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https://github.com/wpilibsuite/allwpilib
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d89b7dd412
The old headers were moved into folders because doing so avoids polluting the system include directories. Folder names were also normalized to lowercase.
86 lines
2.2 KiB
C++
86 lines
2.2 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) 2017-2018 FIRST. All Rights Reserved. */
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/* Open Source Software - may be modified and shared by FRC teams. The code */
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/* must be accompanied by the FIRST BSD license file in the root directory of */
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/* the project. */
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/*----------------------------------------------------------------------------*/
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#include "hal/Extensions.h"
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#include <wpi/SmallString.h>
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#include <wpi/StringRef.h>
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#include "hal/HAL.h"
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#if defined(WIN32) || defined(_WIN32)
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#include <windows.h>
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#else
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#include <dlfcn.h>
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#endif
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#if defined(WIN32) || defined(_WIN32)
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#define DELIM ';'
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#define HTYPE HMODULE
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#define DLOPEN(a) LoadLibrary(a)
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#define DLSYM GetProcAddress
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#define DLCLOSE FreeLibrary
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#else
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#define DELIM ':'
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#define HTYPE void*
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#define PREFIX "lib"
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#define DLOPEN(a) dlopen(a, RTLD_LAZY)
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#define DLSYM dlsym
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#define DLCLOSE dlclose
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#endif
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namespace hal {
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namespace init {
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void InitializeExtensions() {}
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} // namespace init
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} // namespace hal
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extern "C" {
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int HAL_LoadOneExtension(const char* library) {
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int rc = 1; // It is expected and reasonable not to find an extra simulation
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HTYPE handle = DLOPEN(library);
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#if !defined(WIN32) && !defined(_WIN32)
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if (!handle) {
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wpi::SmallString<128> libraryName("lib");
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libraryName += library;
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#if defined(__APPLE__)
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libraryName += ".dylib";
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#else
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libraryName += ".so";
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#endif
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handle = DLOPEN(libraryName.c_str());
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}
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#endif
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if (!handle) return rc;
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auto init = reinterpret_cast<halsim_extension_init_func_t*>(
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DLSYM(handle, "HALSIM_InitExtension"));
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if (init) rc = (*init)();
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if (rc != 0) DLCLOSE(handle);
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return rc;
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}
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int HAL_LoadExtensions(void) {
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int rc = 1;
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wpi::SmallVector<wpi::StringRef, 2> libraries;
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const char* e = std::getenv("HALSIM_EXTENSIONS");
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if (!e) return rc;
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wpi::StringRef env{e};
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env.split(libraries, DELIM, -1, false);
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for (auto& libref : libraries) {
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wpi::SmallString<128> library(libref);
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rc = HAL_LoadOneExtension(library.c_str());
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if (rc < 0) break;
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}
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return rc;
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}
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} // extern "C"
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