#include <PluginModule.h>

Inheritance diagram for knowrob::PluginModule< T >:

Collaboration diagram for knowrob::PluginModule< T >:

Public Member Functions
	PluginModule (std::string_view modulePath, std::string_view pluginType)

	PluginModule (const PluginModule &)=delete

	~PluginModule () override

bool	isLoaded ()

void	unloadModule ()

bool	loadModule ()

std::shared_ptr< NamedPlugin< T > >	create (std::string_view pluginID) override

std::string_view	name () const override

	PluginModule (std::string_view modulePath, std::string_view pluginType)

	PluginModule (const PluginModule &)=delete

	~PluginModule () override

bool	isLoaded ()

void	unloadModule ()

bool	loadModule ()

std::shared_ptr< NamedPlugin< T > >	create (std::string_view pluginID) override

std::string_view	name () const override

Public Member Functions inherited from knowrob::PluginFactory< T >
virtual	~PluginFactory ()=default

virtual	~PluginFactory ()=default

Protected Attributes
const std::string	modulePath_

const std::string	pluginType_

boost::python::object	pyModule_

boost::python::object	pyPluginType_

Detailed Description

template<class T>
class knowrob::PluginModule< T >

A plugin module is a plugin factory that creates plugin objects that are implemented in Python code.

Definition at line 24 of file PluginModule.h.

Constructor & Destructor Documentation

◆ PluginModule() [1/4]

template<class T >

knowrob::PluginModule< T >::PluginModule	(	std::string_view	modulePath,
		std::string_view	pluginType
	)

inline

Parameters

modulePath	the name or path of the Python module.
pluginType	the name of the plugin type.

Definition at line 30 of file PluginModule.h.

                 : modulePath_(knowrob::py::resolveModulePath(modulePath)),
                   pluginType_(pluginType) {
         }

◆ PluginModule() [2/4]

template<class T >

knowrob::PluginModule< T >::PluginModule ( const PluginModule< T > & )

delete

Cannot be copy-assigned.

◆ ~PluginModule() [1/2]

template<class T >

knowrob::PluginModule< T >::~PluginModule ( )

inlineoverride

Definition at line 40 of file PluginModule.h.

                                  {
             unloadModule();
         }

◆ PluginModule() [3/4]

template<class T >

knowrob::PluginModule< T >::PluginModule	(	std::string_view	modulePath,
		std::string_view	pluginType
	)

inline

Parameters

modulePath	the name or path of the Python module.
pluginType	the name of the plugin type.

Definition at line 30 of file PluginModule.h.

                 : modulePath_(knowrob::py::resolveModulePath(modulePath)),
                   pluginType_(pluginType) {
         }

◆ PluginModule() [4/4]

template<class T >

knowrob::PluginModule< T >::PluginModule ( const PluginModule< T > & )

delete

Cannot be copy-assigned.

◆ ~PluginModule() [2/2]

template<class T >

knowrob::PluginModule< T >::~PluginModule ( )

inlineoverride

Definition at line 40 of file PluginModule.h.

                                  {
             unloadModule();
         }

Member Function Documentation

◆ create() [1/2]

template<class T >

std::shared_ptr<NamedPlugin<T> > knowrob::PluginModule< T >::create ( std::string_view pluginID )

inlineoverridevirtual

Create a new plugin instance.

Parameters

pluginID the ID of the plugin.

Returns: the plugin created.

Implements knowrob::PluginFactory< T >.

Definition at line 94 of file PluginModule.h.

                                                                                {
             knowrob::py::gil_lock lock;
             try {
                 boost::python::object pyReasoner = pyPluginType_();
                 // extract the reasoner in appropriate type
                 boost::python::extract<std::shared_ptr<T>> extracted(pyReasoner);
                 if (extracted.check()) {
                     return std::make_shared<NamedPlugin<T>>(pluginID, PluginLanguage::PYTHON, extracted());
                 } else {
                     KB_ERROR("Failed to extract typed plugin from module '{}'", modulePath_.c_str());
                 }
             } catch (const boost::python::error_already_set &) {
                 throw PythonError();
             }
             KB_ERROR("Failed to create plugin from module '{}'", modulePath_.c_str());
             return {};
         }

◆ create() [2/2]

template<class T >

std::shared_ptr<NamedPlugin<T> > knowrob::PluginModule< T >::create ( std::string_view pluginID )

inlineoverridevirtual

Create a new plugin instance.

Parameters

pluginID the ID of the plugin.

Returns: the plugin created.

Implements knowrob::PluginFactory< T >.

Definition at line 94 of file PluginModule.h.

                                                                                {
             knowrob::py::gil_lock lock;
             try {
                 boost::python::object pyReasoner = pyPluginType_();
                 // extract the reasoner in appropriate type
                 boost::python::extract<std::shared_ptr<T>> extracted(pyReasoner);
                 if (extracted.check()) {
                     return std::make_shared<NamedPlugin<T>>(pluginID, PluginLanguage::PYTHON, extracted());
                 } else {
                     KB_ERROR("Failed to extract typed plugin from module '{}'", modulePath_.c_str());
                 }
             } catch (const boost::python::error_already_set &) {
                 throw PythonError();
             }
             KB_ERROR("Failed to create plugin from module '{}'", modulePath_.c_str());
             return {};
         }

◆ isLoaded() [1/2]

template<class T >

bool knowrob::PluginModule< T >::isLoaded ( )

inline

Returns: true if the module was loaded successfully.

Definition at line 47 of file PluginModule.h.

                         {
             return knowrob::py::call_with_gil<bool>([&] {
                 return pyPluginType_ && !pyPluginType_.is_none();
             });
         }

◆ isLoaded() [2/2]

template<class T >

bool knowrob::PluginModule< T >::isLoaded ( )

inline

Returns: true if the module was loaded successfully.

