--- deployment/DeploymentComponent.cpp	2008-11-04 10:23:15.000000000 +0100
+++ DeploymentComponent.cpp	2008-09-16 12:30:27.000000000 +0200
@@ -52,7 +52,7 @@
     using namespace std;
     using namespace RTT;

-    std::vector< DeploymentComponent::LoadedLib > DeploymentComponent::loadedLibs;
+    std::vector<pair<string,void*> > DeploymentComponent::LoadedLibs;

     /**
      * I'm using a set to speed up lookups.
@@ -137,14 +137,6 @@
         this->methods()->addMethod( RTT::method("kickOut", &DeploymentComponent::kickOut, this),
                                     "Calls stopComponents, cleanupComponents and unloadComponents in a row.");

-	this->methods()->addMethod( RTT::method("kickOutComponent", &DeploymentComponent::kickOutComponent, this),
-				"Calls stopComponents, cleanupComponent and unloadComponent in a row.",
-				"comp_name", "component name");
-
-	this->methods()->addMethod( RTT::method("kickOutFile", &DeploymentComponent::kickOutFile, this),
-				"Calls stopComponents, cleanupComponents and unloadComponents in a row.",
-				 "File", "The file which contains the name of the components to kickOut (the same used in loadComponents, if you want).");
-
         // Work around compiler ambiguity:
         typedef bool(DeploymentComponent::*DCFun)(const std::string&, const std::string&);
         DCFun cp = &DeploymentComponent::connectPeers;
@@ -229,6 +221,7 @@

     DeploymentComponent::~DeploymentComponent()
     {
+      clearConfiguration();
       // Should we unload all loaded components here ?
       if ( autoUnload.get() ) {
           kickOut();
@@ -237,7 +230,7 @@

     bool DeploymentComponent::connectPeers(const std::string& one, const std::string& other)
     {
-        Logger::In in("DeploymentComponent::connectPeers");
+        Logger::In in("DeploymentComponent");
         TaskContext* t1 = this->getPeer(one);
         TaskContext* t2 = this->getPeer(other);
         if (!t1) {
@@ -253,7 +246,7 @@

     bool DeploymentComponent::addPeer(const std::string& from, const std::string& to)
     {
-        Logger::In in("DeploymentComponent::addPeer");
+        Logger::In in("DeploymentComponent");
         TaskContext* t1 = this->getPeer(from);
         TaskContext* t2 = this->getPeer(to);
         if (!t1) {
@@ -269,7 +262,6 @@

     bool DeploymentComponent::connectPorts(const std::string& one, const std::string& other)
     {
-	Logger::In in("DeploymentComponent::connectPorts");
         TaskContext* a, *b;
         a = getPeer(one);
         b = getPeer(other);
@@ -288,7 +280,6 @@
     bool DeploymentComponent::connectPorts(const std::string& one, const std::string& one_port,
                                            const std::string& other, const std::string& other_port)
     {
-	Logger::In in("DeploymentComponent::connectPorts");
         TaskContext* a, *b;
         a = getPeer(one);
         b = getPeer(other);
@@ -449,7 +440,7 @@
                         // Check if it is a propertybag.
                         Property<PropertyBag> comp = *it;
                         if ( !comp.ready() ) {
-                            log(Error)<< "Property '"<< *it <<"' should be a struct, Include or Import statement." << endlog();
+                            log(Error)<< "Property '"<< *it <<"' is should be a struct, Include or Import statement." << endlog();
                             valid = false;
                             continue;
                         }
@@ -579,27 +570,11 @@
                                     valid = false;
                                 }
                                 // store the port
-                                if (valid){
-				    string port_name = ports->get().getProperty<string>(*pit)->get();
-				    bool to_add = true;
-				    // go through the vector to avoid duplicate items.
-				    // NOTE the sizes conmap[port_name].ports.size() and conmap[port_name].owners.size() are supposed to be equal
-				    for(unsigned int a=0; a < conmap[port_name].ports.size(); a++)
-				    {
-					    if(  conmap[port_name].ports.at(a) == p && conmap[port_name].owners.at(a) == c)
-					    {
-						to_add = false;
-						continue;
-					    }
-				    }
-
-				    if(to_add)
-				    {
+                                if (valid) {
                                     log(Debug)<<"storing Port: "<<c->getName()<<"."<<p->getName();
-					log(Debug)<<" in " << port_name <<endlog();
-					conmap[port_name].ports.push_back( p );
-					conmap[port_name].owners.push_back( c );
-				    }
+                                    log(Debug)<<" in " << ports->get().getProperty<std::string>(*pit)->get() <<endlog();
+                                    conmap[ports->get().getProperty<std::string>(*pit)->get()].ports.push_back( p );
+                                    conmap[ports->get().getProperty<std::string>(*pit)->get()].owners.push_back( c );
                                 }
                             }
                         }
@@ -756,11 +731,7 @@
                 for (PropertyBag::const_iterator it= peers.rvalue().begin(); it != peers.rvalue().end();it++) {
                     Property<string> nm = (*it);
                     if ( nm.ready() )
-		    {
                         this->addPeer( comps[comp.getName()].instance->getName(), nm.value() );
-			log(Debug) << this->getName() << " connects to " <<
-			comps[comp.getName()].instance->getName()<< nm.value()  << endlog();
-		    }
                     else {
                         log(Error) << "Wrong property type in Peers struct. Expected property of type 'string',"
                                    << " got type "<< (*it)->getType() <<endlog();
@@ -770,56 +741,35 @@
         }

