if (algorithm == nullptr) {

Debug::Log("Nullptr in setup");

} else {

const Robot robot = { robotHandle };

algorithm->Setup(robot, data);

}

if (algorithm == nullptr) {

Debug::Log("Nullptr in ObjectDetector_Process");

} else {

algorithm->Process(map, robot_position);

}

if (algorithm == nullptr) {

Debug::Log("Nullptr in Pathfinder_setup");

} else {

algorithm->Setup(Robot { robotHandle }, data);

}

if (ptr == nullptr) {

Debug::Log("Nullptr in Pathfinder_Pathfind");

return -1;

} else {

return ptr->Pathfind(map, position, target, path);

}

if (robotController == nullptr) {

Debug::Log("Nullptr in RobotController_Setup");

} else {

const Robot robot = { robotHandle };

robotController->Setup(robot, data);

}

if (robotController == nullptr) {

Debug::Log("Nullptr in RobotController_Process");

} else {

robotController->Loop(dtf);

}

const Plugin::CreateNativeObject fn = [&] { return new T(); };

const uint32_t idx = nativeObjectListPtr;

nativeObjectConstructorList[nativeObjectListPtr] = fn;

Plugin::RegisterType(Plugin::NativeObjectFactory {type, idx, typeid(T).name(), name });

nativeObjectListPtr++;

GetFunction = getFunction;

nativeObjectConstructorList = static_cast<Plugin::CreateNativeObject *>(calloc(1024, sizeof(Plugin::CreateNativeObject)));

/* Registering plugin data */

Plugin::RegisterData = *reinterpret_cast<void (**)(const char*, const char*)>(GetFunction("Plugin::RegisterData"));

Plugin::RegisterData("TestLib", "0.0.1");

/* Registering functions */

Debug::Log = *reinterpret_cast<void (**)(const char *)>(GetFunction("Debug::Log"));

Debug::Log("Gathering Simulator Functions");

Debug::Logi = *reinterpret_cast<void (**)(const char *, int)>(GetFunction("Debug::Logi"));

Debug::Logf = *reinterpret_cast<void (**)(const char *, float)>(GetFunction("Debug::Logf"));

Debug::LogV2f = *reinterpret_cast<void (**)(const char *, v2f)>(GetFunction("Debug::LogV2f"));

Debug::LogV2i = *reinterpret_cast<void (**)(const char *, v2i)>(GetFunction("Debug::LogV2i"));

Debug::DrawLine2D = *reinterpret_cast<void (**)(v2f, v2f, float, Color)>(GetFunction("Debug::DrawLine2D"));

Debug::DrawLine3D = *reinterpret_cast<void (**)(v3f, v3f, float, Color)>(GetFunction("Debug::DrawLine3D"));

Debug::DrawRay2D = *reinterpret_cast<void (**)(v2f, v2f, float, Color)>(GetFunction("Debug::DrawRay2D"));

Debug::DrawRay3D = *reinterpret_cast<void (**)(v3f, v3f, float, Color)>(GetFunction("Debug::DrawRay3D"));

Debug::DisplayMap = *reinterpret_cast<void (**)(Map map)>(GetFunction("Debug::DisplayMap"));

Debug::ClearMap = *reinterpret_cast<void (**)()>(GetFunction("Debug::ClearMap"));

Plugin::RegisterType = *reinterpret_cast<void (**)(Plugin::NativeObjectFactory)>(GetFunction("Plugin::RegisterType"));

Microsim::Sensor_i32_ReadValue = *reinterpret_cast<int32_t (**)(uint32_t)>(GetFunction("Microsim::Sensor_i32_ReadValue"));

Microsim::Sensor_f32_ReadValue = *reinterpret_cast<float (**)(uint32_t)>(GetFunction("Microsim::Sensor_f32_ReadValue"));

Microsim::Sensor_v3i_ReadValue = *reinterpret_cast<v3i (**)(uint32_t)>(GetFunction("Microsim::Sensor_v3i_ReadValue"));

Microsim::Motor_CurrentThrottle = *reinterpret_cast<int8_t (**)(uint32_t)>(GetFunction("Microsim::Motor_CurrentThrottle"));

