Updates to support boost_plugin_loader 0.4.3

dependencies.repos

@@ -5,4 +5,4 @@
 - git:
     local-name: boost_plugin_loader
     uri: 'https://github.com/tesseract-robotics/boost_plugin_loader.git'
-    version: 0.3.2
+    version: 0.4.3

noether_gui/include/noether_gui/plugin_interface.h

@@ -159,9 +159,6 @@ class WidgetFactory : public Factory
   BaseWidget* createToolPathModifierWidget(const std::string& name,
                                            const YAML::Node& config = {},
                                            QWidget* parent = nullptr) const;
-
-private:
-  mutable std::map<std::string, WidgetPlugin::Ptr> widget_plugins_;
 };
 
 }  // namespace noether

noether_gui/src/plugin_interface.cpp

@@ -18,8 +18,8 @@ std::string ToolPathModifierWidgetPlugin::getSection() { return STRINGIFY(NOETHE
 WidgetFactory::WidgetFactory()
 {
   auto loader = std::make_shared<boost_plugin_loader::PluginLoader>();
-  loader->search_libraries.insert(NOETHER_PLUGIN_LIB);
-  loader->search_libraries.insert(NOETHER_GUI_PLUGIN_LIB);
+  loader->search_libraries.emplace_back(NOETHER_PLUGIN_LIB);
+  loader->search_libraries.emplace_back(NOETHER_GUI_PLUGIN_LIB);
   loader->search_libraries_env = NOETHER_PLUGIN_LIBS_ENV;
   loader->search_paths_env = NOETHER_PLUGIN_PATHS_ENV;
   loader_ = loader;
@@ -30,11 +30,9 @@ WidgetFactory::WidgetFactory(std::shared_ptr<const boost_plugin_loader::PluginLo
 template <typename PluginT>
 BaseWidget* WidgetFactory::createWidget(const std::string& name, const YAML::Node& config, QWidget* parent) const
 {
-  if (widget_plugins_.find(name) == widget_plugins_.end())
-    widget_plugins_[name] = loader_->createInstance<PluginT>(name);
-
+  auto plugin = loader_->createInstance<PluginT>(name);
   auto this_shared = std::shared_ptr<const WidgetFactory>(this, [](const WidgetFactory*) {});
-  return widget_plugins_[name]->create(config, this_shared, parent);
+  return plugin->create(config, this_shared, parent);
 }
 
 BaseWidget* WidgetFactory::createMeshModifierWidget(const std::string& name,

noether_tpp/include/noether_tpp/plugin_interface.h

@@ -124,16 +124,8 @@ class Factory
 protected:
   std::shared_ptr<const boost_plugin_loader::PluginLoader> loader_;
 
-private:
   template <typename PluginT>
-  typename PluginT::ComponentT::Ptr create(std::map<std::string, typename PluginT::Ptr>& plugin_map,
-                                           const YAML::Node& config) const;
-
-  mutable std::map<std::string, MeshModifierPlugin::Ptr> mesh_modifier_plugins_;
-  mutable std::map<std::string, ToolPathPlannerPlugin::Ptr> tool_path_planner_plugins_;
-  mutable std::map<std::string, DirectionGeneratorPlugin::Ptr> direction_generator_plugins_;
-  mutable std::map<std::string, OriginGeneratorPlugin::Ptr> origin_generator_plugins_;
-  mutable std::map<std::string, ToolPathModifierPlugin::Ptr> tool_path_modifier_plugins_;
+  typename PluginT::ComponentT::Ptr create(const YAML::Node& config) const;
 };
 
