| Brian Silverman | 41cdd3e | 2019-01-19 19:48:58 -0800 | [diff] [blame^] | 1 | /*----------------------------------------------------------------------------*/ |
| 2 | /* Copyright (c) 2017-2018 FIRST. All Rights Reserved. */ |
| 3 | /* Open Source Software - may be modified and shared by FRC teams. The code */ |
| 4 | /* must be accompanied by the FIRST BSD license file in the root directory of */ |
| 5 | /* the project. */ |
| 6 | /*----------------------------------------------------------------------------*/ |
| 7 | |
| 8 | #include "hal/Extensions.h" |
| 9 | |
| 10 | #include <wpi/SmallString.h> |
| 11 | #include <wpi/StringRef.h> |
| 12 | |
| 13 | #include "hal/HAL.h" |
| 14 | |
| 15 | #if defined(WIN32) || defined(_WIN32) |
| 16 | #include <windows.h> |
| 17 | #else |
| 18 | #include <dlfcn.h> |
| 19 | #endif |
| 20 | |
| 21 | #if defined(WIN32) || defined(_WIN32) |
| 22 | #define DELIM ';' |
| 23 | #define HTYPE HMODULE |
| 24 | #define DLOPEN(a) LoadLibrary(a) |
| 25 | #define DLSYM GetProcAddress |
| 26 | #define DLCLOSE FreeLibrary |
| 27 | #else |
| 28 | #define DELIM ':' |
| 29 | #define HTYPE void* |
| 30 | #define PREFIX "lib" |
| 31 | #define DLOPEN(a) dlopen(a, RTLD_LAZY) |
| 32 | #define DLSYM dlsym |
| 33 | #define DLCLOSE dlclose |
| 34 | #endif |
| 35 | |
| 36 | namespace hal { |
| 37 | namespace init { |
| 38 | void InitializeExtensions() {} |
| 39 | } // namespace init |
| 40 | } // namespace hal |
| 41 | |
| 42 | extern "C" { |
| 43 | |
| 44 | int HAL_LoadOneExtension(const char* library) { |
| 45 | int rc = 1; // It is expected and reasonable not to find an extra simulation |
| 46 | HTYPE handle = DLOPEN(library); |
| 47 | #if !defined(WIN32) && !defined(_WIN32) |
| 48 | if (!handle) { |
| 49 | wpi::SmallString<128> libraryName("lib"); |
| 50 | libraryName += library; |
| 51 | #if defined(__APPLE__) |
| 52 | libraryName += ".dylib"; |
| 53 | #else |
| 54 | libraryName += ".so"; |
| 55 | #endif |
| 56 | handle = DLOPEN(libraryName.c_str()); |
| 57 | } |
| 58 | #endif |
| 59 | if (!handle) return rc; |
| 60 | |
| 61 | auto init = reinterpret_cast<halsim_extension_init_func_t*>( |
| 62 | DLSYM(handle, "HALSIM_InitExtension")); |
| 63 | |
| 64 | if (init) rc = (*init)(); |
| 65 | |
| 66 | if (rc != 0) DLCLOSE(handle); |
| 67 | return rc; |
| 68 | } |
| 69 | |
| 70 | int HAL_LoadExtensions(void) { |
| 71 | int rc = 1; |
| 72 | wpi::SmallVector<wpi::StringRef, 2> libraries; |
| 73 | const char* e = std::getenv("HALSIM_EXTENSIONS"); |
| 74 | if (!e) return rc; |
| 75 | wpi::StringRef env{e}; |
| 76 | env.split(libraries, DELIM, -1, false); |
| 77 | for (auto& libref : libraries) { |
| 78 | wpi::SmallString<128> library(libref); |
| 79 | rc = HAL_LoadOneExtension(library.c_str()); |
| 80 | if (rc < 0) break; |
| 81 | } |
| 82 | return rc; |
| 83 | } |
| 84 | |
| 85 | } // extern "C" |