Microsim::Motor_SetThrottle = *reinterpret_cast<void (**)(uint32_t, int8_t)>(GetFunction("Microsim::Motor_SetThrottle"));

Microsim::Robot_FindComponent = *reinterpret_cast<uint32_t (**)(uint32_t, Guid)>(GetFunction("Microsim::Robot_FindComponent"));

Microsim::SimMotorController_Setup = *reinterpret_cast<void (**)(uint32_t handle, uint32_t robotHandle, void* data)>(GetFunction("Microsim::SimMotorController_Setup"));

Microsim::SimMotorController_UpdateMovement = *reinterpret_cast<void (**)(uint32_t handle, float dt, RobotPosition position)>(GetFunction("Microsim::SimMotorController_UpdateMovement"));

Microsim::SimMotorController_GetCurrentState = *reinterpret_cast<uint32_t (**)(uint32_t handle)>(GetFunction("Microsim::SimMotorController_GetCurrentState"));

Microsim::SimMotorController_GetDistanceCovered = *reinterpret_cast<float (**)(uint32_t handle)>(GetFunction("Microsim::SimMotorController_GetDistanceCovered"));

Microsim::SimMotorController_GetTargetDistance = *reinterpret_cast<float (**)(uint32_t handle)>(GetFunction("Microsim::SimMotorController_GetTargetDistance"));

Microsim::SimMotorController_SetGyroNull = *reinterpret_cast<void (**)(uint32_t handle)>(GetFunction("Microsim::SimMotorController_SetGyroNull"));

Microsim::SimMotorController_Stop = *reinterpret_cast<void (**)(uint32_t handle)>(GetFunction("Microsim::SimMotorController_Stop"));

Microsim::SimMotorController_SetRpm = *reinterpret_cast<void (**)(uint32_t handle, int rpm)>(GetFunction("Microsim::SimMotorController_SetRpm"));

Microsim::SimMotorController_MoveDistance = *reinterpret_cast<void (**)(uint32_t handle, float distance)>(GetFunction("Microsim::SimMotorController_MoveDistance"));

Microsim::SimMotorController_MoveToGridPos = *reinterpret_cast<void (**)(uint32_t handle, v2i target, float cellSize)>(GetFunction("Microsim::SimMotorController_MoveToGridPos"));

Microsim::SimMotorController_RotateToAngle = *reinterpret_cast<void (**)(uint32_t handle, int wantedAngle)>(GetFunction("Microsim::SimMotorController_RotateToAngle"));

Microsim::SimMotorController_RotateDegrees = *reinterpret_cast<void (**)(uint32_t handle, int degrees)>(GetFunction("Microsim::SimMotorController_RotateDegrees"));

Microsim::SimPositionTracker_Setup = *reinterpret_cast<void (**)(uint32_t handle, uint32_t robotHandle, void* data)>(GetFunction("Microsim::SimPositionTracker_Setup"));

Microsim::SimPositionTracker_Process = *reinterpret_cast<void (**)(uint32_t handle, RobotPosition* robotPosition)>(GetFunction("Microsim::SimPositionTracker_Process"));

Microsim::CreateSimulatorAlgorithm = *reinterpret_cast<uint32_t (**)(const char*)>(GetFunction("Microsim::CreateSimulatorAlgorithm"));

Microsim::FreeSimulatorAlgorithm = *reinterpret_cast<void (**)(uint32_t handle)>(GetFunction("Microsim::FreeSimulatorAlgorithm"));

/* Registering objects */

Debug::Log("Registering Native Objects");

register_object<MMarc>(Plugin::RobotController, "MMarc");

register_object<WallFollowerRobotcontroller>(Plugin::RobotController, "Simple Robot Controller");

register_object<Objectdetection>(Plugin::ObjectDetector, "Objectdetection");

register_object<Tawd>(Plugin::ObjectDetector, "Tawd");

register_object<Floodfill>(Plugin::Pathfinder, "Flood Fill");

register_object<FloodfillStack>(Plugin::Pathfinder, "Flood Fill Stack");

register_object<Astar>(Plugin::Pathfinder, "Astar");

register_object<Dijkstra>(Plugin::Pathfinder, "Dijkstra");

/* Finishing up */

Debug::Log("Successfully loaded C++ Test Plugin");