ObstacleProviderContainer.cpp

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/*
 * ObstacleProviderContainer.cpp
 *
 *  Created on: Dec 14, 2011
 *      Author: mriedel
 */

#include <obs_detection/ObstacleProviderContainer.hpp>

#include <boost/foreach.hpp>

namespace TELEKYB_NAMESPACE {

ObstacleProviderContainer::ObstacleProviderContainer()
        : obstacleProviderLoader("tk_obstacle", std::string( TELEKYB_NAMESPACE_STRING ) + "::ObstacleProvider")
{

}

ObstacleProviderContainer::~ObstacleProviderContainer()
{
        // delete all Behaviors that are still loaded
        BOOST_FOREACH(ObstacleProvider *op, obstacleProviderInstances) {
                op->destroy();
                delete op;
        }
}

// should be const, but getDeclaredClasses is declared wrongly.
void ObstacleProviderContainer::getAvailableObstacleProviders(std::vector<std::string>& obstacleProviderClassNames)
{
        obstacleProviderClassNames = obstacleProviderLoader.getDeclaredClasses();
}

// returns 0 if fails
ObstacleProvider* ObstacleProviderContainer::loadObstacleProvider(const std::string& obstacleProviderClassName)
{
        ObstacleProvider *op = NULL;
        try {
                op = obstacleProviderLoader.createClassInstance(obstacleProviderClassName);

                // initialize
                op->initialize();

                // add local
                obstacleProviderInstances.insert(op);

                // success
                //ROS_INFO_STREAM("Successfully loaded Behavior: " << behaviorClassName << ", Instance: " << (long)b);
        } catch (pluginlib::PluginlibException &e) {
                ROS_ERROR_STREAM("ObstacleProvider Plugin " << obstacleProviderClassName << " failed to load. Message: " << e.what());
        }

        return op;
}

void ObstacleProviderContainer::unLoadObstacleProvider(ObstacleProvider* op)
{
        ROS_INFO_STREAM("Unloading Trajectory Module: " << op->getName());
        if(obstacleProviderInstances.erase(op)) {
                // Inform behavior
                op->destroy();
                // delete
                delete op;
        }
}

const std::set<ObstacleProvider*>& ObstacleProviderContainer::getLoadedObstacleProviders() const
{
        return obstacleProviderInstances;
}

} /* namespace telekyb */