ComponentLoader.hpp

#ifndef ORO_COMPONENTLOADER_HPP_
#define ORO_COMPONENTLOADER_HPP_

#include <string>
#include <vector>
#include <boost/shared_ptr.hpp>

namespace OCL {
  namespace deployment {
        class ComponentLoader
        {
            static boost::shared_ptr<ComponentLoader> minstance;

            class LoadedLib{
            public:
                LoadedLib(std::string n, std::string short_name, void* h)
                : filename(n), shortname(short_name), handle(h)
                {
                }
                std::string filename;
                std::string shortname;

                void* handle;

                std::vector<std::string> components_type;
            };

            struct ComponentData {
                ComponentData()
                    : instance(0), type("")
                {}
                RTT::TaskContext* instance;
                std::string type;
            };

            typedef std::map<std::string, ComponentData> CompList;

            CompList comps;


            std::vector< LoadedLib > loadedLibs;

            std::string component_path;

            bool loadInProcess(std::string filename, std::string shortname, bool log_error );
        public:
            typedef boost::shared_ptr<ComponentLoader> shared_ptr;
            static boost::shared_ptr<ComponentLoader> Instance();

            static void Release();

            void import(std::string const& path_list);

            bool isImported(std::string type_name);

            bool import(std::string const& name, std::string const& path_list);

            RTT::TaskContext* loadComponent(std::string const& name, std::string const& type);

            bool unloadComponent( RTT::TaskContext* tc );

            std::vector<std::string> listComponents() const;

            std::vector<std::string> listComponentTypes() const;

            std::string getComponentPath() const;

            void setComponentPath( std::string const& newpath );
        };
  }
}


#endif /* ORO_COMPONENTLOADER_HPP_ */

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