#include <plugin_manager.h>

Public Types
typedef boost::shared_ptr < const PluginManager >	ConstPtr
typedef std::vector < PluginLoaderBase * >	PluginLoaderVector
typedef boost::shared_ptr < PluginManager >	Ptr
Public Member Functions
	~PluginManager ()
Static Public Member Functions
static bool	addPlugin (const msgs::PluginDescription &plugin_description, bool initialize=true)
template<typename PluginDerivedClass >
static void	addPlugin (bool initialize=true)
static void	addPlugin (Plugin *plugin, bool initialize=true)
static void	addPlugin (Plugin::Ptr plugin, bool initialize=true)
static bool	addPluginByName (const std::string &name, bool initialize=true)
template<class PluginBaseClass >
static bool	addPluginClassLoader (const std::string &package, const std::string &base_class, const std::string &attrib_name=std::string("plugin"), const std::vector< std::string > &plugin_xml_paths=std::vector< std::string >())
	Adds ClassLoader for a specific type of plugins.
static bool	addPlugins (const std::vector< msgs::PluginDescription > &plugin_descriptions, bool initialize=true)
	Instantiation of plugin using ClassLoader.
static bool	autocompletePluginDescriptionByName (const std::string &name, msgs::PluginDescription &plugin_description)
	Tries to extract plugin description from param server using the given name.
template<typename T >
static boost::shared_ptr< T >	getPlugin (const std::string &name=std::string())
template<typename T >
static bool	getPlugin (boost::shared_ptr< T > &plugin, const std::string &name=std::string())
template<typename T >
static bool	getPluginByName (const std::string &name, boost::shared_ptr< T > &plugin)
static Plugin::Ptr	getPluginByName (const std::string &name)
static bool	getPluginByName (const std::string &name, Plugin::Ptr &plugin)
static void	getPluginDescriptions (std::vector< msgs::PluginDescription > &descriptions, msgs::PluginDescription filter=msgs::PluginDescription())
template<typename T >
static bool	getPluginsByType (std::vector< boost::shared_ptr< T > > &plugins)
	returns all plugins derived by class T in alphabetical order (name)
template<typename T >
static bool	getPluginsByType (std::map< std::string, boost::shared_ptr< T > > &plugins)
	returns all plugins derived by class T as map
static bool	getPluginsByTypeClass (const std::string &type_class, std::vector< Plugin::Ptr > &plugins)
static void	getPluginStates (std::vector< msgs::PluginState > &plugin_states, msgs::PluginDescription filter=msgs::PluginDescription())
static bool	getUniquePluginByTypeClass (const std::string &type_class, Plugin::Ptr &plugin)
	returns a plugin marked as unique of specific type id
static bool	hasPlugin (Plugin::Ptr &plugin)
static bool	hasPluginByName (const std::string &name)
template<typename T >
static bool	hasPluginsByType ()
static bool	hasPluginsByTypeClass (const std::string &type_class)
static void	initialize (ros::NodeHandle &nh)
	Initialize all rostopic/-services within the namespace of the given nodehandle.
static void	loadParams (const vigir_generic_params::ParameterSet &params)
static bool	loadPluginSet (const std::vector< msgs::PluginDescription > &plugin_descriptions)
