Program Listing for File class_loader.hpp
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// Copyright 2009, Willow Garage, Inc. All rights reserved.
//
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// modification, are permitted provided that the following conditions are met:
//
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// 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.
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// contributors may be used to endorse or promote products derived from
// this software without specific prior written permission.
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// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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#ifndef PLUGINLIB__CLASS_LOADER_HPP_
#define PLUGINLIB__CLASS_LOADER_HPP_
#include <map>
#include <memory>
#include <string>
#include <vector>
#include "class_loader/multi_library_class_loader.hpp"
#include "pluginlib/class_desc.hpp"
#include "pluginlib/class_loader_base.hpp"
#include "pluginlib/exceptions.hpp"
#include "tinyxml2.h" // NOLINT
namespace pluginlib
{
template<typename T>
using UniquePtr = class_loader::ClassLoader::UniquePtr<T>;
template<class T>
class ClassLoader : public ClassLoaderBase
{
public:
typedef typename std::map<std::string, ClassDesc>::iterator ClassMapIterator;
public:
ClassLoader(
std::string package,
std::string base_class,
std::string attrib_name = std::string("plugin"),
std::vector<std::string> plugin_xml_paths = std::vector<std::string>());
~ClassLoader();
std::shared_ptr<T> createSharedInstance(const std::string & lookup_name);
UniquePtr<T> createUniqueInstance(const std::string & lookup_name);
T * createUnmanagedInstance(const std::string & lookup_name);
std::vector<std::string> getPluginXmlPaths();
std::vector<std::string> getDeclaredClasses();
virtual std::string getName(const std::string & lookup_name);
virtual std::string getBaseClassType() const;
virtual std::string getClassType(const std::string & lookup_name);
virtual std::string getClassDescription(const std::string & lookup_name);
virtual std::string getClassLibraryPath(const std::string & lookup_name);
virtual std::string getClassPackage(const std::string & lookup_name);
virtual std::string getPluginManifestPath(const std::string & lookup_name);
virtual std::vector<std::string> getRegisteredLibraries();
bool isClassLoaded(const std::string & lookup_name);
virtual bool isClassAvailable(const std::string & lookup_name);
virtual void loadLibraryForClass(const std::string & lookup_name);
virtual void refreshDeclaredClasses();
virtual int unloadLibraryForClass(const std::string & lookup_name);
private:
std::vector<std::string> getPluginXmlPaths(
const std::string & package,
const std::string & attrib_name);
std::map<std::string, ClassDesc> determineAvailableClasses(
const std::vector<std::string> & plugin_xml_paths);
std::string extractPackageNameFromPackageXML(const std::string & package_xml_path);
std::vector<std::string> getAllLibraryPathsToTry(
const std::string & library_name,
const std::string & exporting_package_name);
std::string getErrorStringForUnknownClass(const std::string & lookup_name);
std::string getPathSeparator();
std::string getPackageFromPluginXMLFilePath(const std::string & path);
std::string joinPaths(const std::string & path1, const std::string & path2);
void processSingleXMLPluginFile(
const std::string & xml_file, std::map<std::string,
ClassDesc> & class_available);
std::string stripAllButFileFromPath(const std::string & path);
int unloadClassLibraryInternal(const std::string & library_path);
private:
std::vector<std::string> plugin_xml_paths_;
// Map from library to class's descriptions described in XML.
std::map<std::string, ClassDesc> classes_available_;
std::string package_;
std::string base_class_;
std::string attrib_name_;
class_loader::MultiLibraryClassLoader lowlevel_class_loader_; // The underlying classloader
};
} // namespace pluginlib
// Note: The implementation of the methods is in a separate file for clarity.
#include "./class_loader_imp.hpp"
#endif // PLUGINLIB__CLASS_LOADER_HPP_