nodelet: loader.h Source File

00001 /*
00002  * Copyright (c) 2010, Willow Garage, Inc.
00003  * All rights reserved.
00004  *
00005  * Redistribution and use in source and binary forms, with or without
00006  * modification, are permitted provided that the following conditions are met:
00007  *
00008  *     * Redistributions of source code must retain the above copyright
00009  *       notice, this list of conditions and the following disclaimer.
00010  *     * Redistributions in binary form must reproduce the above copyright
00011  *       notice, this list of conditions and the following disclaimer in the
00012  *       documentation and/or other materials provided with the distribution.
00013  *     * Neither the name of the Willow Garage, Inc. nor the names of its
00014  *       contributors may be used to endorse or promote products derived from
00015  *       this software without specific prior written permission.
00016  *
00017  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00018  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00019  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
00020  * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
00021  * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
00022  * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
00023  * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
00024  * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
00025  * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
00026  * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00027  * POSSIBILITY OF SUCH DAMAGE.
00028  */
00029 
00036 #ifndef NODELET_LOADER_H
00037 #define NODELET_LOADER_H
00038 
00039 #include <map>
00040 #include <vector>
00041 #include <boost/shared_ptr.hpp>
00042 #include <boost/thread/mutex.hpp>
00043 #include <bondcpp/bond.h>
00044 
00045 namespace pluginlib
00046 {
00047 template<typename T> class ClassLoader;
00048 }
00049 
00050 namespace ros
00051 {
00052 class NodeHandle;
00053 }
00054 
00055 namespace nodelet
00056 {
00057 class Nodelet;
00058 typedef boost::shared_ptr<Nodelet> NodeletPtr;
00059 typedef std::map<std::string, std::string> M_string;
00060 typedef std::vector<std::string> V_string;
00061 
00062 namespace detail
00063 {
00064 class LoaderROS;
00065 typedef boost::shared_ptr<LoaderROS> LoaderROSPtr;
00066 class CallbackQueueManager;
00067 typedef boost::shared_ptr<CallbackQueueManager> CallbackQueueManagerPtr;
00068 } // namespace detail
00069 
00070 
00074 class Loader
00075 {
00076 public:
00078   Loader(bool provide_ros_api = true);
00080   Loader(ros::NodeHandle server_nh);
00081   
00082   ~Loader();
00083 
00084   bool load(const std::string& name, const std::string& type, const M_string& remappings, const V_string& my_argv, boost::shared_ptr<bond::Bond> bond = boost::shared_ptr<bond::Bond>((bond::Bond*)NULL));
00085   bool unload(const std::string& name);
00086 
00088   bool clear();
00089 
00091   std::vector<std::string> listLoadedNodelets();
00092 private:
00093   void constructorImplementation(bool provide_ros_api, ros::NodeHandle server_nh);
00094 
00095   boost::mutex lock_;  
00096   detail::LoaderROSPtr services_;
00097 
00098   typedef std::map<std::string, NodeletPtr> M_stringToNodelet;
00099   M_stringToNodelet nodelets_; 
00100 
00101   typedef boost::shared_ptr<pluginlib::ClassLoader<Nodelet> > ClassLoaderPtr;
00102   ClassLoaderPtr loader_;
00103 
00104   detail::CallbackQueueManagerPtr callback_manager_;
00105 };
00106 
00107 
00108 };
00109 
00110 #endif //#ifndef NODELET_LOADER_H
00111