1 /* 2 * Copyright (C) 2017 Open Source Robotics Foundation 3 * 4 * Licensed under the Apache License, Version 2.0 (the "License"); 5 * you may not use this file except in compliance with the License. 6 * You may obtain a copy of the License at 7 * 8 * http://www.apache.org/licenses/LICENSE-2.0 9 * 10 * Unless required by applicable law or agreed to in writing, software 11 * distributed under the License is distributed on an "AS IS" BASIS, 12 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 13 * See the License for the specific language governing permissions and 14 * limitations under the License. 15 * 16 */ 17 18 19 #ifndef IGNITION_PLUGIN_DETAIL_LOADER_HH_ 20 #define IGNITION_PLUGIN_DETAIL_LOADER_HH_ 21 22 #include <memory> 23 #include <string> 24 #include <unordered_set> 25 #include <ignition/plugin/EnablePluginFromThis.hh> 26 #include <ignition/plugin/Loader.hh> 27 28 namespace ignition 29 { 30 namespace plugin 31 { 32 template <typename Interface> PluginsImplementing() const33 std::unordered_set<std::string> Loader::PluginsImplementing() const 34 { 35 return this->PluginsImplementing(typeid(Interface).name(), false); 36 } 37 38 template <typename PluginPtrType> Instantiate(const std::string & _pluginNameOrAlias) const39 PluginPtrType Loader::Instantiate( 40 const std::string &_pluginNameOrAlias) const 41 { 42 const std::string &resolvedName = this->LookupPlugin(_pluginNameOrAlias); 43 if (resolvedName.empty()) 44 return PluginPtr(); 45 46 PluginPtrType ptr(this->PrivateGetInfo(resolvedName), 47 this->PrivateGetPluginDlHandlePtr(resolvedName)); 48 49 if (auto *enableFromThis = 50 ptr->template QueryInterface<EnablePluginFromThis>()) 51 enableFromThis->PrivateSetPluginFromThis(ptr); 52 53 return ptr; 54 } 55 56 template <typename InterfaceType> Factory(const std::string & _pluginNameOrAlias) const57 std::shared_ptr<InterfaceType> Loader::Factory( 58 const std::string &_pluginNameOrAlias) const 59 { 60 return this->Instantiate(_pluginNameOrAlias) 61 ->template QueryInterfaceSharedPtr<InterfaceType>(); 62 } 63 } 64 } 65 66 #endif 67