An organizer for switching between multiple different plugins of the same type. More...

#include <plugin_mux.h>

Public Types
using	SwitchCallback = std::function< void(const std::string &, const std::string &)>
	alias for the function-type of the callback fired when the plugin switches. More...

Public Member Functions
void	addPlugin (const std::string &plugin_name, const std::string &plugin_class_name)
	Create an instance of the given plugin_class_name and save it with the given plugin_name. More...

T &	getCurrentPlugin ()
	Get the Current Plugin. More...

std::string	getCurrentPluginName () const
	Get the Current Plugin Name. More...

T &	getPlugin (const std::string &name)
	Get the Specified Plugin. More...

std::vector< std::string >	getPluginNames () const
	Get the current list of plugin names. More...

bool	hasPlugin (const std::string &name) const
	Check to see if a plugin exists. More...

	PluginMux (const std::string &plugin_package, const std::string &plugin_class, const std::string &parameter_name, const std::string &default_value, const std::string &ros_name="current_plugin", const std::string &switch_service_name="switch_plugin")
	Main Constructor - Loads plugin(s) and sets up ROS interfaces. More...

void	setSwitchCallback (SwitchCallback switch_callback)
	Set the callback fired when the plugin switches. More...

bool	usePlugin (const std::string &name)
	C++ Interface for switching to a given plugin. More...

Protected Member Functions
bool	switchPluginService (nav_2d_msgs::SwitchPlugin::Request &req, nav_2d_msgs::SwitchPlugin::Response &resp)
	ROS Interface for Switching Plugins. More...

Protected Attributes
std::string	current_plugin_

ros::Publisher	current_plugin_pub_

pluginlib::ClassLoader< T >	plugin_loader_

std::map< std::string, boost::shared_ptr< T > >	plugins_

ros::NodeHandle	private_nh_

std::string	ros_name_

SwitchCallback	switch_callback_

ros::ServiceServer	switch_plugin_srv_

Detailed Description

template<class T>
class nav_2d_utils::PluginMux< T >

An organizer for switching between multiple different plugins of the same type.

The different plugins are specified using a list of strings on the parameter server, each of which is a namespace. The specific type and additional parameters for each plugin are specified on the parameter server in that namespace. All the plugins are loaded initially, but only one is the "current" plugin at any particular time, which is published on a latched topic AND stored on the ROS parameter server. You can switch which plugin is current either through a C++ or ROS interface.

Definition at line 59 of file plugin_mux.h.

Member Typedef Documentation

template<class T >

using nav_2d_utils::PluginMux< T >::SwitchCallback = std::function<void(const std::string&, const std::string&)>

alias for the function-type of the callback fired when the plugin switches.

The first parameter will be the namespace of the plugin that was previously used. The second parameter will be the namespace of the plugin that is being switched to.

Definition at line 170 of file plugin_mux.h.

Constructor & Destructor Documentation

template<class T >

nav_2d_utils::PluginMux< T >::PluginMux	(	const std::string &	plugin_package,
		const std::string &	plugin_class,
		const std::string &	parameter_name,
		const std::string &	default_value,
		const std::string &	ros_name = `"current_plugin"`,
		const std::string &	switch_service_name = `"switch_plugin"`
	)

Main Constructor - Loads plugin(s) and sets up ROS interfaces.

Parameters

plugin_package	The package of the plugin type
plugin_class	The class name for the plugin type
parameter_name	Name of parameter for the namespaces.
default_value	If class name is not specified, which plugin should be loaded
ros_name	ROS name for setting up topic and parameter
switch_service_name	ROS name for setting up the ROS service

Definition at line 221 of file plugin_mux.h.

Member Function Documentation

template<class T >

void nav_2d_utils::PluginMux< T >::addPlugin	(	const std::string &	plugin_name,
		const std::string &	plugin_class_name
	)

Create an instance of the given plugin_class_name and save it with the given plugin_name.

