From 0ad14582409d51ccbe8ec75b66d79bd33a61e6b6 Mon Sep 17 00:00:00 2001
From: Bradley Schmerl <schmerl@cs.cmu.edu>
Date: Fri, 12 Nov 2021 16:59:40 -0500
Subject: [PATCH 1/4] Change load to introduce a name (rather than have plugin
 look it up)

Also, DynamicPlugin placeholder
---
 src/rosdiscover/interpreter/interpreter.py |  2 +-
 src/rosdiscover/interpreter/plugin.py      | 20 +++++++++++++++++++-
 2 files changed, 20 insertions(+), 2 deletions(-)

diff --git a/src/rosdiscover/interpreter/interpreter.py b/src/rosdiscover/interpreter/interpreter.py
index 50ab9d5e..a3cc37d9 100644
--- a/src/rosdiscover/interpreter/interpreter.py
+++ b/src/rosdiscover/interpreter/interpreter.py
@@ -123,7 +123,7 @@ def key(x: NodeConfig) -> str:
         # now that all nodes have been initialised, load all plugins
         for node_context in self.nodes.values():
             for plugin in node_context._plugins:
-                plugin.load(self)
+                plugin.load(self, node_context)
 
     def _create_nodelet_manager(self,
                                 name: str,
diff --git a/src/rosdiscover/interpreter/plugin.py b/src/rosdiscover/interpreter/plugin.py
index c4048888..298df6b3 100644
--- a/src/rosdiscover/interpreter/plugin.py
+++ b/src/rosdiscover/interpreter/plugin.py
@@ -4,6 +4,11 @@
 import abc
 import typing
 
+import attr
+from loguru import logger
+
+from . import NodeContext
+
 if typing.TYPE_CHECKING:
     from .interpreter import Interpreter
 
@@ -12,6 +17,19 @@ class ModelPlugin(abc.ABC):
     """Models the architectural effects of a dynamically-loaded node plugin
     (e.g., a Gazebo plugin)."""
     @abc.abstractmethod
-    def load(self, interpreter: 'Interpreter') -> None:
+    def load(self, interpreter: 'Interpreter', context: NodeContext) -> None:
         """Simulates the effects of loading this plugin in a given context."""
         ...
+
+
+@attr.s(frozen=True, slots=True)
+class DynamicPlugin(abc.ABC):
+    """
+    Models dynamically loaded plygins, taking in a name of the plygin that
+    will be recovered when the plugin is loaded
+    """
+
+    name: str = attr.ib()
+
+    def load(self, interpreter: 'Interpreter', context: NodeContext) -> None:
+        logger.warning("Dynamic loading of plugins for {name} not implemented")

From 4acb58d8fc81e3f8caba40885c0c43df34f6a3b4 Mon Sep 17 00:00:00 2001
From: Bradley Schmerl <schmerl@cs.cmu.edu>
Date: Fri, 12 Nov 2021 17:00:36 -0500
Subject: [PATCH 2/4] Change navigation to use new plugin refactor

---
 src/rosdiscover/models/plugins/navigation.py | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/src/rosdiscover/models/plugins/navigation.py b/src/rosdiscover/models/plugins/navigation.py
index f310dfb9..f0cecaaf 100644
--- a/src/rosdiscover/models/plugins/navigation.py
+++ b/src/rosdiscover/models/plugins/navigation.py
@@ -62,8 +62,8 @@ class StaticLayerPlugin(NavigationPlugin):
     node_name: str = attr.ib()
     reference_name: t.Optional[str] = attr.ib()
 
-    def load(self, interpreter: Interpreter) -> None:
-        move_base = get_move_base(interpreter, self.node_name)
+    def load(self, interpreter: Interpreter, c: NodeContext) -> None:
+        move_base = c  # get_move_base(interpreter, self.node_name)
 
         move_base.read('~unknown_cost_value', -1)
         move_base.read('~lethal_cost_value', 100)

From 3ef6151504dc1ce98206e2cd7d088e925e4ee348 Mon Sep 17 00:00:00 2001
From: Bradley Schmerl <schmerl@cs.cmu.edu>
Date: Mon, 15 Nov 2021 09:19:05 -0500
Subject: [PATCH 3/4] Added generate_dynamic_plugin to dynamically creat plugin
 class.

---
 src/rosdiscover/interpreter/plugin.py | 9 +++++----
 1 file changed, 5 insertions(+), 4 deletions(-)

diff --git a/src/rosdiscover/interpreter/plugin.py b/src/rosdiscover/interpreter/plugin.py
index 298df6b3..5024e02c 100644
--- a/src/rosdiscover/interpreter/plugin.py
+++ b/src/rosdiscover/interpreter/plugin.py
@@ -22,14 +22,15 @@ def load(self, interpreter: 'Interpreter', context: NodeContext) -> None:
         ...
 
 
-@attr.s(frozen=True, slots=True)
-class DynamicPlugin(abc.ABC):
+class DynamicPlugin(type, ModelPlugin):
     """
     Models dynamically loaded plygins, taking in a name of the plygin that
     will be recovered when the plugin is loaded
     """
 
-    name: str = attr.ib()
-
     def load(self, interpreter: 'Interpreter', context: NodeContext) -> None:
         logger.warning("Dynamic loading of plugins for {name} not implemented")
+
+
+def generate_dynamic_plugin(plugin_name: str) -> type:
+    return type(f"{plugin_name}DynamicPlugin", (DynamicPlugin), {'plugin_name': plugin_name})

From 84fc822d65f8d2fc68b6856574a238c5d815dc66 Mon Sep 17 00:00:00 2001
From: Bradley Schmerl <schmerl@cs.cmu.edu>
Date: Mon, 15 Nov 2021 13:44:50 -0500
Subject: [PATCH 4/4] attrs

---
 src/rosdiscover/interpreter/plugin.py | 3 +--
 1 file changed, 1 insertion(+), 2 deletions(-)

diff --git a/src/rosdiscover/interpreter/plugin.py b/src/rosdiscover/interpreter/plugin.py
index 5024e02c..fd21eb21 100644
--- a/src/rosdiscover/interpreter/plugin.py
+++ b/src/rosdiscover/interpreter/plugin.py
@@ -4,7 +4,6 @@
 import abc
 import typing
 
-import attr
 from loguru import logger
 
 from . import NodeContext
@@ -24,7 +23,7 @@ def load(self, interpreter: 'Interpreter', context: NodeContext) -> None:
 
 class DynamicPlugin(type, ModelPlugin):
     """
-    Models dynamically loaded plygins, taking in a name of the plygin that
+    Models dynamically loaded plugins, taking in a name of the plygin that
     will be recovered when the plugin is loaded
     """