Added more debug messages and fixed a bug where managed instances do …

…not auto open library

include/pluginlib/class_loader_imp.h

@@ -58,7 +58,7 @@ namespace pluginlib {
  lowlevel_class_loader_(false) //NOTE: The parameter to the class loader enables/disables on-demand class loading/unloading. Leaving it off for now...libraries will be loaded immediately and won't be unloaded after last plugin destroyed
  /***************************************************************************/
  {
- classes_available_ = determineAvailableClasses(); //mas - This is purely ROS build system, no mods needed
+ classes_available_ = determineAvailableClasses();
  }
 
  template <class T>
@@ -75,9 +75,15 @@ namespace pluginlib {
  ClassMapIterator it = classes_available_.find(lookup_name);
 
  if (it != classes_available_.end())
+ {
  library_name = it->second.library_name_;
+ ROS_DEBUG("pluginlib::ClassLoader: Class %s maps to library %s in classes_available_.", library_name.c_str(), lookup_name.c_str());
+ }
  else
+ {
+ ROS_DEBUG("pluginlib::ClassLoader: Class %s has no mapping in classes_available_.", lookup_name.c_str());
  throw LibraryLoadException(getErrorStringForUnknownClass(lookup_name));
+ }
 
  try
  {
@@ -223,7 +229,7 @@ namespace pluginlib {
  {
  }
  }
- throw(pluginlib::LibraryLoadException("Could not find library "));
+ throw(pluginlib::LibraryLoadException("Could not find library."));
  }
 
  template <class T>
@@ -256,6 +262,7 @@ namespace pluginlib {
  void ClassLoader<T>::refreshDeclaredClasses()
  /***************************************************************************/
  {
+ ROS_DEBUG("pluginlib::ClassLoader: Refreshing declared classes.");
  // determine classes not currently loaded for removal
  std::list<std::string> remove_classes;
  for (std::map<std::string, ClassDesc>::const_iterator it = classes_available_.begin(); it != classes_available_.end(); it++)
@@ -363,15 +370,25 @@ namespace pluginlib {
  /***************************************************************************/
  {
  //Note: This method is deprecated
+ ROS_DEBUG("pluginlib::ClassLoader: In deprecated call createClassInstance(), lookup_name = %s, auto_load = %b.", lookup_name.c_str(), auto_load);
+
  if(auto_load && !isClassLoaded(lookup_name))
+ {
+ ROS_DEBUG("pluginlib::ClassLoader: Autoloading class library before attempting to create instance.");
  loadLibraryForClass(lookup_name);
+ }
 
  try
  {
- return lowlevel_class_loader_.createUnmanagedInstance<T>(getClassType(lookup_name)); //mas - change this to our call (DONE)
+ ROS_DEBUG("pluginlib::ClassLoader: Attempting to create instance through low-level MultiLibraryClassLoader...");
+ T* obj = lowlevel_class_loader_.createUnmanagedInstance<T>(getClassType(lookup_name));
+ ROS_DEBUG("pluginlib::ClassLoader: Instance created with object pointer = %p", obj);
+
+ return obj;
  }
  catch(const class_loader::CreateClassException& ex)
  {
+ ROS_DEBUG("pluginlib::ClassLoader: CreateClassException about to be raised for class %s", lookup_name.c_str());
  throw(pluginlib::CreateClassException(ex.what()));
  }
  }
@@ -380,12 +397,25 @@ namespace pluginlib {
  boost::shared_ptr<T> ClassLoader<T>::createInstance(const std::string& lookup_name)
  /***************************************************************************/
  {
+ ROS_DEBUG("pluginlib::ClassLoader: Attempting to create managed instance for class %s.", lookup_name.c_str());
+
+ if(!isClassLoaded(lookup_name))
+ loadLibraryForClass(lookup_name);
+
  try
  {
- return lowlevel_class_loader_.createInstance<T>(getClassType(lookup_name)); //mas - change this to our call (DONE)
+ std::string class_type = getClassType(lookup_name);
+ ROS_DEBUG("pluginlib::ClassLoader: %s maps to real class type %s", lookup_name.c_str(), class_type.c_str()); 
+
+ boost::shared_ptr<T> obj = lowlevel_class_loader_.createInstance<T>(class_type);
+
+ ROS_DEBUG("pluginlib::ClassLoader: boost::shared_ptr to object of real type %s created.", class_type.c_str()); 
+
+ return obj;
  }
  catch(const class_loader::CreateClassException& ex)
  {
+ ROS_DEBUG("pluginlib::ClassLoader: Exception raised by low-level multi-library class loader when attempting to class %s.", lookup_name.c_str());
  throw(pluginlib::CreateClassException(ex.what()));
  }
  }
@@ -394,20 +424,23 @@ namespace pluginlib {
  T* ClassLoader<T>::createUnmanagedInstance(const std::string& lookup_name)
  /***************************************************************************/
  {
- ROS_DEBUG("Attempting to create unmanged instance...\n");
- ROS_DEBUG("Loading library for class %s...\n", lookup_name.c_str());
- loadLibraryForClass(lookup_name);
+ ROS_DEBUG("pluginlib::ClassLoader: Attempting to create UNMANAGED instance for class %s.", lookup_name.c_str());
+
+ if(!isClassLoaded(lookup_name))
+ loadLibraryForClass(lookup_name);
 
  T* instance = 0;
  try
  {
- ROS_DEBUG("Attempting to create instance through low level multi-library class loader.\n");
- instance = lowlevel_class_loader_.createUnmanagedInstance<T>(getClassType(lookup_name));
- ROS_DEBUG("Instance created.\n");
+ ROS_DEBUG("pluginlib::ClassLoader: Attempting to create instance through low level multi-library class loader.");
+ std::string class_type = getClassType(lookup_name);
+ ROS_DEBUG("pluginlib::ClassLoader: %s maps to real class type %s", lookup_name.c_str(), class_type.c_str());
+ instance = lowlevel_class_loader_.createUnmanagedInstance<T>(class_type);
+ ROS_DEBUG("pluginlib::ClassLoader: Instance of type %s created.", class_type.c_str());
  }
  catch(const class_loader::CreateClassException& ex) //mas - change exception type here (DONE)
  {
- ROS_ERROR("Uh oh, we got a problem. class_loader::CreateClassException, forwarding exception up the chain.\n");
+ ROS_ERROR("pluginlib::ClassLoader: Uh oh, we got a problem. class_loader::CreateClassException, forwarding exception up the chain.");
  std::string error_string = "The class " + lookup_name + " could not be loaded. Error: " + ex.what();
  // call unload library to keep load/unload counting consistent
  unloadLibraryForClass(lookup_name);
@@ -429,6 +462,7 @@ namespace pluginlib {
  {
  //mas - This method requires major refactoring...not only is it really long and confusing but a lot of the comments do not seem to be correct. With time I keep correcting small things, but a good rewrite is needed. We can also get rid of this libboost_fs_wrapper stuff as well which seems unnecessary.
 
+ ROS_DEBUG("pluginlib::ClassLoader: Entering determineAvailableClasses()...");
  std::map<std::string, ClassDesc> classes_available;
 
  //Pull possible files from manifests of packages which depend on this package and export class
@@ -512,6 +546,7 @@ namespace pluginlib {
  library = library->NextSiblingElement( "library" );
  }
  }
+ ROS_DEBUG("pluginlib::ClassLoader: Exiting determineAvailableClasses()...");
  return classes_available;
  }