00001 /* 00002 * Copyright (c) 2011, Dirk Thomas, TU Darmstadt 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 00007 * are met: 00008 * 00009 * * Redistributions of source code must retain the above copyright 00010 * notice, this list of conditions and the following disclaimer. 00011 * * Redistributions in binary form must reproduce the above 00012 * copyright notice, this list of conditions and the following 00013 * disclaimer in the documentation and/or other materials provided 00014 * with the distribution. 00015 * * Neither the name of the TU Darmstadt nor the names of its 00016 * contributors may be used to endorse or promote products derived 00017 * from this software without specific prior written permission. 00018 * 00019 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00020 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00021 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00022 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00023 * COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00024 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00025 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00026 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00027 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00028 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00029 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00030 * POSSIBILITY OF SUCH DAMAGE. 00031 */ 00032 00033 #ifndef rqt_gui_cpp__NodeletPluginProvider_H 00034 #define rqt_gui_cpp__NodeletPluginProvider_H 00035 00036 #include <qt_gui_cpp/ros_pluginlib_plugin_provider.h> 00037 00038 #include <rqt_gui_cpp/plugin.h> 00039 00040 #include <nodelet/loader.h> 00041 #include <nodelet/nodelet.h> 00042 00043 #include <QThread> 00044 00045 #include <string> 00046 00047 namespace rqt_gui_cpp { 00048 00049 class RosCppPluginProvider; 00050 00051 class NodeletPluginProvider 00052 : public qt_gui_cpp::RosPluginlibPluginProvider<rqt_gui_cpp::Plugin> 00053 { 00054 00055 public: 00056 00057 NodeletPluginProvider(const QString& export_tag, const QString& base_class_type); 00058 00059 virtual ~NodeletPluginProvider(); 00060 00061 virtual void unload(void* instance); 00062 00063 virtual void shutdown(); 00064 00065 protected: 00066 00067 void init_loader(); 00068 00069 virtual boost::shared_ptr<Plugin> create_plugin(const std::string& lookup_name, qt_gui_cpp::PluginContext* plugin_context); 00070 00071 boost::shared_ptr<nodelet::Nodelet> create_instance(const std::string& lookup_name); 00072 00073 virtual void init_plugin(const QString& plugin_id, qt_gui_cpp::PluginContext* plugin_context, qt_gui_cpp::Plugin* plugin); 00074 00075 nodelet::Loader* loader_; 00076 00077 boost::shared_ptr<rqt_gui_cpp::Plugin> instance_; 00078 00079 QMap<void*, QString> instances_; 00080 00081 class RosSpinThread 00082 : public QThread 00083 { 00084 public: 00085 RosSpinThread(QObject* parent = 0); 00086 virtual ~RosSpinThread(); 00087 void run(); 00088 bool abort; 00089 }; 00090 00091 RosSpinThread* ros_spin_thread_; 00092 00093 }; 00094 00095 } 00096 00097 #endif // rqt_gui_cpp__NodeletPluginProvider_H