#include <rtt/deployment/ComponentLoader.hpp>

Public Types
typedef boost::shared_ptr< ComponentLoader >	shared_ptr

Public Member Functions
bool	import (std::string const &path_list)
	Imports any Component library found in each path in path_list in the current process. More...

bool	isImported (std::string type_name)
	Checks if a given Component type, filename or package name has been imported. More...

bool	import (std::string const &name, std::string const &path_list)
	Imports a package found in each path in path_list in the current process. More...

bool	loadLibrary (std::string const &path)
	Loads a library as component library. More...

bool	reloadLibrary (std::string const &filepath)
	Reloads a component library. More...

RTT::TaskContext *	loadComponent (std::string const &name, std::string const &type)
	Creates a new component an earlier discovered component type. More...

bool	unloadComponent (RTT::TaskContext *tc)
	Destroys an earlier created component. More...

std::vector< std::string >	listComponents () const
	Lists all Component created by loadComponent(). More...

std::vector< std::string >	listComponentTypes () const
	Lists all Component types discovered by the ComponentLoader. More...

std::string	getComponentPath () const
	Returns the current Component path list. More...

void	setComponentPath (std::string const &newpath)
	Sets the Component path list. More...

const FactoryMap &	getFactories () const
	Returns the factory singleton which creates all types of components for the ComponentLoader. More...

void	addFactory (std::string const &name, ComponentLoaderSignature factory)
	Adds a factory to the component factory map. More...

Static Public Member Functions
static boost::shared_ptr< ComponentLoader >	Instance ()
	Create the instance of the ComponentLoader. More...

static void	Release ()
	Release the ComponentLoader, erasing all knowledge of loaded libraries. More...

Detailed Description

Definition at line 22 of file ComponentLoader.hpp.

Member Typedef Documentation

typedef boost::shared_ptr<ComponentLoader> RTT::ComponentLoader::shared_ptr

Definition at line 111 of file ComponentLoader.hpp.

Member Function Documentation

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

Adds a factory to the component factory map.

Definition at line 818 of file ComponentLoader.cpp.

References RTT::ComponentFactories::Instance().

std::string ComponentLoader::getComponentPath ( ) const

Returns the current Component path list.

Defaults to the value of RTT_COMPONENT_PATH, when the RTT was started for the current process.

Returns: A colon separated list of paths or the empty string if not set.

Definition at line 709 of file ComponentLoader.cpp.

const FactoryMap & ComponentLoader::getFactories ( ) const

Returns the factory singleton which creates all types of components for the ComponentLoader.

Definition at line 813 of file ComponentLoader.cpp.

References RTT::ComponentFactories::Instance().

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

Imports any Component library found in each path in path_list in the current process.

Parameters

path_list A colon or semi-colon seperated list of paths to look for Components. May be the empty string.

Returns: true if all paths were valid and contained components. If at least one path did not exist or did not contain any components or plugins, returns false.

Definition at line 279 of file ComponentLoader.cpp.

References RTT::Debug, RTT::Error, RTT::Info, RTT::plugin::PluginLoader::Instance(), isLoadableLibrary(), and OROCOS_TARGET_NAME.

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

Imports a package found in each path in path_list in the current process.

Parameters

name	The name of the (package) directory to import
path_list	A colon or semi-colon seperated list of paths to look for Components. May be the empty string. In that case, the default component search path is used.

Definition at line 382 of file ComponentLoader.cpp.

References RTT::Error, RTT::Info, isLoadableLibrary(), and OROCOS_TARGET_NAME.

boost::shared_ptr< ComponentLoader > ComponentLoader::Instance ( )

static

Create the instance of the ComponentLoader.

It will keep track of the loaded libraries for this process.

Returns: A singleton.

Definition at line 267 of file ComponentLoader.cpp.

bool ComponentLoader::isImported ( std::string type_name )

Checks if a given Component type, filename or package name has been imported.

This function accepts full filenames ('libthe_Component.so.1.99.0'), short names ('the_Component'), the name provided by the Component Factory ('App::Component'), or a package name ('myrobot')

Parameters

type_name name of a file, package directory or the Component type.

Returns: true if so.

Definition at line 556 of file ComponentLoader.cpp.

References RTT::Debug, dlclose(), dlerror(), dlopen(), dlsym(), RTT::Error, RTT::types::TypekitRepository::hasTypekit(), RTT::Info, RTT::ComponentFactories::Instance(), RTLD_NOW, and RTT::Warning.

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

Lists all Component created by loadComponent().

Returns: A list of Component names

Definition at line 775 of file ComponentLoader.cpp.

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

Lists all Component types discovered by the ComponentLoader.

Returns: A list of Component type names

Definition at line 700 of file ComponentLoader.cpp.

References RTT::ComponentFactories::Instance().

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

Creates a new component an earlier discovered component type.

Parameters

name	The name of the to be created Component
type	The type of component to be created.

Returns: null on error or a new component.

Definition at line 722 of file ComponentLoader.cpp.

References RTT::Debug, RTT::Error, and RTT::ComponentFactories::Instance().

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

Loads a library as component library.

Parameters

path	an absolute or relative path to a library. Relative paths are interpreted with regard to the plugin path.

Definition at line 506 of file ComponentLoader.cpp.

References RTT::Debug, and OROCOS_TARGET_NAME.

void ComponentLoader::Release ( )

static

Release the ComponentLoader, erasing all knowledge of loaded libraries.

No libraries will be unloaded from the process.

Definition at line 273 of file ComponentLoader.cpp.

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

Reloads a component library.

Parameters

filepath an absolute path to a library.

Definition at line 492 of file ComponentLoader.cpp.

void ComponentLoader::setComponentPath ( std::string const & newpath )

Sets the Component path list.

This is typically done by RTT startup code with the contents of the RTT_COMPONENT_PATH variable.

Parameters

newpath The new paths to look for Components.

Definition at line 717 of file ComponentLoader.cpp.

bool ComponentLoader::unloadComponent ( RTT::TaskContext * tc )

Destroys an earlier created component.

Parameters

tc	The TaskContext to be destroyed. tc may no longer be used after this function returns true.

Returns: false if tc was not loaded by this ComponentLoader.

Definition at line 758 of file ComponentLoader.cpp.

References RTT::Error.

The documentation for this class was generated from the following files:

rtt/deployment/ComponentLoader.hpp
rtt/deployment/ComponentLoader.cpp

Public Types

Public Member Functions

Static Public Member Functions

Detailed Description

Member Typedef Documentation

Member Function Documentation