00001 #include "image_transport/publisher_plugin.h"
00002 #include "image_transport/subscriber_plugin.h"
00003 #include <pluginlib/class_loader.h>
00004 #include <boost/foreach.hpp>
00005 #include <boost/algorithm/string/erase.hpp>
00006 #include <map>
00007
00008 using namespace image_transport;
00009 using namespace pluginlib;
00010
00011 enum PluginStatus {SUCCESS, CREATE_FAILURE, LIB_LOAD_FAILURE, DOES_NOT_EXIST};
00012
00014 struct TransportDesc
00015 {
00016 TransportDesc()
00017 : pub_status(DOES_NOT_EXIST), sub_status(DOES_NOT_EXIST)
00018 {}
00019
00020 std::string package_name;
00021 std::string pub_name;
00022 PluginStatus pub_status;
00023 std::string sub_name;
00024 PluginStatus sub_status;
00025 };
00027
00028 int main(int argc, char** argv)
00029 {
00030 ClassLoader<PublisherPlugin> pub_loader("image_transport", "image_transport::PublisherPlugin");
00031 ClassLoader<SubscriberPlugin> sub_loader("image_transport", "image_transport::SubscriberPlugin");
00032 typedef std::map<std::string, TransportDesc> StatusMap;
00033 StatusMap transports;
00034
00035 BOOST_FOREACH(const std::string& lookup_name, pub_loader.getDeclaredClasses()) {
00036 std::string transport_name = boost::erase_last_copy(lookup_name, "_pub");
00037 transports[transport_name].pub_name = lookup_name;
00038 transports[transport_name].package_name = pub_loader.getClassPackage(lookup_name);
00039 try {
00040 PublisherPlugin* pub = pub_loader.createClassInstance(lookup_name);
00041 transports[transport_name].pub_status = SUCCESS;
00042 delete pub;
00043 }
00044 catch (const LibraryLoadException& e) {
00045 transports[transport_name].pub_status = LIB_LOAD_FAILURE;
00046 }
00047 catch (const CreateClassException& e) {
00048 transports[transport_name].pub_status = CREATE_FAILURE;
00049 }
00050 }
00051
00052 BOOST_FOREACH(const std::string& lookup_name, sub_loader.getDeclaredClasses()) {
00053 std::string transport_name = boost::erase_last_copy(lookup_name, "_sub");
00054 transports[transport_name].sub_name = lookup_name;
00055 transports[transport_name].package_name = sub_loader.getClassPackage(lookup_name);
00056 try {
00057 SubscriberPlugin* sub = sub_loader.createClassInstance(lookup_name);
00058 transports[transport_name].sub_status = SUCCESS;
00059 delete sub;
00060 }
00061 catch (const LibraryLoadException& e) {
00062 transports[transport_name].sub_status = LIB_LOAD_FAILURE;
00063 }
00064 catch (const CreateClassException& e) {
00065 transports[transport_name].sub_status = CREATE_FAILURE;
00066 }
00067 }
00068
00069 bool problem_package = false;
00070 printf("Declared transports:\n");
00071 BOOST_FOREACH(const StatusMap::value_type& value, transports) {
00072 const TransportDesc& td = value.second;
00073 printf("%s", value.first.c_str());
00074 if ((td.pub_status == CREATE_FAILURE || td.pub_status == LIB_LOAD_FAILURE) ||
00075 (td.sub_status == CREATE_FAILURE || td.sub_status == LIB_LOAD_FAILURE)) {
00076 printf(" (*): Not available. Try 'rosmake %s'.", td.package_name.c_str());
00077 problem_package = true;
00078 }
00079 printf("\n");
00080 }
00081 #if 0
00082 if (problem_package)
00083 printf("(*) \n");
00084 #endif
00085
00086 printf("\nDetails:\n");
00087 BOOST_FOREACH(const StatusMap::value_type& value, transports) {
00088 const TransportDesc& td = value.second;
00089 printf("----------\n");
00090 printf("\"%s\"\n", value.first.c_str());
00091 if (td.pub_status == CREATE_FAILURE || td.sub_status == CREATE_FAILURE) {
00092 printf("*** Plugins are built, but could not be loaded. The package may need to be rebuilt or may not be compatible with this release of image_common. ***\n");
00093 }
00094 else if (td.pub_status == LIB_LOAD_FAILURE || td.sub_status == LIB_LOAD_FAILURE) {
00095 printf("*** Plugins are not built. ***\n");
00096 }
00097 printf(" - Provided by package: %s\n", td.package_name.c_str());
00098 if (td.pub_status == DOES_NOT_EXIST)
00099 printf(" - No publisher provided\n");
00100 else
00101 printf(" - Publisher: %s\n", pub_loader.getClassDescription(td.pub_name).c_str());
00102 if (td.sub_status == DOES_NOT_EXIST)
00103 printf(" - No subscriber provided\n");
00104 else
00105 printf(" - Subscriber: %s\n", sub_loader.getClassDescription(td.sub_name).c_str());
00106 }
00107
00108 return 0;
00109 }