         // Create data port connections:
-        for(ConMap::iterator it = conmap.begin(); it != conmap.end(); ++it)
-	{
-	    ConnectionData *connection =  &(it->second);
-	    std::string connection_name = it->first;
-
-	    if ( connection->ports.size() == 1 ){
-		log(Warning) << "Can not form connection "<<connection_name<<" with only one Port from "<< connection->owners[0]<< endlog();
+        for(ConMap::iterator it = conmap.begin(); it != conmap.end(); ++it) {
+            if ( it->second.ports.size() == 1 ){
+                log(Warning) << "Can not form connection "<<it->first<<" with only one Port from "<< it->second.owners[0]<< endlog();
                 continue;
             }
             // first find a write and a read port.
             // This is quite complex since a 'ReadWritePort' can act as both.
             PortInterface* writer = 0, *reader = 0;
-	    ConnectionData::Ports::iterator p = connection->ports.begin();
-
-	    while (p != connection->ports.end() )
-	    {
-		(*p)->getName();
-		++p;
-	    }
-
-	    p = connection->ports.begin();
-
-	    while (p !=connection->ports.end() && (writer == 0 || reader == 0) )
-	    {
-                if ( (*p)->getPortType() == PortInterface::WritePort )
-		{
+            ConnectionData::Ports::iterator p = it->second.ports.begin();
+            while (p != it->second.ports.end() && (writer == 0 || reader == 0) ) {
+                if ( (*p)->getPortType() == PortInterface::WritePort ) {
                     if (writer && writer->getPortType() == PortInterface::ReadWritePort )
                         reader = writer;
                     writer = (*p);
                 }
-		else{
-                    if ( (*p)->getPortType() == PortInterface::ReadPort )
-		    {
+                else
+                    if ( (*p)->getPortType() == PortInterface::ReadPort ) {
                         if (reader && reader->getPortType() == PortInterface::ReadWritePort )
                             writer = reader;
                         reader = (*p);
                     }
-                    else{
+                    else
                         if ( (*p)->getPortType() == PortInterface::ReadWritePort )
-			{
-                            if (writer == 0)
-			    {
+                            if (writer == 0) {
                                 writer = (*p);
                             }
                             else {
                                 reader = (*p);
                             }
-			}
-		    }
-		}
                 ++p;
             }
             // Inform the user of non-optimal connections:
@@ -832,29 +782,25 @@
                 log(Warning) << "Connecting only write-ports in connection " << it->first << endlog();
             }
             // Inform user which component initiates the connection:
-	    p = connection->ports.begin();
+            p = it->second.ports.begin();
             while ( *p != writer ) ++p;
-	    std::string owner = connection->owners[p - connection->ports.begin()]->getName();
-	    log(Info) << "Creating Connection "<< connection_name <<" starting from TaskContext "<< owner <<":" <<endlog();
+            std::string owner = it->second.owners[p - it->second.ports.begin()]->getName();
+            log(Info) << "Creating Connection "<<it->first<<" starting from TaskContext "<< owner <<":" <<endlog();
             // connect all ports to connection
-	    p = connection->ports.begin();
-
-	    while (p != connection->ports.end() )
-	    {
+            p = it->second.ports.begin();
+            while (p != it->second.ports.end() ) {
                 // connect all readers to the first found writer.
-                if ( *p != writer )
-		{
-		    owner = connection->owners[p - connection->ports.begin()]->getName();
-                    if ( (*p)->connectTo( writer ) == false)
-		    {
-			log(Error) << "Could not connect Port "<< owner<<"."<< (*p)->getName() << " to connection " << connection_name <<endlog();
+                if ( *p != writer ) {
+                    owner = it->second.owners[p - it->second.ports.begin()]->getName();
+                    if ( (*p)->connectTo( writer ) == false) {
+                        log(Error) << "Could not connect Port "<< owner<<"."<< (*p)->getName() << " to connection " <<it->first<<endlog();
                         if ((*p)->connected())
                             log(Error) << "Port "<< owner<<"."<< (*p)->getName() << " already connected !"<<endlog();
                         else
                             log(Error) << "Port "<< owner<<"."<< (*p)->getName() << " has wrong type !"<<endlog();
                         valid = false;
                     } else
-                        log(Info) << "Connected Port "<< owner<<"."<< (*p)->getName() <<" to connection " << connection_name <<endlog();
+                        log(Info) << "Connected Port "<< owner<<"."<< (*p)->getName() <<" to connection " << it->first <<endlog();
                 }
                 ++p;
             }
@@ -935,16 +881,9 @@