static bool	loadPluginSet (const std::string &name)
static bool	removePlugin (const msgs::PluginDescription &plugin_description)
static void	removePlugin (Plugin::Ptr &plugin)
static bool	removePluginByName (const std::string &name)
static bool	removePlugins (const std::vector< msgs::PluginDescription > &plugin_descriptions)
template<typename T >
static void	removePluginsByType ()
static void	removePluginsByTypeClass (const std::string &type_class)
Protected Types
typedef actionlib::SimpleActionServer < msgs::GetPluginDescriptionsAction >	GetPluginDescriptionsActionServer
typedef actionlib::SimpleActionServer < msgs::GetPluginStatesAction >	GetPluginStatesActionServer
typedef actionlib::SimpleActionServer < msgs::PluginManagementAction >	PluginManagementActionServer
Protected Member Functions
void	addPlugin (const msgs::PluginDescriptionConstPtr plugin_description)
	ROS API.
void	addPluginAction (const msgs::PluginManagementGoalConstPtr goal)
bool	addPluginService (msgs::PluginManagementService::Request &req, msgs::PluginManagementService::Response &resp)
bool	getPluginDescription (const std::string &key, msgs::PluginDescription &description)
void	getPluginDescriptionsAction (const msgs::GetPluginDescriptionsGoalConstPtr goal)
bool	getPluginDescriptionsService (msgs::GetPluginDescriptionsService::Request &req, msgs::GetPluginDescriptionsService::Response &resp)
void	getPluginStatesAction (const msgs::GetPluginStatesGoalConstPtr goal)
bool	getPluginStatesService (msgs::GetPluginStatesService::Request &req, msgs::GetPluginStatesService::Response &resp)
void	loadPluginSetAction (const msgs::PluginManagementGoalConstPtr goal)
bool	loadPluginSetService (msgs::PluginManagementService::Request &req, msgs::PluginManagementService::Response &resp)
	PluginManager ()
void	publishPluginStateUpdate ()
void	removePlugin (const msgs::PluginDescriptionConstPtr plugin_description)
void	removePluginAction (const msgs::PluginManagementGoalConstPtr goal)
bool	removePluginService (msgs::PluginManagementService::Request &req, msgs::PluginManagementService::Response &resp)
Static Protected Member Functions
static PluginManager::Ptr	Instance ()
Protected Attributes
boost::shared_ptr < PluginManagementActionServer >	add_plugin_as_
ros::ServiceServer	add_plugin_srv_
ros::Subscriber	add_plugin_sub_
PluginLoaderVector	class_loader_
boost::shared_ptr < GetPluginDescriptionsActionServer >	get_plugin_descriptions_as_
ros::ServiceServer	get_plugin_descriptions_srv_
boost::shared_ptr < GetPluginStatesActionServer >	get_plugin_states_as_
ros::ServiceServer	get_plugin_states_srv_
boost::shared_ptr < PluginManagementActionServer >	load_plugin_set_as_
ros::ServiceServer	load_plugin_set_srv_
std::string	loaded_plugin_set_
ros::NodeHandle	nh_
ros::Publisher	plugin_states_pub_
std::map< std::string, Plugin::Ptr >	plugins_by_name_
boost::shared_mutex	plugins_mutex_
boost::shared_ptr < PluginManagementActionServer >	remove_plugin_as_
ros::ServiceServer	remove_plugin_srv_
ros::Subscriber	remove_plugin_sub_
Static Protected Attributes
static PluginManager::Ptr	singelton_ = PluginManager::Ptr()

