Orocos Real-Time Toolkit  2.6.0
PluginLoader.hpp
00001 /***************************************************************************
00002   tag: The SourceWorks  Tue Sep 7 00:55:18 CEST 2010  PluginLoader.hpp
00003 
00004                         PluginLoader.hpp -  description
00005                            -------------------
00006     begin                : Tue September 07 2010
00007     copyright            : (C) 2010 The SourceWorks
00008     email                : peter@thesourceworks.com
00009 
00010  ***************************************************************************
00011  *   This library is free software; you can redistribute it and/or         *
00012  *   modify it under the terms of the GNU General Public                   *
00013  *   License as published by the Free Software Foundation;                 *
00014  *   version 2 of the License.                                             *
00015  *                                                                         *
00016  *   As a special exception, you may use this file as part of a free       *
00017  *   software library without restriction.  Specifically, if other files   *
00018  *   instantiate templates or use macros or inline functions from this     *
00019  *   file, or you compile this file and link it with other files to        *
00020  *   produce an executable, this file does not by itself cause the         *
00021  *   resulting executable to be covered by the GNU General Public          *
00022  *   License.  This exception does not however invalidate any other        *
00023  *   reasons why the executable file might be covered by the GNU General   *
00024  *   Public License.                                                       *
00025  *                                                                         *
00026  *   This library is distributed in the hope that it will be useful,       *
00027  *   but WITHOUT ANY WARRANTY; without even the implied warranty of        *
00028  *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU     *
00029  *   Lesser General Public License for more details.                       *
00030  *                                                                         *
00031  *   You should have received a copy of the GNU General Public             *
00032  *   License along with this library; if not, write to the Free Software   *
00033  *   Foundation, Inc., 59 Temple Place,                                    *
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00035  *                                                                         *
00036  ***************************************************************************/
00037 
00038 
00039 #ifndef ORO_PLUGINLOADER_HPP_
00040 #define ORO_PLUGINLOADER_HPP_
00041 
00042 #include <string>
00043 #include <vector>
00044 #include <boost/shared_ptr.hpp>
00045 
00046 #include "../rtt-fwd.hpp"
00047 #include "../rtt-config.h"
00048 #include "../os/Mutex.hpp"
00049 
00050 namespace RTT {
00051     namespace plugin {
00068         class RTT_API PluginLoader
00069         {
00074             class LoadedLib{
00075             public:
00076                 LoadedLib(std::string n, std::string short_name, void* h)
00077                 : filename(n), shortname(short_name), handle(h), loadPlugin(0), is_typekit(false), is_service(false)
00078                 {
00079                 }
00083                 std::string filename;
00087                 std::string shortname;
00091                 std::string plugname;
00092                 void* handle;
00093                 bool (*loadPlugin)(RTT::TaskContext*);
00094                 RTT::ServicePtr (*createService)(void);
00095                 bool is_typekit, is_service;
00096             };
00097 
00098             std::vector< LoadedLib > loadedLibs;
00099 
00103             std::string plugin_path;
00104 
00108             mutable os::Mutex listlock;
00109 
00119             bool loadInProcess(std::string filename, std::string shortname, std::string kind, bool log_error );
00129             bool loadPluginInternal( std::string const& name, std::string const& path_list, std::string const& subdir, std::string const& kind );
00138             bool loadPluginsInternal( std::string const& path_list, std::string const& subdir, std::string const& kind );
00143             bool isLoadedInternal(std::string name);
00151             bool isCompatiblePlugin(std::string const& filepath);
00152 
00153         public:
00154             PluginLoader();
00155             ~PluginLoader();
00156 
00157             typedef boost::shared_ptr<PluginLoader> shared_ptr;
00163             static boost::shared_ptr<PluginLoader> Instance();
00164 
00169             static void Release();
00170 
00176             bool loadLibrary(std::string const& path);
00177 
00187             bool loadTypekits(std::string const& path_list);
00188 
00197             bool loadTypekit(std::string const& name, std::string const& path_list);
00198 
00206             bool loadPlugins(std::string const& path_list);
00207 
00215             bool isLoaded(std::string name);
00216 
00224             bool loadPlugin(std::string const& name, std::string const& path_list);
00225 
00233             bool loadService(std::string const& servicename, TaskContext* tc);
00234 
00239             std::vector<std::string> listServices() const;
00240 
00245             std::vector<std::string> listPlugins() const;
00246 
00251             std::vector<std::string> listTypekits() const;
00252 
00259             std::string getPluginPath() const;
00260 
00267             void setPluginPath( std::string const& newpath );
00268         };
00269     }
00270 }
00271 
00272 
00273 #endif /* ORO_PLUGINLOADER_HPP_ */