BehaviorTree.CPP/src/shared_library_UNIX.cpp at master · BehaviorTree/BehaviorTree.CPP · GitHub

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#include "behaviortree_cpp/exceptions.h"

#include "behaviortree_cpp/utils/shared_library.h"

#include <mutex>

#include <string>

#include <dlfcn.h>

namespace BT

{

SharedLibrary::SharedLibrary() = default;

void SharedLibrary::load(const std::string& path, int)

{

const std::unique_lock<std::mutex> lock(_mutex);

if(_handle != nullptr)

{

throw RuntimeError("Library already loaded: " + path);

}

_handle = dlopen(path.c_str(), RTLD_NOW | RTLD_GLOBAL);

if(_handle == nullptr)

{

const char* err = dlerror();

throw RuntimeError("Could not load library: " +

(err != nullptr ? std::string(err) : path));

}

_path = path;

}

void SharedLibrary::unload()

{

const std::unique_lock<std::mutex> lock(_mutex);

if(_handle != nullptr)

{

dlclose(_handle);

_handle = nullptr;

}

bool SharedLibrary::isLoaded() const

{

return _handle != nullptr;

}

void* SharedLibrary::findSymbol(const std::string& name)

{

const std::unique_lock<std::mutex> lock(_mutex);

void* result = nullptr;

if(_handle != nullptr)

{

result = dlsym(_handle, name.c_str());

}

return result;

}

const std::string& SharedLibrary::getPath() const

{

return _path;

}

std::string SharedLibrary::prefix()

{

#if BT_OS == BT_OS_CYGWIN

return "cyg";

#else

return "lib";

#endif

}

std::string SharedLibrary::suffix()

{

#if BT_OS == BT_OS_MAC_OS_X

#if defined(_DEBUG) && !defined(CL_NO_SHARED_LIBRARY_DEBUG_SUFFIX)

return "d.dylib";

#else

return ".dylib";

#endif

#elif BT_OS == BT_OS_HPUX

#if defined(_DEBUG) && !defined(CL_NO_SHARED_LIBRARY_DEBUG_SUFFIX)

return "d.sl";

#else

return ".sl";

#endif

#elif BT_OS == BT_OS_CYGWIN

#if defined(_DEBUG) && !defined(CL_NO_SHARED_LIBRARY_DEBUG_SUFFIX)

return "d.dll";

#else

return ".dll";

#endif

#else

#if defined(_DEBUG) && !defined(CL_NO_SHARED_LIBRARY_DEBUG_SUFFIX)

return "d.so";

#else

return ".so";

#endif

}

} // namespace BT

BehaviorTree.CPP/src/shared_library_UNIX.cpp at master · BehaviorTree/BehaviorTree.CPP · GitHub

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