loader.h

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// WOLF - Copyright (C) 2020-2026
// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
// Joan Vallvé Navarro (jvallve@iri.upc.edu)
// All rights reserved.
//
// This file is part of WOLF: http://www.iri.upc.edu/wolf
// WOLF is free software: you can redistribute it and/or modify
// it under the terms of the GNU General Public License version 3
// as published by the Free Software Foundation.
//
// This program is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
// GNU General Public License for more details.
//
// You should have received a copy of the GNU General Public License
// along with this program. If not, see <http://www.gnu.org/licenses/>.
#pragma once
 
#include <dlfcn.h>
#include <string>
#include <map>
#include <memory>
#include "yaml-cpp/yaml.h"
 
namespace wolf
{
class Loader
{
  protected:
    int                          flags_;
    std::map<std::string, void*> name_resources_;
 
  public:
    Loader(int flags = RTLD_LAZY);
    ~Loader();
 
    void load(std::string _libname_with_so);
    void loadPlugin(std::string _plugin);
 
    void close(std::string _libname_with_so);
    void closePlugin(std::string _plugin);
 
    void* isLoaded(std::string _libname_with_so) const;
    void* isLoadedPlugin(std::string _plugin) const;
 
    void                         searchAndLoadPlugins(const YAML::Node& _node);
    static std::set<std::string> searchPlugins(const YAML::Node& _node, std::list<YAML::Node>& _visited_nodes);
    static std::set<std::string> searchFieldsRecursive(const YAML::Node&      _node,
                                                       std::list<YAML::Node>& _visited_nodes,
                                                       const std::string&     field);
    size_t                       size() const;
};
typedef std::shared_ptr<Loader> LoaderPtr;
 
}  // namespace wolf