loader_ros.h

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#pragma once
 
/*
 * Copyright (c) 2010, Willow Garage, Inc.
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
 *     * Redistributions of source code must retain the above copyright
 *       notice, this list of conditions and the following disclaimer.
 *     * Redistributions in binary form must reproduce the above copyright
 *       notice, this list of conditions and the following disclaimer in the
 *       documentation and/or other materials provided with the distribution.
 *     * Neither the name of the Willow Garage, Inc. nor the names of its
 *       contributors may be used to endorse or promote products derived from
 *       this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 * POSSIBILITY OF SUCH DAMAGE.
 */
 
// This class is a copy-paste of LoaderROS from
// https://github.com/ros/nodelet_core/blob/indigo-devel/nodelet/src/loader.cpp which is not exported.
// It was only split to .h and .cpp file and imports were optimized. Also the namespace has been changed from
// nodelet:: to cras:: and, few cosmetic changes have been made and documentation has been added.
 
#include <string>
 
#include <boost/thread/mutex.hpp>
#include <boost/ptr_container/ptr_map.hpp>
 
#include <bondcpp/bond.h>
#include <nodelet/loader.h>
#include <nodelet/nodelet.h>
#include <nodelet/NodeletLoad.h>
#include <nodelet/NodeletUnload.h>
#include <nodelet/NodeletList.h>
#include <ros/spinner.h>
#include <ros/callback_queue.h>
#include <ros/node_handle.h>
#include <ros/service_server.h>
 
namespace cras
{
 
class LoaderROS
{
public:
  LoaderROS(::nodelet::Loader* parent, const ::ros::NodeHandle& nh);
 
protected:
  bool serviceLoad(::nodelet::NodeletLoad::Request& req, ::nodelet::NodeletLoad::Response& res);
 
  bool serviceUnload(::nodelet::NodeletUnload::Request& req, ::nodelet::NodeletUnload::Response& res);
 
  bool unload(const ::std::string& name);
 
  bool serviceList(::nodelet::NodeletList::Request& req, ::nodelet::NodeletList::Response& res);
 
  ::nodelet::Loader* parent_;
 
  ::ros::NodeHandle nh_;
 
  ::ros::ServiceServer load_server_;
 
  ::ros::ServiceServer unload_server_;
 
  ::ros::ServiceServer list_server_;
 
  ::boost::mutex lock_;
 
  ::ros::CallbackQueue bond_callback_queue_;
 
  ::ros::AsyncSpinner bond_spinner_;
 
  typedef ::boost::ptr_map<::std::string, ::bond::Bond> M_stringToBond;
 
  M_stringToBond bond_map_;
};
 
}