83 lines
2.6 KiB
C
83 lines
2.6 KiB
C
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/*
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Adept MobileRobots Robotics Interface for Applications (ARIA)
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Copyright (C) 2004, 2005 ActivMedia Robotics LLC
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Copyright (C) 2006, 2007, 2008, 2009, 2010 MobileRobots Inc.
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Copyright (C) 2011, 2012, 2013 Adept Technology
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This program is free software; you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation; either version 2 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program; if not, write to the Free Software
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Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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If you wish to redistribute ARIA under different terms, contact
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Adept MobileRobots for information about a commercial version of ARIA at
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robots@mobilerobots.com or
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Adept MobileRobots, 10 Columbia Drive, Amherst, NH 03031; +1-603-881-7960
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*/
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#ifndef ARMODULELOADER_H
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#define ARMODULELOADER_H
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#include <map>
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#include <string>
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#include "ariaTypedefs.h"
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#include "ArRobot.h"
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/// Dynamic ArModule loader
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/**
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The ArModuleLoader is used to load ArModules into a program and invoke
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them.
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See also ArModule to see how to define an ArModule.
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See also the example programs advanced/simpleMod.cpp and advanced/simpleModule.cpp.
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*/
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class ArModuleLoader
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{
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public:
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#ifdef WIN32
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typedef HINSTANCE DllRef;
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#else
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typedef void * DllRef;
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#endif
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typedef enum {
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STATUS_SUCCESS=0, ///< Load succeded
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STATUS_ALREADY_LOADED, ///< Module already loaded
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STATUS_FAILED_OPEN, ///< Could not find or open the module
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STATUS_INVALID, ///< Invalid module file format
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STATUS_INIT_FAILED, ///< The module failed its init stage
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STATUS_EXIT_FAILED, ///< The module failed its exit stage
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STATUS_NOT_FOUND ///< The module was not found
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} Status;
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/// Load an ArModule
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AREXPORT static Status load(const char *modName, ArRobot *robot,
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void *modArgument = NULL, bool quiet = false);
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/// Close and then reload an ArModule
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AREXPORT static Status reload(const char *modName, ArRobot *robot,
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void * modArgument = NULL, bool quiet = false);
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/// Close an ArModule
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AREXPORT static Status close(const char *modName, bool quiet = false);
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/// Close all open ArModule
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AREXPORT static void closeAll();
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protected:
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static std::map<std::string, DllRef> ourModMap;
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};
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#endif // ARMODULELOADER_H
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