             // AutoConf
             if (comps[comp.getName()].autoconf )
-	    {
-		if( !peer->isConfigured() || !peer->isRunning() )
-		{
                 if ( peer->configure() == false)
                     valid = false;
         }
-		else
-		    log(Warning) << "Apparently component "<< peer->getName()<< " don't need to be configured." <<endlog();
-	    }
-        }

         // Finally, report success/failure:
         if (!valid) {
@@ -1002,7 +941,6 @@
         for ( CompList::iterator cit = comps.begin(); cit != comps.end(); ++cit) {
             ComponentData* it = &(cit->second);
             if ( it->instance && !it->proxy )
-	    {
                 if ( it->instance->engine()->getActivity() == 0 ||
                      it->instance->engine()->getActivity()->isActive() == false ||
                      it->instance->stop() ) {
@@ -1012,7 +950,6 @@
                     valid = false;
                 }
         }
-        }
         return valid;
     }

@@ -1024,7 +961,6 @@
         for ( CompList::iterator cit = comps.begin(); cit != comps.end(); ++cit) {
             ComponentData* it = &(cit->second);
             if (it->instance && !it->proxy)
-	    {
                 if ( it->instance->getTaskState() <= TaskCore::Stopped ) {
                     it->instance->cleanup();
                     log(Info) << "Cleaned up "<< it->instance->getName() <<endlog();
@@ -1033,7 +969,6 @@
                     valid = false;
                 }
         }
-        }
         return valid;
     }

