loader.cpp

Go to the documentation of this file.

/*
 * Copyright (c) 2009, Willow Garage, Inc.
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
 *     * Redistributions of source code must retain the above copyright
 *       notice, this list of conditions and the following disclaimer.
 *     * Redistributions in binary form must reproduce the above copyright
 *       notice, this list of conditions and the following disclaimer in the
 *       documentation and/or other materials provided with the distribution.
 *     * Neither the name of the Willow Garage, Inc. nor the names of its
 *       contributors may be used to endorse or promote products derived from
 *       this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 * POSSIBILITY OF SUCH DAMAGE.
 */

#include <ros/types.h>

#include "rve_pluginloader/loader.h"
#include "rve_pluginloader/plugin.h"

#include <ros/assert.h>
#include <ros/package.h>

namespace rve_pluginloader
{

static L_Plugin g_plugins;
static int32_t g_init_count = 0;

void init()
{
  ++g_init_count;
}

void shutdown()
{
  if (--g_init_count == 0)
  {
    g_plugins.clear();
  }
}

const L_Plugin& getPlugins()
{
  return g_plugins;
}

void loadDescriptions(const std::string& registry_package)
{
  ros::package::V_string plugins;
  ros::package::getPlugins(registry_package, "plugin", plugins);

  ros::package::V_string::iterator it = plugins.begin();
  ros::package::V_string::iterator end = plugins.end();
  for (; it != end; ++it)
  {
    const std::string& plugin = *it;
    loadDescription(plugin);
  }
}

void loadAllPlugins(const std::string& registry_package)
{
  loadDescriptions(registry_package);
  L_Plugin::iterator it = g_plugins.begin();
  L_Plugin::iterator end = g_plugins.end();
  for (; it != end; ++it)
  {
    const PluginPtr& plugin = *it;
    try
    {
      plugin->load();
    }
    catch (std::runtime_error& e)
    {
      ROS_ERROR("Error loading plugin [%s]: %s", plugin->getDescriptionPath().c_str(), e.what());
    }
  }
}

PluginPtr getPlugin(const std::string& description_file)
{
  L_Plugin::iterator it = g_plugins.begin();
  L_Plugin::iterator end = g_plugins.end();
  for (; it != end; ++it)
  {
    const PluginPtr& plugin = *it;

    if (plugin->getDescriptionPath() == description_file)
    {
      return plugin;
    }
  }

  return PluginPtr();
}

PluginPtr getPluginByPackage(const std::string& package)
{
  L_Plugin::iterator it = g_plugins.begin();
  L_Plugin::iterator end = g_plugins.end();
  for (; it != end; ++it)
  {
    const PluginPtr& plugin = *it;

    if (plugin->getPackageName() == package)
    {
      return plugin;
    }
  }

  return PluginPtr();
}

PluginPtr loadDescription(const std::string& description_path)
{
  PluginPtr plugin = getPlugin(description_path);
  if (plugin)
  {
    return plugin;
  }

  plugin.reset(new Plugin);

  try
  {
    plugin->loadDescription(description_path);
  }
  catch (std::runtime_error& e)
  {
    ROS_ERROR("Error loading plugin description [%s]: %s", description_path.c_str(), e.what());
  }

  g_plugins.push_back(plugin);

  return plugin;
}

PluginPtr loadPlugin(const std::string& description_file)
{
  PluginPtr plugin = loadDescription(description_file);
  plugin->load();
  return plugin;
}

PluginPtr getPluginForClass(const std::string& base_class, const std::string& derived_class)
{
  L_Plugin::iterator it = g_plugins.begin();
  L_Plugin::iterator end = g_plugins.end();
  for (; it != end; ++it)
  {
    const PluginPtr& plugin = *it;
    if (plugin->hasClass(base_class, derived_class))
    {
      return plugin;
    }
  }

  return PluginPtr();
}

void* create(const std::string& base_class, const std::string& derived_class)
{
  PluginPtr plugin = getPluginForClass(base_class, derived_class);
  if (!plugin)
  {
    return 0;
  }

  return plugin->create(base_class, derived_class);
}

boost::shared_ptr<void> createShared(const std::string& base_class, const std::string& derived_class)
{
  PluginPtr plugin = getPluginForClass(base_class, derived_class);
  if (!plugin)
  {
    return boost::shared_ptr<void>();
  }

  return plugin->createShared(base_class, derived_class);
}

void destroy(void* mem)
{
  L_Plugin::iterator it = g_plugins.begin();
  L_Plugin::iterator end = g_plugins.end();
  for (; it != end; ++it)
  {
    const PluginPtr& plugin = *it;
    if (plugin->ownsAllocation(mem))
    {
      plugin->destroy(mem);
      return;
    }
  }

  ROS_BREAK();
}

}