An organizer for switching between multiple different plugins of the same type. More...

#include <plugin_mux.h>

Public Member Functions
void	addPlugin (const std::string &plugin_name, const std::string &plugin_class_name)
	Create an instance of the given plugin_class_name and save it with the given plugin_name.
T &	getCurrentPlugin ()
	Get the Current Plugin.
std::string	getCurrentPluginName () const
	Get the Current Plugin Name.
T &	getPlugin (const std::string &name)
	Get the Specified Plugin.
std::vector< std::string >	getPluginNames () const
	Get the current list of plugin names.
bool	hasPlugin (const std::string &name) const
	Check to see if a plugin exists.
	PluginMux (const std::string &plugin_package, const std::string &plugin_class, const std::string &parameter_name, const std::string &default_value, const std::string &ros_name="current_plugin", const std::string &switch_service_name="switch_plugin")
	Main Constructor - Loads plugin(s) and sets up ROS interfaces.
void	setSwitchCallback (SwitchCallback switch_callback)
	Set the callback fired when the plugin switches.
bool	usePlugin (const std::string &name)
	C++ Interface for switching to a given plugin.
Protected Member Functions
bool	switchPluginService (nav_2d_msgs::SwitchPlugin::Request &req, nav_2d_msgs::SwitchPlugin::Response &resp)
	ROS Interface for Switching Plugins.
Protected Attributes
std::string	current_plugin_
ros::Publisher	current_plugin_pub_
pluginlib::ClassLoader< T >	plugin_loader_
std::map< std::string, boost::shared_ptr< T > >	plugins_
ros::NodeHandle	private_nh_
std::string	ros_name_
SwitchCallback	switch_callback_
ros::ServiceServer	switch_plugin_srv_

Detailed Description

template<class T>
class nav_2d_utils::PluginMux< T >

An organizer for switching between multiple different plugins of the same type.

The different plugins are specified using a list of strings on the parameter server, each of which is a namespace. The specific type and additional parameters for each plugin are specified on the parameter server in that namespace. All the plugins are loaded initially, but only one is the "current" plugin at any particular time, which is published on a latched topic AND stored on the ROS parameter server. You can switch which plugin is current either through a C++ or ROS interface.

Definition at line 59 of file plugin_mux.h.

Constructor & Destructor Documentation

template<class T >

nav_2d_utils::PluginMux< T >::PluginMux	(	const std::string &	plugin_package,
		const std::string &	plugin_class,
		const std::string &	parameter_name,
		const std::string &	default_value,
		const std::string &	ros_name = `"current_plugin"`,
		const std::string &	switch_service_name = `"switch_plugin"`
	)

Main Constructor - Loads plugin(s) and sets up ROS interfaces.

Parameters:

plugin_package	The package of the plugin type
plugin_class	The class name for the plugin type
parameter_name	Name of parameter for the namespaces.
default_value	If class name is not specified, which plugin should be loaded
ros_name	ROS name for setting up topic and parameter
switch_service_name	ROS name for setting up the ROS service

Definition at line 221 of file plugin_mux.h.

Member Function Documentation

template<class T >

void nav_2d_utils::PluginMux< T >::addPlugin	(	const std::string &	plugin_name,
		const std::string &	plugin_class_name
	)

Create an instance of the given plugin_class_name and save it with the given plugin_name.

Parameters:

plugin_name	Namespace for the new plugin
plugin_class_name	Class type name for the new plugin

Definition at line 258 of file plugin_mux.h.

template<class T >

T& nav_2d_utils::PluginMux< T >::getCurrentPlugin ( ) [inline]

Get the Current Plugin.

Returns:: Reference to current plugin

Definition at line 146 of file plugin_mux.h.

template<class T >

std::string nav_2d_utils::PluginMux< T >::getCurrentPluginName ( ) const [inline]

Get the Current Plugin Name.

Returns:: Name of the current plugin

Definition at line 115 of file plugin_mux.h.

template<class T >

T& nav_2d_utils::PluginMux< T >::getPlugin ( const std::string & name ) [inline]

Get the Specified Plugin.

Parameters:

name	Name of plugin to get

Returns:: Reference to specified plugin

Definition at line 135 of file plugin_mux.h.

template<class T >

std::vector<std::string> nav_2d_utils::PluginMux< T >::getPluginNames ( ) const [inline]

Get the current list of plugin names.

Definition at line 154 of file plugin_mux.h.

template<class T >

bool nav_2d_utils::PluginMux< T >::hasPlugin ( const std::string & name ) const [inline]

Check to see if a plugin exists.

Parameters:

name	Namespace to set current plugin to

Returns:: True if the plugin exists

Definition at line 125 of file plugin_mux.h.

template<class T >

void nav_2d_utils::PluginMux< T >::setSwitchCallback ( SwitchCallback switch_callback ) [inline]

Set the callback fired when the plugin switches.

In addition to switching which plugin is being used via directly calling `usePlugin` a switch can also be triggered externally via ROS service. In such a case, other classes may want to know when this happens. This is accomplished using the SwitchCallback, which will be called regardless of how the plugin is switched.

Definition at line 180 of file plugin_mux.h.

template<class T >

bool nav_2d_utils::PluginMux< T >::switchPluginService	(	nav_2d_msgs::SwitchPlugin::Request &	req,
		nav_2d_msgs::SwitchPlugin::Response &	resp
	)		`[inline, protected]`