DART  6.10.1
SharedLibraryManager.hpp
Go to the documentation of this file.
1 /*
2  * Copyright (c) 2011-2021, The DART development contributors
3  * All rights reserved.
4  *
5  * The list of contributors can be found at:
6  * https://github.com/dartsim/dart/blob/master/LICENSE
7  *
8  * This file is provided under the following "BSD-style" License:
9  * Redistribution and use in source and binary forms, with or
10  * without modification, are permitted provided that the following
11  * conditions are met:
12  * * Redistributions of source code must retain the above copyright
13  * notice, this list of conditions and the following disclaimer.
14  * * Redistributions in binary form must reproduce the above
15  * copyright notice, this list of conditions and the following
16  * disclaimer in the documentation and/or other materials provided
17  * with the distribution.
18  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND
19  * CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
20  * INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
21  * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
22  * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
23  * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
24  * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
25  * LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF
26  * USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
27  * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
28  * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
29  * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
30  * POSSIBILITY OF SUCH DAMAGE.
31  */
32 
33 #ifndef DART_COMMON_DETAIL_SHAREDLIBRARYMANAGER_HPP_
34 #define DART_COMMON_DETAIL_SHAREDLIBRARYMANAGER_HPP_
35 
36 #include <memory>
37 #include <string>
38 #include <unordered_map>
39 
40 #include <boost/filesystem.hpp>
41 #include <boost/functional/hash.hpp>
42 
45 
46 namespace std {
47 
48 template <>
49 struct hash<boost::filesystem::path>
50 {
51  size_t operator()(const boost::filesystem::path& p) const
52  {
53  return boost::filesystem::hash_value(p);
54  }
55 };
56 
57 } // namespace std
58 
59 namespace dart {
60 namespace common {
61 
62 class SharedLibrary;
63 
64 namespace detail {
65 
66 class SharedLibraryManager final : public Singleton<SharedLibraryManager>
67 {
68 public:
79  DART_DEPRECATED(6.10)
80  std::shared_ptr<SharedLibrary> load(const boost::filesystem::path& path);
81 
90  std::shared_ptr<SharedLibrary> load(const std::string& path);
91 
92 protected:
93  friend class Singleton<SharedLibraryManager>;
94 
95 protected:
97  std::unordered_map<boost::filesystem::path, std::weak_ptr<SharedLibrary>>
99  // TODO(JS): Remove this in DART 7.
100 
102  std::unordered_map<std::string, std::weak_ptr<SharedLibrary>>
104 };
105 
106 } // namespace detail
107 } // namespace common
108 } // namespace dart
109 
110 #endif // DART_COMMON_DETAIL_SHAREDLIBRARYMANAGER_HPP_
#define DART_DEPRECATED(version)
Definition: Deprecated.hpp:51
Singleton template class.
Definition: Singleton.hpp:51
Definition: SharedLibraryManager.hpp:67
std::shared_ptr< SharedLibrary > load(const boost::filesystem::path &path)
Loads the shared library with the specified path.
Definition: SharedLibraryManager.cpp:45
std::unordered_map< std::string, std::weak_ptr< SharedLibrary > > mSharedLibraries
Map from library path to the library instances.
Definition: SharedLibraryManager.hpp:103
std::unordered_map< boost::filesystem::path, std::weak_ptr< SharedLibrary > > mLibraries
Map from library path to the library instances.
Definition: SharedLibraryManager.hpp:98
Definition: BulletCollisionDetector.cpp:65
Definition: SharedLibraryManager.hpp:46
size_t operator()(const boost::filesystem::path &p) const
Definition: SharedLibraryManager.hpp:51