&cSpec);
lib.senseApiDesc.sal_mgmt_libOps.detachDeviceReq(&spec);
}
void SenseApiManager::attachAllSenseDevicesFromSpecs(void)
{
for (const auto& spec : DeviceManager::senseDeviceSpecs) {
for (const auto& spec : device::DeviceManager::senseDeviceSpecs) {
attachSenseDevice(*spec);
}
}
void SenseApiManager::detachAllSenseDevices(void)
{
for (const auto& spec : DeviceManager::senseDeviceSpecs) {
for (const auto& spec : device::DeviceManager::senseDeviceSpecs) {
detachSenseDevice(*spec);
}
}