@@ -1041,10 +976,46 @@
     {
         // 2. Disconnect and destroy all components.
         bool valid = true;
-	while ( comps.size() > 0)
-	{
+        for ( CompList::iterator cit = comps.begin(); cit != comps.end(); ++cit) {
+            ComponentData* it = &(cit->second);
+
+            if ( it->loaded && it->instance ) {
+                if ( it->instance->engine()->getActivity() == 0 ||
+                     it->instance->engine()->getActivity()->isActive() == false ) {
+                    std::string name = cit->first;
+                    if (!it->proxy ) {
+                        log(Debug) << "Disconnecting " <<name <<endlog();
+                        it->instance->disconnect();
+                        log(Debug) << "Terminating " <<name <<endlog();
+                    } else
+                        log(Debug) << "Removing proxy for " <<name <<endlog();
+                    // delete the activity before the TC !
+                    delete it->act;
+                    it->act = 0;
+                    delete it->instance;
+                    it->instance = 0;
+                    log(Info) << "Disconnected and destroyed "<< name <<endlog();
+                } else {
+                    log(Error) << "Could not unload Component "<< cit->first <<endlog();
+                    valid = false;
+                }
+            }
+        }
+        if ( !comps.empty() ) {
+            // cleanup from ComponentData map:
             CompList::iterator cit = comps.begin();
-	    valid &= this->unloadComponentImpl(cit);
+            do {
+                ComponentData* it = &(cit->second);
+                // if deleted and loaded by us:
+                if (it->instance == 0 && it->loaded) {
+                    log(Info) << "Completely removed "<< cit->first <<endlog();
+                    comps.erase(cit);
+                    cit = comps.begin();
+                } else {
+                    log(Info) << "Keeping info on "<< cit->first <<endlog();
+                    ++cit;
+                }
+            } while ( cit != comps.end() );
         }
         return valid;
     }
@@ -1091,7 +1062,6 @@
             while(i != n) {
                 std::string name = namelist[i]->d_name;
                 if (name != "." && name != ".." )
-		{
                     if (namelist[i]->d_type == DT_DIR) { //ignoring symlinks and subdirs here.
                         import( path +"/" +name );
                     } else {
@@ -1106,7 +1076,6 @@
                             loadLibrary( path + "/" + name );
                         }
                     }
-		}
                 free(namelist[i]);
                 ++i;
             }
@@ -1150,47 +1119,14 @@
         // finally:
         libname = libname.substr(0, libname.find(".so") );

-	// check if the library is already loaded
-	// NOTE if this library has been loaded, you can unload and reload it to apply changes (may be you have updated the dynamic library)
-	// anyway it is safe to do this only if thereisn't any istance whom type was loaded from this library
-
-	std::vector<LoadedLib>::iterator lib = loadedLibs.begin();
-	while (lib != loadedLibs.end())
-	{
-	    // there is already a library with the same name
-	    if ( lib->name == libname)
-	    {
-		log(Warning) <<"Library "<< libname <<".so already loaded. " ;
-
-		bool can_unload = true;
-		CompList::iterator cit;
-		for( std::vector<std::string>::iterator ctype = lib->components_type.begin();  ctype != lib->components_type.end() && can_unload; ++ctype)
-		{
-		    for ( cit = comps.begin(); cit != comps.end(); ++cit)
-		    {
-			if( (*ctype) == cit->second.type )
-			{
-			    // the type of an allocated component was loaded from this library. it might be unsafe to reload the library
-			    log(Warning) << "Can NOT reload because of the instance " << cit->second.type  <<"::"<<cit->second.instance->getName()  <<endlog();
-			    can_unload = false;
-			}
-		    }
-		}
-		if( can_unload )
-		{
-		    log(Warning) << "Try to RELOAD"<<endlog();
-		    dlclose(lib->handle);
-		    // remove the library info from the vector
-		    std::vector<LoadedLib>::iterator lib_un = lib;
-		    loadedLibs.erase(lib_un);
-		    lib = loadedLibs.end();
-	    }
-		else   return true;
+        for(vector<pair<string,void*> >::iterator it = LoadedLibs.begin(); it != LoadedLibs.end(); ++it){
+            if ( it->first == libname ) {
+                log(Info) <<"Library "<< libname <<" already loaded."<<endlog();
+                handle = it->second;
+                return true;
             }
-	    else lib++;
	}

-
         std::vector<string> errors;
         // try form "liborocos-helloworld-gnulinux.so"
         handle = dlopen ( so_name.c_str(), RTLD_NOW | RTLD_GLOBAL );
@@ -1265,8 +1201,8 @@
             return false;
         }

-	//------------- if you get here, the library has been loaded -------------
-	LoadedLib loading_lib(libname,handle);
+        LoadedLibs.push_back(make_pair(libname,handle));
+        log(Debug) <<"Storing "<< libname <<endlog();
         dlerror();    /* Clear any existing error */

