Store loaded plugins internally in TPP pipeline widget (#275)

ros-industrial · Oct 9, 2024 · 3fb6b9e · 3fb6b9e
1 parent ffd8182
commit 3fb6b9e
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Showing 2 changed files with 11 additions and 0 deletions.
diff --git a/noether_gui/include/noether_gui/widgets/tpp_pipeline_widget.h b/noether_gui/include/noether_gui/widgets/tpp_pipeline_widget.h
@@ -34,6 +34,12 @@ class TPPPipelineWidget : public QWidget
   PluginLoaderWidget<MeshModifierWidgetPlugin>* mesh_modifier_loader_widget_;
   PluginLoaderWidget<ToolPathModifierWidgetPlugin>* tool_path_modifier_loader_widget_;
   Ui::TPPPipeline* ui_;
+
+  /**
+   * @brief Container for holding all loaded plugins
+   * @details All loaded plugins must be held in scope in order to prevent the plugin libraries from being unloaded
+   */
+  std::set<std::shared_ptr<ToolPathPlannerWidgetPlugin>> plugins_;
 };
 
 }  // namespace noether
diff --git a/noether_gui/src/widgets/tpp_pipeline_widget.cpp b/noether_gui/src/widgets/tpp_pipeline_widget.cpp
@@ -58,6 +58,11 @@ TPPPipelineWidget::TPPPipelineWidget(boost_plugin_loader::PluginLoader loader, Q
     else
     {
       auto plugin = loader_.createInstance<ToolPathPlannerWidgetPlugin>(plugin_name.toStdString());
+
+      // Store the plugin so the library providing the plugin (and objects generated by the plugin) does not get
+      // unloaded
+      plugins_.insert(plugin);
+
       ui_->stacked_widget->addWidget(plugin->create(this, {}));
     }
   }