/*
 * Copyright (c) 2012, Willow Garage, Inc.
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
 *     * Redistributions of source code must retain the above copyright
 *       notice, this list of conditions and the following disclaimer.
 *     * Redistributions in binary form must reproduce the above copyright
 *       notice, this list of conditions and the following disclaimer in the
 *       documentation and/or other materials provided with the distribution.
 *     * Neither the name of the Willow Garage, Inc. nor the names of its
 *       contributors may be used to endorse or promote products derived from
 *       this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 * POSSIBILITY OF SUCH DAMAGE.
 */
#include <ros/console.h>
#include <pluginlib/class_loader.h>
#include <vector>
#include <string>
#include <iostream>

@

extern "C"
{
  std::vector<std::string> availablePlugins(const std::string& package_name)
  {
    pluginlib::ClassLoader<$> class_loader(package_name, "$");
    return(class_loader.getDeclaredClasses());    
  }

  bool loadPlugin(const std::string& package_name, const std::string& class_name)
  {
    pluginlib::ClassLoader<$> class_loader(package_name, "$");
    try
    {
      class_loader.createInstance(class_name);      
      return true;
    }
    catch(...)
    {
      return false;
    }
  }

  std::string whereIsPluginLocated(const std::string& package_name, const std::string& class_name)
  {
    pluginlib::ClassLoader<$> class_loader(package_name, "$");
    try
    {
      return class_loader.getClassLibraryPath(class_name);
    }
    catch(...)
    {
      return ("Could not find location of plugin " + class_name);
    }
  }
}
