Go to the documentation of this file.00001
00002
00003
00004
00005
00006
00007
00008
00009
00010
00011
00012
00013
00014
00015
00016
00017
00018
00019
00020
00021
00022
00023
00024
00025
00026
00027
00028
00029 #ifndef PLUGINLIB_FACTORY_H
00030 #define PLUGINLIB_FACTORY_H
00031
00032 #include <QHash>
00033 #include <QString>
00034 #include <QStringList>
00035
00036 #include <string>
00037 #include <vector>
00038
00039 #ifndef Q_MOC_RUN
00040 #include <pluginlib/class_loader.h>
00041 #endif
00042
00043 #include "rviz/class_id_recording_factory.h"
00044 #include "rviz/load_resource.h"
00045
00046 namespace rviz
00047 {
00048
00049 template<class Type>
00050 class PluginlibFactory: public ClassIdRecordingFactory<Type>
00051 {
00052 private:
00053 struct BuiltInClassRecord
00054 {
00055 QString class_id_;
00056 QString package_;
00057 QString name_;
00058 QString description_;
00059 Type*(*factory_function_)();
00060 };
00061
00062 public:
00063 PluginlibFactory( const QString& package, const QString& base_class_type )
00064 {
00065 class_loader_ = new pluginlib::ClassLoader<Type>( package.toStdString(), base_class_type.toStdString() );
00066 }
00067 virtual ~PluginlibFactory()
00068 {
00069 delete class_loader_;
00070 }
00071
00072 virtual QStringList getDeclaredClassIds()
00073 {
00074 QStringList ids;
00075 std::vector<std::string> std_ids = class_loader_->getDeclaredClasses();
00076 for( size_t i = 0; i < std_ids.size(); i++ )
00077 {
00078 ids.push_back( QString::fromStdString( std_ids[ i ]));
00079 }
00080 typename QHash<QString, BuiltInClassRecord>::const_iterator iter;
00081 for( iter = built_ins_.begin(); iter != built_ins_.end(); iter++ )
00082 {
00083 ids.push_back( iter.key() );
00084 }
00085 return ids;
00086 }
00087
00088 virtual QString getClassDescription( const QString& class_id ) const
00089 {
00090 typename QHash<QString, BuiltInClassRecord>::const_iterator iter = built_ins_.find( class_id );
00091 if( iter != built_ins_.end() )
00092 {
00093 return iter->description_;
00094 }
00095 return QString::fromStdString( class_loader_->getClassDescription( class_id.toStdString() ));
00096 }
00097
00098 virtual QString getClassName( const QString& class_id ) const
00099 {
00100 typename QHash<QString, BuiltInClassRecord>::const_iterator iter = built_ins_.find( class_id );
00101 if( iter != built_ins_.end() )
00102 {
00103 return iter->name_;
00104 }
00105 return QString::fromStdString( class_loader_->getName( class_id.toStdString() ));
00106 }
00107
00108 virtual QString getClassPackage( const QString& class_id ) const
00109 {
00110 typename QHash<QString, BuiltInClassRecord>::const_iterator iter = built_ins_.find( class_id );
00111 if( iter != built_ins_.end() )
00112 {
00113 return iter->package_;
00114 }
00115 return QString::fromStdString( class_loader_->getClassPackage( class_id.toStdString() ));
00116 }
00117
00118 virtual QString getPluginManifestPath( const QString& class_id ) const
00119 {
00120 typename QHash<QString, BuiltInClassRecord>::const_iterator iter = built_ins_.find( class_id );
00121 if( iter != built_ins_.end() )
00122 {
00123 return "";
00124 }
00125 return QString::fromStdString( class_loader_->getPluginManifestPath( class_id.toStdString() ));
00126 }
00127
00128 virtual QIcon getIcon( const QString& class_id ) const
00129 {
00130 QString package = getClassPackage( class_id );
00131 QString class_name = getClassName( class_id );
00132 QIcon icon = loadPixmap( "package://"+package+"/icons/classes/"+class_name+".svg" );
00133 if ( icon.isNull() )
00134 {
00135 icon = loadPixmap( "package://"+package+"/icons/classes/"+class_name+".png" );
00136 if ( icon.isNull() )
00137 {
00138 icon = loadPixmap( "package://rviz/icons/default_class_icon.png");
00139 }
00140 }
00141 return icon;
00142 }
00143
00144 virtual void addBuiltInClass( const QString& package, const QString& name, const QString& description,
00145 Type* (*factory_function)() )
00146 {
00147 BuiltInClassRecord record;
00148 record.class_id_ = package + "/" + name;
00149 record.package_ = package;
00150 record.name_ = name;
00151 record.description_ = description;
00152 record.factory_function_ = factory_function;
00153 built_ins_[ record.class_id_ ] = record;
00154 }
00155
00156 protected:
00168 virtual Type* makeRaw( const QString& class_id, QString* error_return = NULL )
00169 {
00170 typename QHash<QString, BuiltInClassRecord>::const_iterator iter = built_ins_.find( class_id );
00171 if( iter != built_ins_.end() )
00172 {
00173 Type* instance = iter->factory_function_();
00174 if( instance == NULL && error_return != NULL )
00175 {
00176 *error_return = "Factory function for built-in class '" + class_id + "' returned NULL.";
00177 }
00178 return instance;
00179 }
00180 try
00181 {
00182 return class_loader_->createUnmanagedInstance( class_id.toStdString() );
00183 }
00184 catch( pluginlib::PluginlibException& ex )
00185 {
00186 ROS_ERROR( "PluginlibFactory: The plugin for class '%s' failed to load. Error: %s",
00187 qPrintable( class_id ), ex.what() );
00188 if( error_return )
00189 {
00190 *error_return = QString::fromStdString( ex.what() );
00191 }
00192 return NULL;
00193 }
00194 }
00195
00196 private:
00197 pluginlib::ClassLoader<Type>* class_loader_;
00198 QHash<QString, BuiltInClassRecord> built_ins_;
00199 };
00200
00201 }
00202
00203 #endif // PLUGINLIB_FACTORY_H