class_loader.hpp

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/*
 * 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
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#ifndef PLUGINLIB__CLASS_LOADER_HPP_
#define PLUGINLIB__CLASS_LOADER_HPP_

#include "boost/algorithm/string.hpp"
#include "class_loader/multi_library_class_loader.h"
#include <map>
#include "pluginlib/class_desc.hpp"
#include "pluginlib/class_loader_base.hpp"
#include "pluginlib/exceptions.hpp"
#include "ros/console.h"
#include "ros/package.h"
#include "tinyxml.h"

//Note: pluginlib has traditionally utilized a "lookup name" for classes that does not match its real C++ name. This was
//done due to limitations of how pluginlib was implemented. As of version 1.9, a lookup name is no longer necessary and
//an attempt to the merge two concepts is underway

namespace pluginlib
{

#if __cplusplus >= 201103L
  template<typename T>
  using UniquePtr = class_loader::ClassLoader::UniquePtr<T>;
#endif

  template <class T>
    class ClassLoader: public ClassLoaderBase
    {
      public:
        typedef typename std::map<std::string, ClassDesc>::iterator ClassMapIterator;

      public:
        ClassLoader(std::string package, std::string base_class, std::string attrib_name = std::string("plugin"), std::vector<std::string> plugin_xml_paths = std::vector<std::string>());

        ~ClassLoader();

        __attribute__((deprecated)) T* createClassInstance(const std::string& lookup_name, bool auto_load = true);

        boost::shared_ptr<T> createInstance(const std::string& lookup_name);

#if __cplusplus >= 201103L

        UniquePtr<T> createUniqueInstance(const std::string& lookup_name);
#endif

        T* createUnmanagedInstance(const std::string& lookup_name);

        std::vector<std::string> getPluginXmlPaths();

        std::vector<std::string> getDeclaredClasses();

        virtual std::string getName(const std::string& lookup_name);

        virtual std::string getBaseClassType() const;

        virtual std::string getClassType(const std::string& lookup_name);

        virtual std::string getClassDescription(const std::string& lookup_name);

        virtual std::string getClassLibraryPath(const std::string& lookup_name);

        virtual std::string getClassPackage(const std::string& lookup_name);

        virtual std::string getPluginManifestPath(const std::string& lookup_name);

        virtual std::vector<std::string> getRegisteredLibraries();

        bool isClassLoaded(const std::string& lookup_name);

        virtual bool isClassAvailable(const std::string& lookup_name);

        virtual void loadLibraryForClass(const std::string & lookup_name);

        virtual void refreshDeclaredClasses();

        virtual int unloadLibraryForClass(const std::string& lookup_name);

      private:

        std::vector<std::string> getPluginXmlPaths(const std::string& package, const std::string& attrib_name, bool force_recrawl=false);

        std::map<std::string, ClassDesc> determineAvailableClasses(const std::vector<std::string>& plugin_xml_paths);

        std::string extractPackageNameFromPackageXML(const std::string& package_xml_path);

        std::vector<std::string> getAllLibraryPathsToTry(const std::string& library_name, const std::string& exporting_package_name);

        std::vector<std::string> getCatkinLibraryPaths();

        std::string getErrorStringForUnknownClass(const std::string& lookup_name);

        std::string getPathSeparator();

        std::string getROSBuildLibraryPath(const std::string& exporting_package_name);

        std::string getPackageFromPluginXMLFilePath(const std::string & path);

        std::string joinPaths(const std::string& path1, const std::string& path2);

        void processSingleXMLPluginFile(const std::string& xml_file, std::map<std::string, ClassDesc>& class_available);

        std::string stripAllButFileFromPath(const std::string& path);


        int unloadClassLibraryInternal(const std::string& library_path);

     private:
        std::vector<std::string> plugin_xml_paths_;
        std::map<std::string, ClassDesc> classes_available_; //Map from library to class's descriptions described in XML
        std::string package_;
        std::string base_class_;
        std::string attrib_name_;
        class_loader::MultiLibraryClassLoader lowlevel_class_loader_; //The underlying classloader
    };
};

#include "class_loader_imp.hpp" //Note: The implementation of the methods is in a separate file for clarity

#endif  // PLUGINLIB__CLASS_LOADER_HPP_