Detailed Description

Definition at line 49 of file plugin_manager.h.

Member Typedef Documentation

typedef boost::shared_ptr<const PluginManager> vigir_pluginlib::PluginManager::ConstPtr

Definition at line 55 of file plugin_manager.h.

typedef actionlib::SimpleActionServer<msgs::GetPluginDescriptionsAction> vigir_pluginlib::PluginManager::GetPluginDescriptionsActionServer [protected]

Definition at line 60 of file plugin_manager.h.

typedef actionlib::SimpleActionServer<msgs::GetPluginStatesAction> vigir_pluginlib::PluginManager::GetPluginStatesActionServer [protected]

Definition at line 61 of file plugin_manager.h.

typedef std::vector<PluginLoaderBase*> vigir_pluginlib::PluginManager::PluginLoaderVector

Definition at line 57 of file plugin_manager.h.

typedef actionlib::SimpleActionServer<msgs::PluginManagementAction> vigir_pluginlib::PluginManager::PluginManagementActionServer [protected]

Definition at line 62 of file plugin_manager.h.

typedef boost::shared_ptr<PluginManager> vigir_pluginlib::PluginManager::Ptr

Definition at line 54 of file plugin_manager.h.

Constructor & Destructor Documentation

vigir_pluginlib::PluginManager::PluginManager ( ) [protected]

Definition at line 13 of file plugin_manager.cpp.

vigir_pluginlib::PluginManager::~PluginManager ( )

Definition at line 24 of file plugin_manager.cpp.

Member Function Documentation

bool vigir_pluginlib::PluginManager::addPlugin	(	const msgs::PluginDescription &	plugin_description,
		bool	initialize = `true`
	)		`[static]`

Definition at line 134 of file plugin_manager.cpp.

template<typename PluginDerivedClass >

static void vigir_pluginlib::PluginManager::addPlugin ( bool initialize = true ) [inline, static]

Definition at line 145 of file plugin_manager.h.

void vigir_pluginlib::PluginManager::addPlugin	(	Plugin *	plugin,
		bool	initialize = `true`
	)		`[static]`

Definition at line 210 of file plugin_manager.cpp.

void vigir_pluginlib::PluginManager::addPlugin	(	Plugin::Ptr	plugin,
		bool	initialize = `true`
	)		`[static]`

Definition at line 216 of file plugin_manager.cpp.

void vigir_pluginlib::PluginManager::addPlugin ( const msgs::PluginDescriptionConstPtr plugin_description ) [protected]

ROS API.

Definition at line 610 of file plugin_manager.cpp.

void vigir_pluginlib::PluginManager::addPluginAction ( const msgs::PluginManagementGoalConstPtr goal ) [protected]

Definition at line 684 of file plugin_manager.cpp.

bool vigir_pluginlib::PluginManager::addPluginByName	(	const std::string &	name,
		bool	initialize = `true`
	)		`[static]`

Definition at line 203 of file plugin_manager.cpp.

template<class PluginBaseClass >

static bool vigir_pluginlib::PluginManager::addPluginClassLoader	(	const std::string &	package,
		const std::string &	base_class,
		const std::string &	attrib_name = `std::string("plugin")`,
		const std::vector< std::string > &	plugin_xml_paths = `std::vector<std::string>()`
	)		`[inline, static]`

Adds ClassLoader for a specific type of plugins.

Parameters:

package	The package containing the base class
base_class	The type of the base class for classes to be loaded
attrib_name	The attribute to search for in manifext.xml files, defaults to "plugin"
plugin_xml_paths	The list of paths of plugin.xml files, defaults to be crawled via ros::package::getPlugins()

Exceptions:

pluginlib::LibraryLoadException Thrown if package manifest cannot be found

Definition at line 96 of file plugin_manager.h.

bool vigir_pluginlib::PluginManager::addPlugins	(	const std::vector< msgs::PluginDescription > &	plugin_descriptions,
		bool	initialize = `true`
	)		`[static]`

Instantiation of plugin using ClassLoader.

Parameters:

plugin_description	description which plugin to load
name	name of plugin to load
initialize	if true then the plugin's initialize will be called after instantiation

Returns:: false, if instantiation has failed, otherwise true

Definition at line 107 of file plugin_manager.cpp.

bool vigir_pluginlib::PluginManager::addPluginService	(	msgs::PluginManagementService::Request &	req,
		msgs::PluginManagementService::Response &	resp
	)		`[protected]`

Definition at line 634 of file plugin_manager.cpp.

bool vigir_pluginlib::PluginManager::autocompletePluginDescriptionByName	(	const std::string &	name,
		msgs::PluginDescription &	plugin_description
	)		`[static]`

Tries to extract plugin description from param server using the given name.

Parameters:

name	Name of the plugin
plugin_description	Output of extracted plugin description

Returns:: True if extraction was successful

Definition at line 69 of file plugin_manager.cpp.

template<typename T >

static boost::shared_ptr<T> vigir_pluginlib::PluginManager::getPlugin ( const std::string & name = std::string() ) [inline, static]

Returns first found plugin matching typename T. If specific element should be returned, do set name.

