00001 /* 00002 * Copyright (c) 2012, 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 00030 #ifndef CLASS_LOADER_MULTI_LIBRARY_CLASS_LOADER_H_DEFINED 00031 #define CLASS_LOADER_MULTI_LIBRARY_CLASS_LOADER_H_DEFINED 00032 00033 #include "class_loader.h" 00034 #include <boost/thread.hpp> 00035 00036 namespace class_loader 00037 { 00038 00039 typedef std::string LibraryPath; 00040 typedef std::map<LibraryPath, class_loader::ClassLoader*> LibraryToClassLoaderMap; 00041 typedef std::vector<ClassLoader*> ClassLoaderVector; 00042 00047 class MultiLibraryClassLoader 00048 { 00049 public: 00054 MultiLibraryClassLoader(bool enable_ondemand_loadunload); 00055 00059 virtual ~MultiLibraryClassLoader(); 00060 00068 template <class Base> 00069 boost::shared_ptr<Base> createInstance(const std::string& class_name) 00070 { 00071 logDebug("class_loader::MultiLibraryClassLoader: Attempting to create instance of class type %s.", class_name.c_str()); 00072 ClassLoaderVector active_loaders = getAllAvailableClassLoaders(); 00073 for(unsigned int c = 0; c < active_loaders.size(); c++) 00074 { 00075 ClassLoader* current = active_loaders.at(c); 00076 if(current->isClassAvailable<Base>(class_name)) 00077 return(current->createInstance<Base>(class_name)); 00078 } 00079 00080 throw(class_loader::CreateClassException("MultiLibraryClassLoader: Could not create object of class type " + class_name + " as no factory exists for it. Make sure that the library exists and was explicitly loaded through MultiLibraryClassLoader::loadLibrary()")); 00081 } 00082 00091 template <class Base> 00092 boost::shared_ptr<Base> createInstance(const std::string& class_name, const std::string& library_path) 00093 { 00094 ClassLoader* loader = getClassLoaderForLibrary(library_path); 00095 if(loader) 00096 return(loader->createInstance<Base>(class_name)); 00097 else 00098 throw class_loader::NoClassLoaderExistsException("Could not create instance as there is no ClassLoader in MultiLibraryClassLoader bound to library " + library_path + " Ensure you called MultiLibraryClassLoader::loadLibrary()"); 00099 } 00100 00109 template <class Base> 00110 Base* createUnmanagedInstance(const std::string& class_name) 00111 { 00112 ClassLoaderVector active_loaders = getAllAvailableClassLoaders(); 00113 for(unsigned int c = 0; c < active_loaders.size(); c++) 00114 { 00115 ClassLoader* current = active_loaders.at(c); 00116 if(current->isClassAvailable<Base>(class_name)) 00117 return(current->createUnmanagedInstance<Base>(class_name)); 00118 } 00119 00120 throw(class_loader::CreateClassException("MultiLibraryClassLoader: Could not create class of type " + class_name)); 00121 } 00122 00131 template <class Base> 00132 Base* createUnmanagedInstance(const std::string& class_name, const std::string& library_path) 00133 { 00134 ClassLoader* loader = getClassLoaderForLibrary(library_path); 00135 if(loader) 00136 return(loader->createUnmanagedInstance<Base>(class_name)); 00137 else 00138 throw class_loader::NoClassLoaderExistsException("Could not create instance as there is no ClassLoader in MultiLibraryClassLoader bound to library " + library_path + " Ensure you called MultiLibraryClassLoader::loadLibrary()"); 00139 } 00140 00147 template <class Base> 00148 bool isClassAvailable(const std::string& class_name) 00149 { 00150 std::vector<std::string> available_classes = getAvailableClasses<Base>(); 00151 return(available_classes.end() != std::find(available_classes.begin(), available_classes.end(), class_name)); 00152 } 00153 00159 bool isLibraryAvailable(const std::string& library_path); 00160 00166 template <class Base> 00167 std::vector<std::string> getAvailableClasses() 00168 { 00169 std::vector<std::string> available_classes; 00170 ClassLoaderVector loaders = getAllAvailableClassLoaders(); 00171 for(unsigned int c = 0; c < loaders.size(); c++) 00172 { 00173 ClassLoader* current = loaders.at(c); 00174 std::vector<std::string> loader_classes = current->getAvailableClasses<Base>(); 00175 available_classes.insert(available_classes.end(), loader_classes.begin(), loader_classes.end()); 00176 } 00177 return(available_classes); 00178 } 00179 00185 template <class Base> 00186 std::vector<std::string> getAvailableClassesForLibrary(const std::string& library_path) 00187 { 00188 ClassLoader* loader = getClassLoaderForLibrary(library_path); 00189 std::vector<std::string> available_classes; 00190 if(loader) 00191 { 00192 available_classes = loader->getAvailableClasses<Base>(); 00193 return(available_classes); 00194 } 00195 else 00196 throw class_loader::NoClassLoaderExistsException("There is no ClassLoader in MultiLibraryClassLoader bound to library " + library_path + " Ensure you called MultiLibraryClassLoader::loadLibrary()"); 00197 } 00198 00203 std::vector<std::string> getRegisteredLibraries(); 00204 00209 void loadLibrary(const std::string& library_path); 00210 00215 int unloadLibrary(const std::string& library_path); 00216 00217 00218 private: 00222 bool isOnDemandLoadUnloadEnabled(){return(enable_ondemand_loadunload_);} 00223 00229 ClassLoader* getClassLoaderForLibrary(const std::string& library_path); 00230 00234 ClassLoaderVector getAllAvailableClassLoaders(); 00235 00239 void shutdownAllClassLoaders(); 00240 00241 private: 00242 bool enable_ondemand_loadunload_; 00243 LibraryToClassLoaderMap active_class_loaders_; 00244 boost::mutex loader_mutex_; 00245 }; 00246 00247 00248 } 00249 #endif