 }  // namespace noether

noether_tpp/src/plugin_interface.cpp

@@ -52,7 +52,7 @@ std::string MeshModifierPlugin::getSection()
 Factory::Factory()
 {
   auto loader = std::make_shared<boost_plugin_loader::PluginLoader>();
-  loader->search_libraries.insert(NOETHER_PLUGIN_LIB);
+  loader->search_libraries.emplace_back(NOETHER_PLUGIN_LIB);
   loader->search_libraries_env = NOETHER_PLUGIN_LIBS_ENV;
   loader->search_paths_env = NOETHER_PLUGIN_PATHS_ENV;
   loader_ = loader;
@@ -61,40 +61,37 @@ Factory::Factory()
 Factory::Factory(std::shared_ptr<const boost_plugin_loader::PluginLoader> loader) : loader_(loader) {}
 
 template <typename PluginT>
-typename PluginT::ComponentT::Ptr Factory::create(std::map<std::string, typename PluginT::Ptr>& plugin_map,
-                                                  const YAML::Node& config) const
+typename PluginT::ComponentT::Ptr Factory::create(const YAML::Node& config) const
 {
   auto name = YAML::getMember<std::string>(config, "name");
-  if (plugin_map.find(name) == plugin_map.end())
-    plugin_map[name] = loader_->createInstance<PluginT>(name);
-
+  auto plugin = loader_->createInstance<PluginT>(name);
   auto this_shared = std::shared_ptr<const Factory>(this, [](const Factory*) {});
-  return plugin_map[name]->create(config, this_shared);
+  return plugin->create(config, this_shared);
 }
 
 MeshModifier::Ptr Factory::createMeshModifier(const YAML::Node& config) const
 {
-  return create<MeshModifierPlugin>(mesh_modifier_plugins_, config);
+  return create<MeshModifierPlugin>(config);
 }
 
 ToolPathPlanner::Ptr Factory::createToolPathPlanner(const YAML::Node& config) const
 {
-  return create<ToolPathPlannerPlugin>(tool_path_planner_plugins_, config);
+  return create<ToolPathPlannerPlugin>(config);
 }
 
 OriginGenerator::Ptr Factory::createOriginGenerator(const YAML::Node& config) const
 {
-  return create<OriginGeneratorPlugin>(origin_generator_plugins_, config);
+  return create<OriginGeneratorPlugin>(config);
 }
 
 DirectionGenerator::Ptr Factory::createDirectionGenerator(const YAML::Node& config) const
 {
-  return create<DirectionGeneratorPlugin>(direction_generator_plugins_, config);
+  return create<DirectionGeneratorPlugin>(config);
 }
 
 ToolPathModifier::Ptr Factory::createToolPathModifier(const YAML::Node& config) const
 {
-  return create<ToolPathModifierPlugin>(tool_path_modifier_plugins_, config);
+  return create<ToolPathModifierPlugin>(config);
 }
 
 template std::vector<std::string> Factory::getAvailablePlugins<MeshModifierPlugin>() const;

noether_tpp/test/mesh_modifier_utest.cpp

@@ -182,8 +182,8 @@ std::vector<std::shared_ptr<const MeshModifier>> createModifiers(const std::stri
 {
   // Create the factory
   auto loader = std::make_shared<boost_plugin_loader::PluginLoader>();
-  loader->search_libraries.insert(NOETHER_PLUGIN_LIB);
-  loader->search_paths.insert(PLUGIN_DIR);
+  loader->search_libraries.emplace_back(NOETHER_PLUGIN_LIB);
+  loader->search_paths.emplace_back(PLUGIN_DIR);
   Factory factory(loader);
 
   // Load the plugin YAML config

noether_tpp/test/tool_path_modifier_utest.cpp

@@ -291,8 +291,8 @@ std::vector<std::shared_ptr<const ToolPathModifier>> createModifiers()
 {
   // Create the factory
   auto loader = std::make_shared<boost_plugin_loader::PluginLoader>();
-  loader->search_libraries.insert(NOETHER_PLUGIN_LIB);
-  loader->search_paths.insert(PLUGIN_DIR);
+  loader->search_libraries.emplace_back(NOETHER_PLUGIN_LIB);
+  loader->search_paths.emplace_back(PLUGIN_DIR);
 
   Factory factory(loader);