Definition at line 156 of file plugin_manager.h.

template<typename T >

static bool vigir_pluginlib::PluginManager::getPlugin	(	boost::shared_ptr< T > &	plugin,
		const std::string &	name = `std::string()`
	)		`[inline, static]`

Returns first found plugin matching typename T. If specific element should be returned, do set name.

Definition at line 189 of file plugin_manager.h.

template<typename T >

static bool vigir_pluginlib::PluginManager::getPluginByName	(	const std::string &	name,
		boost::shared_ptr< T > &	plugin
	)		`[inline, static]`

Definition at line 196 of file plugin_manager.h.

Plugin::Ptr vigir_pluginlib::PluginManager::getPluginByName ( const std::string & name ) [static]

Definition at line 265 of file plugin_manager.cpp.

bool vigir_pluginlib::PluginManager::getPluginByName	(	const std::string &	name,
		Plugin::Ptr &	plugin
	)		`[static]`

Definition at line 276 of file plugin_manager.cpp.

bool vigir_pluginlib::PluginManager::getPluginDescription	(	const std::string &	key,
		msgs::PluginDescription &	description
	)		`[protected]`

Definition at line 582 of file plugin_manager.cpp.

void vigir_pluginlib::PluginManager::getPluginDescriptions	(	std::vector< msgs::PluginDescription > &	descriptions,
		msgs::PluginDescription	filter = `msgs::PluginDescription()`
	)		`[static]`

Definition at line 315 of file plugin_manager.cpp.

void vigir_pluginlib::PluginManager::getPluginDescriptionsAction ( const msgs::GetPluginDescriptionsGoalConstPtr goal ) [protected]

Definition at line 654 of file plugin_manager.cpp.

bool vigir_pluginlib::PluginManager::getPluginDescriptionsService	(	msgs::GetPluginDescriptionsService::Request &	req,
		msgs::GetPluginDescriptionsService::Response &	resp
	)		`[protected]`

Definition at line 622 of file plugin_manager.cpp.

template<typename T >

static bool vigir_pluginlib::PluginManager::getPluginsByType ( std::vector< boost::shared_ptr< T > > & plugins ) [inline, static]

returns all plugins derived by class T in alphabetical order (name)

Definition at line 205 of file plugin_manager.h.

template<typename T >

static bool vigir_pluginlib::PluginManager::getPluginsByType ( std::map< std::string, boost::shared_ptr< T > > & plugins ) [inline, static]

returns all plugins derived by class T as map

Definition at line 222 of file plugin_manager.h.

bool vigir_pluginlib::PluginManager::getPluginsByTypeClass	(	const std::string &	type_class,
		std::vector< Plugin::Ptr > &	plugins
	)		`[static]`

Definition at line 282 of file plugin_manager.cpp.

void vigir_pluginlib::PluginManager::getPluginStates	(	std::vector< msgs::PluginState > &	plugin_states,
		msgs::PluginDescription	filter = `msgs::PluginDescription()`
	)		`[static]`

Definition at line 347 of file plugin_manager.cpp.

void vigir_pluginlib::PluginManager::getPluginStatesAction ( const msgs::GetPluginStatesGoalConstPtr goal ) [protected]

Definition at line 669 of file plugin_manager.cpp.

bool vigir_pluginlib::PluginManager::getPluginStatesService	(	msgs::GetPluginStatesService::Request &	req,
		msgs::GetPluginStatesService::Response &	resp
	)		`[protected]`

Definition at line 628 of file plugin_manager.cpp.

bool vigir_pluginlib::PluginManager::getUniquePluginByTypeClass	(	const std::string &	type_class,
		Plugin::Ptr &	plugin
	)		`[static]`

returns a plugin marked as unique of specific type id

Definition at line 297 of file plugin_manager.cpp.

