ComponentLoader.hpp
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00001 #ifndef ORO_COMPONENTLOADER_HPP_
00002 #define ORO_COMPONENTLOADER_HPP_
00003 
00004 #include <string>
00005 #include <vector>
00006 #include <boost/shared_ptr.hpp>
00007 #include <rtt/Component.hpp>
00008 
00009 namespace RTT {
00022         class ComponentLoader
00023         {
00028             class LoadedLib{
00029             public:
00030                 LoadedLib(std::string n, std::string short_name, void* h)
00031                 : filename(n), shortname(short_name), handle(h)
00032                 {
00033                 }
00037                 std::string filename;
00041                 std::string shortname;
00042 
00046                 void* handle;
00047 
00048                 std::vector<std::string> components_type;
00049             };
00050 
00051             struct ComponentData {
00052                 ComponentData()
00053                     : instance(0), type("")
00054                 {}
00058                 RTT::TaskContext* instance;
00059                 std::string type;
00060             };
00061 
00065             typedef std::map<std::string, ComponentData> CompList;
00066 
00067             CompList comps;
00068 
00069 
00070             std::vector< LoadedLib > loadedLibs;
00071 
00072             std::vector< std::string > loadedPackages;
00073 
00077             std::string component_path;
00078 
00087             bool loadInProcess(std::string filename, std::string shortname, bool log_error );
00088 
00095             bool reloadInProcess(std::string filename, std::string shortname);
00096 
00104             bool isCompatibleComponent(std::string const& filepath);
00105 
00109             bool importRosPackage(std::string const& package);
00110 
00114             bool importInstalledPackage(std::string const& package, std::string const& path_list);
00115         public:
00116             typedef boost::shared_ptr<ComponentLoader> shared_ptr;
00122             static boost::shared_ptr<ComponentLoader> Instance();
00123 
00128             static void Release();
00129 
00137             bool import(std::string const& path_list);
00138 
00148             bool isImported(std::string type_name);
00149 
00157             bool import(std::string const& name, std::string const& path_list);
00158 
00164             bool loadLibrary(std::string const& path);
00165 
00170             bool reloadLibrary(std::string const& filepath);
00171 
00178             RTT::TaskContext* loadComponent(std::string const& name, std::string const& type);
00179 
00186             bool unloadComponent( RTT::TaskContext* tc );
00187 
00192             std::vector<std::string> listComponents() const;
00193 
00198             std::vector<std::string> listComponentTypes() const;
00199 
00206             std::string getComponentPath() const;
00207 
00214             void setComponentPath( std::string const& newpath );
00215 
00220             const FactoryMap& getFactories() const;
00221 
00225             void addFactory( std::string const& name, ComponentLoaderSignature factory );
00226         };
00227 }
00228 
00229 
00230 #endif /* ORO_COMPONENTLOADER_HPP_ */


rtt
Author(s): RTT Developers
autogenerated on Mon Oct 6 2014 03:13:34