module Vizkit::VizkitPluginExtension

# File lib/vizkit/cplusplus_extensions/vizkit_widget.rb, line 6
def load_adapters(plugin_spec)
    if !Orocos.initialized? # Check if Orocos has been initialized
        raise RuntimeError, 'you need to call Orocos.initialize before using the Ruby bindings for Vizkit3D'
    end
    @bridges = Hash.new
    @plugins = Hash.new
    
    plugins[plugin_spec.plugin_name] = self
    @adapter_collection = getRubyAdapterCollection
    return if !@adapter_collection
    @adapter_collection.getListOfAvailableAdapter.each do |name|
        plugin = @adapter_collection.getAdapter(name)
        bridge = TypelibToQVariant.create_bridge
        Qt::Object.connect(bridge, SIGNAL('changeVariant(QVariant&, bool)'), plugin, SLOT('update(QVariant&, bool)'))
        @bridges[plugin.getRubyMethod] = bridge
        @plugins[plugin.getRubyMethod] = plugin
        cxx_typename = plugin.getDataType
        # the plugin reports a C++ type name. We need a typelib type name
        typename = Typelib::GCCXMLLoader.cxx_to_typelib(cxx_typename)
        if !Orocos.registered_type?(cxx_typename)
            Orocos.load_typekit_for(typename, true) 
        end
        expected_ruby_type = Orocos.typelib_type_for(typename)
        is_opaque = (expected_ruby_type.name != typename)

        singleton_class = (class << self; self end)
        singleton_class.class_eval do
            attr_accessor :type_to_method
            
            define_method(plugin.getRubyMethod) do |*args|
                value, _ = *args
                value = Typelib.from_ruby(value, expected_ruby_type)
                bridge.wrap(value, typename, is_opaque)
            end
            
            define_method('updateData') do |value|
                if(method_name = @type_to_method[value.class.name])
                    self.send(method_name, value)
                else
                    message = "Expected type(s) "
                    
                    type_to_method.each do |i,j |
                        message = message + i + " "
                    end
                    message = message + "but got #{value.class.name}"
                    raise ArgumentError, message
                end
            end             
        end
        if(!self.type_to_method)
            self.type_to_method = Hash.new()
        end
        if(plugin.getRubyMethod.match("update"))
            self.type_to_method[expected_ruby_type.name] = plugin.getRubyMethod
        end

        plugin.instance_variable_set(:@expected_ruby_type,expected_ruby_type)
        def plugin.expected_ruby_type
            @expected_ruby_type
        end
    end
end

# File lib/vizkit/cplusplus_extensions/vizkit_widget.rb, line 69
def pretty_print(pp)
    pp.text "=========================================================="
    pp.breakable
    pp.text "Vizkit3d Plugin: #{name} (#{class_name})"
    pp.breakable
    pp.text "Ruby Name: #{ruby_class_name}"
    pp.breakable
    pp.text "Library name: #{lib_name}"
    pp.breakable
    
    pp.text "----------------------------------------------------------"
    pp.breakable 
    pp.text "  Methods:"
    methods = method_list-["destroyed(QObject*)", "destroyed()", "deleteLater()", "_q_reregisterTimers(void*)", "getRubyAdapterCollection()"]
    methods.each do |method|
        pp.breakable
        pp.text "    " + method 
    end
    #begin
    #backward compatibility
    if @plugins.size > 1
        pp.breakable
        pp.breakable
        pp.text "!!! The vizkit3d plugin is using an old mechanism to update the data" 
        pp.breakable
        pp.text "!!! Please update to the new mechanism see" 
        pp.breakable
            pp.text "!!! http://www.rock-robotics.org/documentation/graphical_user_interface/450_vizkit3d.html"
        pp.breakable
        pp.text "  Bridge Methods:"
    end
        
    @plugins.each_pair do |key,plugin|
        if plugin != self
            pp.breakable
            pp.text "    " + "#{key} (#{plugin.expected_ruby_type})" 
            pp.breakable
            pp.text "    " + "updateData (#{plugin.expected_ruby_type})" 
        end
    end
    #end
    pp.breakable 
end