#include <ComponentLoader.hpp>

Classes
struct	ComponentData
class	LoadedLib
Public Types
typedef boost::shared_ptr < ComponentLoader >	shared_ptr
Public Member Functions
void	addFactory (std::string const &name, ComponentLoaderSignature factory)
std::string	getComponentPath () const
const FactoryMap &	getFactories () const
bool	import (std::string const &path_list)
bool	import (std::string const &name, std::string const &path_list)
bool	isImported (std::string type_name)
std::vector< std::string >	listComponents () const
std::vector< std::string >	listComponentTypes () const
RTT::TaskContext *	loadComponent (std::string const &name, std::string const &type)
bool	loadLibrary (std::string const &path)
bool	reloadLibrary (std::string const &filepath)
void	setComponentPath (std::string const &newpath)
bool	unloadComponent (RTT::TaskContext *tc)
Static Public Member Functions
static boost::shared_ptr < ComponentLoader >	Instance ()
static void	Release ()
Private Types
typedef std::map< std::string, ComponentData >	CompList
Private Member Functions
bool	importInstalledPackage (std::string const &package, std::string const &path_list)
bool	importRosPackage (std::string const &package)
bool	isCompatibleComponent (std::string const &filepath)
bool	loadInProcess (std::string filename, std::string shortname, bool log_error)
bool	reloadInProcess (std::string filename, std::string shortname)
Private Attributes
std::string	component_path
CompList	comps
std::vector< LoadedLib >	loadedLibs
std::vector< std::string >	loadedPackages

Detailed Description

Definition at line 22 of file ComponentLoader.hpp.

Member Typedef Documentation

typedef std::map<std::string, ComponentData> RTT::ComponentLoader::CompList [private]

This vector holds the dynamically loaded components.

Definition at line 65 of file ComponentLoader.hpp.

typedef boost::shared_ptr<ComponentLoader> RTT::ComponentLoader::shared_ptr

Definition at line 116 of file ComponentLoader.hpp.

Member Function Documentation

void ComponentLoader::addFactory	(	std::string const &	name,
		ComponentLoaderSignature	factory
	)

Adds a factory to the component factory map.

Definition at line 867 of file ComponentLoader.cpp.

std::string ComponentLoader::getComponentPath ( ) const

Returns the current Component path list. Defaults to the value of RTT_COMPONENT_PATH, when the RTT was started for the current process.

Returns:: A colon separated list of paths or the empty string if not set.

Definition at line 760 of file ComponentLoader.cpp.

const FactoryMap & ComponentLoader::getFactories ( ) const

Returns the factory singleton which creates all types of components for the ComponentLoader.

Definition at line 862 of file ComponentLoader.cpp.

bool ComponentLoader::import ( std::string const & path_list )

Imports any Component library found in each path in path_list in the current process.

Parameters:

path_list A colon or semi-colon seperated list of paths to look for Components. May be the empty string.

Returns:: true if all paths were valid and contained components. If at least one path did not exist or did not contain any components or plugins, returns false.

Definition at line 251 of file ComponentLoader.cpp.

bool ComponentLoader::import	(	std::string const &	name,
		std::string const &	path_list
	)

Imports a package found in each path in path_list in the current process.

Parameters:

name	The name of the (package) directory to import
path_list	A colon or semi-colon seperated list of paths to look for Components. May be the empty string. In that case, the default component search path is used.

Definition at line 352 of file ComponentLoader.cpp.

bool ComponentLoader::importInstalledPackage	(	std::string const &	package,
		std::string const &	path_list
	)		`[private]`

Returns true if package is a subdir of the RTT_COMPONENT_PATH

Definition at line 473 of file ComponentLoader.cpp.

bool ComponentLoader::importRosPackage ( std::string const & package ) [private]

Returns true only if package is a ROS package and contained a lib/orocos directory.

Definition at line 394 of file ComponentLoader.cpp.

boost::shared_ptr< ComponentLoader > ComponentLoader::Instance ( ) [static]

Create the instance of the ComponentLoader. It will keep track of the loaded libraries for this process.

Returns:: A singleton.

Definition at line 239 of file ComponentLoader.cpp.

bool ComponentLoader::isCompatibleComponent ( std::string const & filepath ) [private]

Internal helper function that validate if a component is compatible with the current target. Currently, there's a validation only on the win32 platform to avoid mixing debug/release runtime libraries.