         // Lookup Component factories:
@@ -1309,11 +1245,8 @@
                 }
                 ComponentFactories::Instance()[ cname ] = factory;
                 log(Info) << "Loaded component type '"<< cname <<"'"<<endlog();
-		loading_lib.components_type.push_back( cname );
-
             } else {
                 log(Info) << "Loaded single component library '"<< libname <<"'"<<endlog();
-		loading_lib.components_type.push_back( libname );
             }
             is_component = true;
         } else {
@@ -1346,7 +1279,7 @@
             if ( success )
                 log(Info) << "Loaded RTT Plugin '"<< plugname <<"'"<<endlog();
             else {
-                log(Error) << "Failed to load RTT Plugin '" <<plugname<<"': plugin refused to load into this TaskContext." <<endlog();
+                log(Error) << "Failed to load RTT Plutin '" <<plugname<<"': plugin refused to load into this TaskContext." <<endlog();
                 return false;
             }
             return true;
@@ -1354,10 +1287,6 @@
             log(Debug) << error << endlog();
         }

-	loadedLibs.push_back( loading_lib );
-	log(Info) <<"Storing "<< loading_lib.name  <<endlog();
-	dlerror();    /* Clear any existing error */
-

         // plain library
         if (is_component == false)
@@ -1434,85 +1363,42 @@
         this->addPeer( comps[name].instance );
         log(Info) << "Adding "<< comps[name].instance->getName() << " as new peer:  OK."<< endlog(Info);
         comps[name].loaded = true;
-	comps[name].type = type;
         return true;
     }

-    /**
-     * This method removes all references to the component hold in \a cit,
-     * on the condition that it is not running.
-     * When this method returns true, you need to remove \a cit yourself from
-     * the this->conmap.
-     */
-    bool DeploymentComponent::unloadComponentImpl( CompList::iterator cit )
-    {
-        bool valid = true;
-        ComponentData* it = &(cit->second);
-        std::string  name = cit->first;
-
-        if ( it->loaded && it->instance ) {
-            if ( it->instance->engine()->getActivity() == 0 ||
-                 it->instance->engine()->getActivity()->isActive() == false ) {
-                if (!it->proxy ) {
-                    log(Debug) << "Disconnecting " <<name <<endlog();
-                    it->instance->disconnect();
-                    log(Debug) << "Terminating " <<name <<endlog();
-                } else
-                    log(Debug) << "Removing proxy for " <<name <<endlog();
-
-                // Lookup and erase port+owner from conmap.
-                for( ConMap::iterator cmit = conmap.begin(); cmit != conmap.end(); ++cmit) {
-                    size_t n = 0;
-                    while ( n != cmit->second.owners.size() ) {
-                        if (cmit->second.owners[n] == it->instance ) {
-                            cmit->second.owners.erase( cmit->second.owners.begin() + n );
-                            cmit->second.ports.erase( cmit->second.ports.begin() + n );
-                            n = 0;
-                        } else
-                            ++n;
-                    }
-                }
-                // Lookup in the property configuration and remove:
-                Property<PropertyBag>* pcomp = root.getProperty<PropertyBag>(name);
-                if (pcomp) {
-                    root.remove(pcomp);
-                    deletePropertyBag( pcomp->value() );
-                    delete pcomp;
-                }
-
-                // Finally, delete the activity before the TC !
-                delete it->act;
-                it->act = 0;
-                delete it->instance;
-                it->instance = 0;
-		// NOTE there is no reason to keep the ComponentData in the vector.
-		// actually it may cause errors if we try to re-load the Component later.
-		comps.erase(cit);
-
-                log(Info) << "Disconnected and destroyed "<< name <<endlog();
-            } else {
-                log(Error) << "Could not unload Component "<< name <<": still running." <<endlog();
-                valid = false;
-            }
-        }
-        return valid;
-    }

     bool DeploymentComponent::unloadComponent(const std::string& name)
     {
-        CompList::iterator it;
+        std::string regname = name;
+        TaskContext* peer = this->getPeer(name);
+        if (peer) {
+            for(CompList::iterator it = comps.begin(); it != comps.end(); ++it)
+                if (it->second.instance == peer) {
+                    regname = it->first;
+                    break;
+                }
+        } else {
         // no such peer: try looking for the map name
         if ( comps.count( name ) == 0 || comps[name].loaded == false ) {
             log(Error) << "Can't unload component '"<<name<<"': not loaded by "<<this->getName()<<endlog();
             return false;
         }
+            // regname and name are equal.
+            peer = comps[name].instance;
+        }