bool vigir_pluginlib::PluginManager::hasPlugin ( Plugin::Ptr & plugin ) [static]

Definition at line 552 of file plugin_manager.cpp.

bool vigir_pluginlib::PluginManager::hasPluginByName ( const std::string & name ) [static]

Definition at line 559 of file plugin_manager.cpp.

template<typename T >

static bool vigir_pluginlib::PluginManager::hasPluginsByType ( ) [inline, static]

Definition at line 279 of file plugin_manager.h.

bool vigir_pluginlib::PluginManager::hasPluginsByTypeClass ( const std::string & type_class ) [static]

Definition at line 565 of file plugin_manager.cpp.

void vigir_pluginlib::PluginManager::initialize ( ros::NodeHandle & nh ) [static]

Initialize all rostopic/-services within the namespace of the given nodehandle.

Parameters:

nh	The nodehandle which is used to setup all topics/services

Definition at line 36 of file plugin_manager.cpp.

PluginManager::Ptr vigir_pluginlib::PluginManager::Instance ( ) [static, protected]

Definition at line 17 of file plugin_manager.cpp.

void vigir_pluginlib::PluginManager::loadParams ( const vigir_generic_params::ParameterSet & params ) [static]

Definition at line 575 of file plugin_manager.cpp.

bool vigir_pluginlib::PluginManager::loadPluginSet ( const std::vector< msgs::PluginDescription > & plugin_descriptions ) [static]

Definition at line 436 of file plugin_manager.cpp.

bool vigir_pluginlib::PluginManager::loadPluginSet ( const std::string & name ) [static]

Definition at line 480 of file plugin_manager.cpp.

void vigir_pluginlib::PluginManager::loadPluginSetAction ( const msgs::PluginManagementGoalConstPtr goal ) [protected]

Definition at line 720 of file plugin_manager.cpp.

bool vigir_pluginlib::PluginManager::loadPluginSetService	(	msgs::PluginManagementService::Request &	req,
		msgs::PluginManagementService::Response &	resp
	)		`[protected]`

Definition at line 644 of file plugin_manager.cpp.

void vigir_pluginlib::PluginManager::publishPluginStateUpdate ( ) [protected]

Definition at line 601 of file plugin_manager.cpp.

bool vigir_pluginlib::PluginManager::removePlugin ( const msgs::PluginDescription & plugin_description ) [static]

Definition at line 380 of file plugin_manager.cpp.

void vigir_pluginlib::PluginManager::removePlugin ( Plugin::Ptr & plugin ) [static]

Definition at line 414 of file plugin_manager.cpp.

void vigir_pluginlib::PluginManager::removePlugin ( const msgs::PluginDescriptionConstPtr plugin_description ) [protected]

Definition at line 615 of file plugin_manager.cpp.

void vigir_pluginlib::PluginManager::removePluginAction ( const msgs::PluginManagementGoalConstPtr goal ) [protected]

Definition at line 702 of file plugin_manager.cpp.

bool vigir_pluginlib::PluginManager::removePluginByName ( const std::string & name ) [static]

Definition at line 392 of file plugin_manager.cpp.

bool vigir_pluginlib::PluginManager::removePlugins ( const std::vector< msgs::PluginDescription > & plugin_descriptions ) [static]

Definition at line 369 of file plugin_manager.cpp.

template<typename T >

static void vigir_pluginlib::PluginManager::removePluginsByType ( ) [inline, static]

Definition at line 252 of file plugin_manager.h.

void vigir_pluginlib::PluginManager::removePluginsByTypeClass ( const std::string & type_class ) [static]

Definition at line 419 of file plugin_manager.cpp.

bool vigir_pluginlib::PluginManager::removePluginService	(	msgs::PluginManagementService::Request &	req,
		msgs::PluginManagementService::Response &	resp
	)		`[protected]`