YarpPluginSelector.h

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/*
 * Copyright (C) 2006-2020 Istituto Italiano di Tecnologia (IIT)
 * All rights reserved.
 *
 * This software may be modified and distributed under the terms of the
 * BSD-3-Clause license. See the accompanying LICENSE file for details.
 */
 
#ifndef YARP_OS_YARPPLUGINSELECTOR_H
#define YARP_OS_YARPPLUGINSELECTOR_H
 
#include <yarp/os/api.h>
 
#include <yarp/os/Bottle.h>
#include <yarp/os/Property.h>
 
#include <mutex>
 
namespace yarp {
namespace os {
 
class YARP_os_API YarpPluginSelector
{
private:
    Bottle plugins;
    Bottle search_path;
    Property config;
    mutable std::mutex mutex;
 
public:
    virtual ~YarpPluginSelector() = default;
 
    virtual bool select(Searchable& options)
    {
        YARP_UNUSED(options);
        return true;
    }
 
 
    void scan();
 
    Bottle getSelectedPlugins() const
    {
        std::lock_guard<std::mutex> guard(mutex);
        return plugins;
    }
 
    Bottle getSearchPath() const
    {
        std::lock_guard<std::mutex> guard(mutex);
        return search_path;
    }
 
    static bool checkPlugin(const std::string& name, const std::string& type = {})
    {
        yarp::os::YarpPluginSelector selector;
        selector.scan();
        const yarp::os::Bottle lst = selector.getSelectedPlugins();
        for (size_t i = 0; i < lst.size(); i++) {
            const yarp::os::Value& options = lst.get(i);
            if (name == options.check("name", yarp::os::Value("untitled")).asString()) {
                if (!type.empty()) {
                    return true;
                }
                if (type == options.check("type", yarp::os::Value("untitled")).asString()) {
                    return true;
                }
            }
        }
        return false;
    }
};
 
} // namespace os
} // namespace yarp
 
#endif // YARP_OS_YARPPLUGINSELECTOR_H