/*
Adept MobileRobots Robotics Interface for Applications (ARIA)
Copyright (C) 2004, 2005 ActivMedia Robotics LLC
Copyright (C) 2006, 2007, 2008, 2009, 2010 MobileRobots Inc.
Copyright (C) 2011, 2012, 2013 Adept Technology

     This program is free software; you can redistribute it and/or modify
     it under the terms of the GNU General Public License as published by
     the Free Software Foundation; either version 2 of the License, or
     (at your option) any later version.

     This program is distributed in the hope that it will be useful,
     but WITHOUT ANY WARRANTY; without even the implied warranty of
     MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
     GNU General Public License for more details.

     You should have received a copy of the GNU General Public License
     along with this program; if not, write to the Free Software
     Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA

If you wish to redistribute ARIA under different terms, contact 
Adept MobileRobots for information about a commercial version of ARIA at 
robots@mobilerobots.com or 
Adept MobileRobots, 10 Columbia Drive, Amherst, NH 03031; +1-603-881-7960
*/
#ifndef ARMODULELOADER_H
#define ARMODULELOADER_H


#include <map>
#include <string>
#include "ariaTypedefs.h"
#include "ArRobot.h"


/// Dynamic ArModule loader
/**
   The ArModuleLoader is used to load ArModules into a program and invoke
   them. 

   See also ArModule to see how to define an ArModule.

   See also the example programs advanced/simpleMod.cpp and advanced/simpleModule.cpp. 
*/
class ArModuleLoader
{
public:

#ifdef WIN32
  typedef HINSTANCE DllRef;
#else
  typedef void * DllRef;
#endif

  typedef enum {
    STATUS_SUCCESS=0, ///< Load succeded
    STATUS_ALREADY_LOADED, ///< Module already loaded
    STATUS_FAILED_OPEN, ///< Could not find or open the module
    STATUS_INVALID, ///< Invalid module file format
    STATUS_INIT_FAILED, ///< The module failed its init stage
    STATUS_EXIT_FAILED, ///< The module failed its exit stage
    STATUS_NOT_FOUND ///< The module was not found
  } Status;

  /// Load an ArModule
  AREXPORT static Status load(const char *modName, ArRobot *robot,
			      void *modArgument = NULL, bool quiet = false);
  /// Close and then reload an ArModule
  AREXPORT static Status reload(const char *modName, ArRobot *robot,
				void * modArgument = NULL, bool quiet = false);
  /// Close an ArModule
  AREXPORT static Status close(const char *modName, bool quiet = false);
  /// Close all open ArModule
  AREXPORT static void closeAll();

protected:

  static std::map<std::string, DllRef> ourModMap;
};


#endif // ARMODULELOADER_H