Parameters

plugin_name	Namespace for the new plugin
plugin_class_name	Class type name for the new plugin

Definition at line 258 of file plugin_mux.h.

template<class T >

T& nav_2d_utils::PluginMux< T >::getCurrentPlugin ( )

inline

Get the Current Plugin.

Returns: Reference to current plugin

Definition at line 146 of file plugin_mux.h.

template<class T >

std::string nav_2d_utils::PluginMux< T >::getCurrentPluginName ( ) const

inline

Get the Current Plugin Name.

Returns: Name of the current plugin

Definition at line 115 of file plugin_mux.h.

template<class T >

T& nav_2d_utils::PluginMux< T >::getPlugin ( const std::string & name )

inline

Get the Specified Plugin.

Parameters

name	Name of plugin to get

Returns: Reference to specified plugin

Definition at line 135 of file plugin_mux.h.

template<class T >

std::vector<std::string> nav_2d_utils::PluginMux< T >::getPluginNames ( ) const

inline

Get the current list of plugin names.

Definition at line 154 of file plugin_mux.h.

template<class T >

bool nav_2d_utils::PluginMux< T >::hasPlugin ( const std::string & name ) const

inline

Check to see if a plugin exists.

Parameters

name	Namespace to set current plugin to

Returns: True if the plugin exists

Definition at line 125 of file plugin_mux.h.

template<class T >

void nav_2d_utils::PluginMux< T >::setSwitchCallback ( SwitchCallback switch_callback )

inline

Set the callback fired when the plugin switches.

In addition to switching which plugin is being used via directly calling usePlugin a switch can also be triggered externally via ROS service. In such a case, other classes may want to know when this happens. This is accomplished using the SwitchCallback, which will be called regardless of how the plugin is switched.

Definition at line 180 of file plugin_mux.h.

template<class T >

bool nav_2d_utils::PluginMux< T >::switchPluginService	(	nav_2d_msgs::SwitchPlugin::Request &	req,
		nav_2d_msgs::SwitchPlugin::Response &	resp
	)

inlineprotected

ROS Interface for Switching Plugins.

Definition at line 186 of file plugin_mux.h.

template<class T >

bool nav_2d_utils::PluginMux< T >::usePlugin ( const std::string & name )

inline

C++ Interface for switching to a given plugin.

Parameters

name	Namespace to set current plugin to

Returns: true if that namespace exists and is loaded properly

Definition at line 89 of file plugin_mux.h.

Member Data Documentation

template<class T >

std::string nav_2d_utils::PluginMux< T >::current_plugin_

protected

Definition at line 205 of file plugin_mux.h.

template<class T >

ros::Publisher nav_2d_utils::PluginMux< T >::current_plugin_pub_

protected

Definition at line 209 of file plugin_mux.h.

template<class T >

pluginlib::ClassLoader<T> nav_2d_utils::PluginMux< T >::plugin_loader_

protected

Definition at line 203 of file plugin_mux.h.

template<class T >

std::map<std::string, boost::shared_ptr<T> > nav_2d_utils::PluginMux< T >::plugins_

protected

Definition at line 204 of file plugin_mux.h.

template<class T >

ros::NodeHandle nav_2d_utils::PluginMux< T >::private_nh_

protected

Definition at line 210 of file plugin_mux.h.

template<class T >

std::string nav_2d_utils::PluginMux< T >::ros_name_

protected

Definition at line 211 of file plugin_mux.h.

template<class T >

SwitchCallback nav_2d_utils::PluginMux< T >::switch_callback_

protected

Definition at line 214 of file plugin_mux.h.

template<class T >

ros::ServiceServer nav_2d_utils::PluginMux< T >::switch_plugin_srv_

protected

Definition at line 208 of file plugin_mux.h.

The documentation for this class was generated from the following file:

plugin_mux.h

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

template<class T> class nav_2d_utils::PluginMux< T >

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation

template<class T>
class nav_2d_utils::PluginMux< T >