YarpPlugin.h

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/*
 * SPDX-FileCopyrightText: 2006-2021 Istituto Italiano di Tecnologia (IIT)
 * SPDX-License-Identifier: BSD-3-Clause
 */
 
#ifndef YARP_OS_YARPPLUGIN_H
#define YARP_OS_YARPPLUGIN_H
 
#include <yarp/os/YarpPluginSelector.h>
#include <yarp/os/YarpPluginSettings.h>
 
namespace yarp::os {
 
template <class T>
class YarpPlugin
{
private:
    SharedLibraryClassFactory<T>* factory;
    SharedLibraryClass<T> content;
    YarpPluginSettings settings;
 
public:
    YarpPlugin()
    {
        factory = nullptr;
    }
 
    virtual ~YarpPlugin()
    {
        close();
    }
 
    bool open(YarpPluginSettings& settings)
    {
        close();
        factory = new SharedLibraryClassFactory<T>();
        if (!factory) {
            return false;
        }
        if (!settings.open(*factory)) {
            settings.reportStatus(*factory);
            close();
            return false;
        }
        this->settings = settings;
        return true;
    }
 
    bool close()
    {
        if (!factory) {
            return true;
        }
        factory->removeRef();
        if (factory->getReferenceCount() <= 0) {
            delete factory;
            factory = nullptr;
        }
        return true;
    }
 
    bool isValid() const
    {
        return (factory != nullptr);
    }
 
    T* create()
    {
        if (!factory) {
            return nullptr;
        }
        return factory->create();
    }
 
    void destroy(T* obj)
    {
        if (!factory) {
            return;
        }
        factory->destroy(obj);
    }
 
    std::string getName()
    {
        if (!factory) {
            return {};
        }
        return factory->getName();
    }
 
    std::string getClassName()
    {
        if (!factory) {
            return {};
        }
        return factory->getClassName();
    }
 
    std::string getBaseClassName()
    {
        if (!factory) {
            return {};
        }
        return factory->getBaseClassName();
    }
 
    SharedLibraryClassFactory<T>* getFactory() const
    {
        return factory;
    }
};
 
} // namespace yarp::os
 
#endif // YARP_OS_YARPPLUGIN_H