ComponentLoader.hpp

#ifndef ORO_COMPONENTLOADER_HPP_
#define ORO_COMPONENTLOADER_HPP_

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

namespace RTT {
        class ComponentLoader
        {
            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::vector< std::string > loadedPackages;

            std::string component_path;

            bool loadInProcess(std::string filename, std::string shortname, bool log_error );

            bool reloadInProcess(std::string filename, std::string shortname);

            bool isCompatibleComponent(std::string const& filepath);

            bool importRosPackage(std::string const& package);

            bool importInstalledPackage(std::string const& package, std::string const& path_list);
        public:
            typedef boost::shared_ptr<ComponentLoader> shared_ptr;
            static boost::shared_ptr<ComponentLoader> Instance();

            static void Release();

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

            bool isImported(std::string type_name);

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

            bool loadLibrary(std::string const& path);

            bool reloadLibrary(std::string const& filepath);

            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 );

            const FactoryMap& getFactories() const;

            void addFactory( std::string const& name, ComponentLoaderSignature factory );
        };
}


#endif /* ORO_COMPONENTLOADER_HPP_ */