Definition at line 47 of file PluginModule.h.

                         {
             return knowrob::py::call_with_gil<bool>([&] {
                 return pyPluginType_ && !pyPluginType_.is_none();
             });
         }

◆ loadModule() [1/2]

template<class T >

bool knowrob::PluginModule< T >::loadModule ( )

inline

Try loading the module from filesystem.

Returns: true on success.

Definition at line 66 of file PluginModule.h.

                           {
             // try to make sure that the module can be imported.
             // the modules can be addressed either via an absolute path,
             // or via a relative path in the KnowRob project.
             std::filesystem::path modulePath(modulePath_);
             if (!std::filesystem::exists(modulePath)) {
                 KB_ERROR("Module '{}' does not exist.", modulePath_.c_str());
                 return false;
             }
  
             knowrob::py::gil_lock lock;
             try {
                 // Make sure module can be imported by possibly extending the sys.path
                 // of the Python interpreter.
                 auto importString = knowrob::py::addToSysPath(modulePath);
                 pyModule_ = boost::python::import(importString.c_str());
                 if (pyModule_.is_none()) {
                     KB_ERROR("Failed to import module '{}'.", modulePath_.c_str());
                     return false;
                 }
                 pyPluginType_ = pyModule_.attr(pluginType_.c_str());
             } catch (const boost::python::error_already_set &) {
                 throw PythonError();
             }
             return isLoaded();
         }

◆ loadModule() [2/2]

template<class T >

bool knowrob::PluginModule< T >::loadModule ( )

inline

Try loading the module from filesystem.

Returns: true on success.

Definition at line 66 of file PluginModule.h.

                           {
             // try to make sure that the module can be imported.
             // the modules can be addressed either via an absolute path,
             // or via a relative path in the KnowRob project.
             std::filesystem::path modulePath(modulePath_);
             if (!std::filesystem::exists(modulePath)) {
                 KB_ERROR("Module '{}' does not exist.", modulePath_.c_str());
                 return false;
             }
  
             knowrob::py::gil_lock lock;
             try {
                 // Make sure module can be imported by possibly extending the sys.path
                 // of the Python interpreter.
                 auto importString = knowrob::py::addToSysPath(modulePath);
                 pyModule_ = boost::python::import(importString.c_str());
                 if (pyModule_.is_none()) {
                     KB_ERROR("Failed to import module '{}'.", modulePath_.c_str());
                     return false;
                 }
                 pyPluginType_ = pyModule_.attr(pluginType_.c_str());
             } catch (const boost::python::error_already_set &) {
                 throw PythonError();
             }
             return isLoaded();
         }

◆ name() [1/2]

template<class T >

std::string_view knowrob::PluginModule< T >::name ( ) const

inlineoverridevirtual

Returns: name of the plugin type for which the factory can create instances.

Implements knowrob::PluginFactory< T >.

Definition at line 113 of file PluginModule.h.

113 { return pluginType_; };

◆ name() [2/2]

template<class T >

std::string_view knowrob::PluginModule< T >::name ( ) const

inlineoverridevirtual

Returns: name of the plugin type for which the factory can create instances.

Implements knowrob::PluginFactory< T >.

Definition at line 113 of file PluginModule.h.

113 { return pluginType_; };

◆ unloadModule() [1/2]

template<class T >

void knowrob::PluginModule< T >::unloadModule ( )

inline

Unload the module from the Python interpreter.

Definition at line 56 of file PluginModule.h.

                             {
             knowrob::py::gil_lock lock;
             pyModule_ = {};
             pyPluginType_ = {};
         }

◆ unloadModule() [2/2]

template<class T >

void knowrob::PluginModule< T >::unloadModule ( )

inline

Unload the module from the Python interpreter.

Definition at line 56 of file PluginModule.h.

                             {
             knowrob::py::gil_lock lock;
             pyModule_ = {};
             pyPluginType_ = {};
         }

Member Data Documentation

◆ modulePath_

template<class T >

const std::string knowrob::PluginModule< T >::modulePath_

protected

Definition at line 116 of file PluginModule.h.

◆ pluginType_

template<class T >

const std::string knowrob::PluginModule< T >::pluginType_

protected

Definition at line 117 of file PluginModule.h.

◆ pyModule_

template<class T >

boost::python::object knowrob::PluginModule< T >::pyModule_

protected

Definition at line 118 of file PluginModule.h.

◆ pyPluginType_

template<class T >

boost::python::object knowrob::PluginModule< T >::pyPluginType_

protected

Definition at line 119 of file PluginModule.h.

The documentation for this class was generated from the following file:

build/_CPack_Packages/Linux/DEB/knowrob-2.1.0-Linux/usr/include/knowrob/plugins/PluginModule.h

Public Member Functions

Protected Attributes

Detailed Description

template<class T> class knowrob::PluginModule< T >

Constructor & Destructor Documentation

◆ PluginModule() [1/4]

◆ PluginModule() [2/4]

◆ ~PluginModule() [1/2]

◆ PluginModule() [3/4]

◆ PluginModule() [4/4]

◆ ~PluginModule() [2/2]

Member Function Documentation

◆ create() [1/2]

◆ create() [2/2]

◆ isLoaded() [1/2]

◆ isLoaded() [2/2]

◆ loadModule() [1/2]

◆ loadModule() [2/2]

◆ name() [1/2]

◆ name() [2/2]

◆ unloadModule() [1/2]

◆ unloadModule() [2/2]

Member Data Documentation

◆ modulePath_

◆ pluginType_

◆ pyModule_

◆ pyPluginType_

template<class T>
class knowrob::PluginModule< T >