-        // Ok. Go on with loaded component.
-        it = comps.find(name);
-
-        if ( this->unloadComponentImpl( it ) == false )
+        assert(peer);
+        if ( peer->isRunning() ) {
+            log(Error) << "Can't unload component "<<name<<" since it is still running."<<endlog();
             return false;
-
+        }
+        try {
+            peer->disconnect(); // if it is no longer a peer of this, that's ok.
+        } catch(...) {
+            log(Warning) << "Disconnecting caused exception." <<endlog();
+        }
+        delete peer;
+        comps.erase(regname);
         log(Info) << "Successfully unloaded component "<<name<<"."<<endlog();
         return true;
     }
@@ -1640,103 +1526,4 @@
     {
         return ComponentFactories::Instance();
     }
-
-    void DeploymentComponent::kickOutFile(const std::string& config_file)
-    {
-	Logger::In in("DeploymentComponent::kickOutFile");
-	PropertyBag from_file;
-	Property<std::string>  import_file;
-	std::vector<std::string> deleted_components_type;
-
-	// demarshalling failures:
-	bool failure = false;
-
-	PropertyDemarshaller demarshaller(config_file);
-	try {
-	    if ( demarshaller.deserialize( from_file ) ){
-		for (PropertyBag::iterator it= from_file.begin(); it!=from_file.end();it++)
-		{
-		    if ( (*it)->getName() == "Import" ) continue;
-		    if ( (*it)->getName() == "Include" ) continue;
-
-		    kickOutComponent(  (*it)->getName() );
-		}
-		deletePropertyBag( from_file );
-	    }
-	    else
-	    {
-		log(Error)<< "Some error occured while parsing "<< config_file <<endlog();
-		failure = true;
-	    }
-	} catch (...)
-	{
-	    log(Error)<< "Uncaught exception in loadcomponents() !"<< endlog();
-	    failure = true;
-	}
-    }
-
-    bool DeploymentComponent::cleanupComponent(RTT::TaskContext *instance)
-    {
-	Logger::In in("DeploymentComponent::cleanupComponent");
-	bool valid = true;
-	// 1. Cleanup a single activities, give components chance to cleanup.
-	if (instance)
-	{
-	    if ( instance->getTaskState() <= TaskCore::Stopped )
-	    {
-		instance->cleanup();
-		log(Info) << "Cleaned up "<< instance->getName() <<endlog();
-	    } else {
-		log(Error) << "Could not cleanup Component "<< instance->getName() << " (not Stopped)"<<endlog();
-		valid = false;
-	    }
-	}
-	return valid;
-    }
-
-    bool DeploymentComponent::stopComponent(RTT::TaskContext *instance)
-    {
-	Logger::In in("DeploymentComponent::stopComponent");
-	bool valid = true;
-
-	if ( instance )
-	{
-	    if ( instance->engine()->getActivity() == 0 ||
-		instance->engine()->getActivity()->isActive() == false ||
-		instance->stop() )
-	    {
-		log(Info) << "Stopped "<< instance->getName() <<endlog();
-	    }
-	    else {
-		log(Error) << "Could not stop loaded Component "<< instance->getName() <<endlog();
-		valid = false;
-	    }
-	}
-	return valid;
-    }
-
-    bool DeploymentComponent::kickOutComponent(const std::string& comp_name)
-    {
-	Logger::In in("DeploymentComponent::kickOutComponent");
-	PropertyBase *it = root.find( comp_name );
-	if(!it)
-	{
-	    log(Error) << "Peer "<< comp_name << " not found in PropertyBag root"<< endlog();
-	    return false;
-	}
-
-	TaskContext* peer = comps[ comp_name ].instance;
-
-	if ( !peer )
-	{
-	    log(Error) << "Peer not found: "<< comp_name <<endlog();
-	    return false;
-	}
-	stopComponent( peer );
-	cleanupComponent (peer );
-	unloadComponent( comp_name);
-	root.removeProperty( root.find( comp_name ) );
-
-	return true;
-    }
 }