DART 6.10.1
Loading...
Searching...
No Matches
SharedLibrary.hpp
Go to the documentation of this file.
1/*
2 * Copyright (c) 2011-2021, The DART development contributors
3 * All rights reserved.
4 *
5 * The list of contributors can be found at:
6 * https://github.com/dartsim/dart/blob/master/LICENSE
7 *
8 * This file is provided under the following "BSD-style" License:
9 * Redistribution and use in source and binary forms, with or
10 * without modification, are permitted provided that the following
11 * conditions are met:
12 * * Redistributions of source code must retain the above copyright
13 * notice, this list of conditions and the following disclaimer.
14 * * Redistributions in binary form must reproduce the above
15 * copyright notice, this list of conditions and the following
16 * disclaimer in the documentation and/or other materials provided
17 * with the distribution.
18 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND
19 * CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
20 * INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
21 * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
22 * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
23 * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
24 * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
25 * LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF
26 * USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
27 * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
28 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
29 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
30 * POSSIBILITY OF SUCH DAMAGE.
31 */
32
33#ifndef DART_COMMON_SHAREDLIBRARY_HPP_
34#define DART_COMMON_SHAREDLIBRARY_HPP_
35
36#include <memory>
37#include <string>
38
39#include <boost/filesystem.hpp>
40
43
44#if DART_OS_LINUX
45
46# define DYNLIB_HANDLE void*
47
48#elif DART_OS_MACOS
49
50# define DYNLIB_HANDLE void*
51
52#elif DART_OS_WINDOWS
53
54# ifdef NOMINMAX
55# include <windows.h>
56# else
57# define NOMINMAX
58# include <windows.h>
59# undef NOMINMAX
60# endif
61using hInstance = HINSTANCE__*;
62# define DYNLIB_HANDLE hInstance
63
64#endif
65
66#if DART_OS_LINUX
67static constexpr const char* DART_SHARED_LIB_EXTENSION = "so";
68#elif DART_OS_MACOS
69static constexpr const char* DART_SHARED_LIB_EXTENSION = "dylib";
70#elif DART_OS_WINDOWS
71static constexpr const char* DART_SHARED_LIB_EXTENSION = "dll";
72#else
73# error Unhandled platform
74#endif
75
76#if DART_OS_LINUX
77static constexpr const char* DART_SHARED_LIB_PREFIX = "lib";
78#elif DART_OS_MACOS
79static constexpr const char* DART_SHARED_LIB_PREFIX = "lib";
80#elif DART_OS_WINDOWS
81static constexpr const char* DART_SHARED_LIB_PREFIX = "";
82#else
83# error Unhandled platform
84#endif
85
86namespace dart {
87namespace common {
88
89namespace detail {
90class SharedLibraryManager;
91} // namespace detail
92
95{
96protected:
101
102public:
116 DART_DEPRECATED(6.10)
117 static std::shared_ptr<SharedLibrary> create(
118 const boost::filesystem::path& path);
119
131 static std::shared_ptr<SharedLibrary> create(const std::string& path);
132
146 DART_DEPRECATED(6.10)
147 explicit SharedLibrary(
148 ProtectedConstructionTag, const boost::filesystem::path& path);
149
161 explicit SharedLibrary(ProtectedConstructionTag, const std::string& path);
162
164 virtual ~SharedLibrary();
165
167 const boost::filesystem::path& getCanonicalPath() const;
168
170 const std::string& path() const;
171
173 bool isValid() const;
174
180 void* getSymbol(const std::string& symbolName) const;
181
182protected:
183 friend class detail::SharedLibraryManager;
184
188 boost::filesystem::path mCanonicalPath;
189 // TODO(JS): Remove in DART 7.
190
194 std::string mPath;
195
197 DYNLIB_HANDLE mInstance;
198
199private:
201 std::string getLastError() const;
202};
203
204} // namespace common
205} // namespace dart
206
207#endif // DART_COMMON_SHAREDLIBRARY_HPP_
#define DART_DEPRECATED(version)
Definition Deprecated.hpp:51
SharedLibrary is a RAII object wrapping a shared library.
Definition SharedLibrary.hpp:95
boost::filesystem::path mCanonicalPath
Canonical path to the shared library where a canonical path is an absolute path that has no elements ...
Definition SharedLibrary.hpp:188
ProtectedConstructionTag
Definition SharedLibrary.hpp:98
@ ProtectedConstruction
Definition SharedLibrary.hpp:99
bool isValid() const
Returns true if the shared library loading was successful.
Definition SharedLibrary.cpp:119
const boost::filesystem::path & getCanonicalPath() const
Returns the path to the shared library file.
Definition SharedLibrary.cpp:107
const std::string & path() const
Returns the path to the shared library file.
Definition SharedLibrary.cpp:113
std::string mPath
Canonical path to the shared library where a canonical path is an absolute path that has no elements ...
Definition SharedLibrary.hpp:194
static std::shared_ptr< SharedLibrary > create(const boost::filesystem::path &path)
Creates a SharedLibrary from a path to the shared library.
Definition SharedLibrary.cpp:59
void * getSymbol(const std::string &symbolName) const
Returns a symbol from the shared library if it exists.
Definition SharedLibrary.cpp:125
friend class detail::SharedLibraryManager
Definition SharedLibrary.hpp:183
std::string getLastError() const
Returns the last loading error.
Definition SharedLibrary.cpp:143
DYNLIB_HANDLE mInstance
Handle to the loaded library.
Definition SharedLibrary.hpp:197
Definition BulletCollisionDetector.cpp:65
Definition SharedLibraryManager.hpp:46