Parameters:

filepath Full path of component to validate (with extension).

Returns:: true if the component is compatible

Definition at line 832 of file ComponentLoader.cpp.

bool ComponentLoader::isImported ( std::string type_name )

Checks if a given Component type, filename or package name has been imported. This function accepts full filenames ('libthe_Component.so.1.99.0'), short names ('the_Component'), the name provided by the Component Factory ('App::Component'), or a package name ('myrobot')

Parameters:

type_name name of a file, package directory or the Component type.

Returns:: true if so.

Definition at line 607 of file ComponentLoader.cpp.

std::vector< std::string > ComponentLoader::listComponents ( ) const

Lists all Component created by loadComponent().

Returns:: A list of Component names

Definition at line 824 of file ComponentLoader.cpp.

std::vector< std::string > ComponentLoader::listComponentTypes ( ) const

Lists all Component types discovered by the ComponentLoader.

Returns:: A list of Component type names

Definition at line 751 of file ComponentLoader.cpp.

RTT::TaskContext * ComponentLoader::loadComponent	(	std::string const &	name,
		std::string const &	type
	)

Creates a new component an earlier discovered component type.

Parameters:

name	The name of the to be created Component
type	The type of component to be created.

Returns:: null on error or a new component.

Definition at line 773 of file ComponentLoader.cpp.

bool ComponentLoader::loadInProcess	(	std::string	filename,
		std::string	shortname,
		bool	log_error
	)		`[private]`

Internal function that does all library loading.

Parameters:

filename	The path+filename to open
shortname	The short name of this file
log_error	Log errors to users. Set to false in case you are poking files to see if they can be loaded.

Returns:: true if a new library was loaded or if this library was already loaded.

Definition at line 664 of file ComponentLoader.cpp.

bool ComponentLoader::loadLibrary ( std::string const & path )

Loads a library as component library.

Parameters:

path	an absolute or relative path to a library. Relative paths are interpreted with regard to the plugin path.

Definition at line 557 of file ComponentLoader.cpp.

void ComponentLoader::Release ( ) [static]

Release the ComponentLoader, erasing all knowledge of loaded libraries. No libraries will be unloaded from the process.

Definition at line 245 of file ComponentLoader.cpp.

bool ComponentLoader::reloadInProcess	(	std::string	filename,
		std::string	shortname
	)		`[private]`

Internal function that does try to reload a previously loaded library by first dl_close'ing the library.

Parameters:

filename	The path+filename to open
shortname	The short name of this file

Returns:: true if this library was reloaded.

Definition at line 621 of file ComponentLoader.cpp.

bool ComponentLoader::reloadLibrary ( std::string const & filepath )

Reloads a component library.

Parameters:

filepath an absolute path to a library.

Definition at line 543 of file ComponentLoader.cpp.

void ComponentLoader::setComponentPath ( std::string const & newpath )

Sets the Component path list. This is typically done by RTT startup code with the contents of the RTT_COMPONENT_PATH variable.

Parameters:

newpath The new paths to look for Components.

Definition at line 768 of file ComponentLoader.cpp.

bool ComponentLoader::unloadComponent ( RTT::TaskContext * tc )

Destroys an earlier created component.

Parameters:

tc	The TaskContext to be destroyed. tc may no longer be used after this function returns true.

Returns:: false if tc was not loaded by this ComponentLoader.

Definition at line 809 of file ComponentLoader.cpp.

Member Data Documentation

std::string RTT::ComponentLoader::component_path [private]

Path to look for if all else fails.

Definition at line 77 of file ComponentLoader.hpp.

CompList RTT::ComponentLoader::comps [private]

Definition at line 67 of file ComponentLoader.hpp.

std::vector< LoadedLib > RTT::ComponentLoader::loadedLibs [private]

Definition at line 70 of file ComponentLoader.hpp.

std::vector< std::string > RTT::ComponentLoader::loadedPackages [private]

Definition at line 72 of file ComponentLoader.hpp.

The documentation for this class was generated from the following files:

Classes

Public Types

Public Member Functions

Static Public Member Functions

Private Types

Private Member Functions

Private Attributes

Detailed Description

Member Typedef Documentation

Member Function Documentation

Member Data Documentation