ArModuleLoader Class Reference

Dynamic ArModule loader. More...

#include <ArModuleLoader.h>

List of all members.

Public Types
typedef void *	DllRef
enum	Status {   STATUS_SUCCESS = 0, STATUS_ALREADY_LOADED, STATUS_FAILED_OPEN, STATUS_INVALID,   STATUS_INIT_FAILED, STATUS_EXIT_FAILED, STATUS_NOT_FOUND }
Static Public Member Functions
static Status	close (const char *modName, bool quiet=false)
	Close an ArModule.
static void	closeAll ()
	Close all open ArModule.
static Status	load (const char *modName, ArRobot *robot, void *modArgument=NULL, bool quiet=false)
	Load an ArModule.
static Status	reload (const char *modName, ArRobot *robot, void *modArgument=NULL, bool quiet=false)
	Close and then reload an ArModule.
Static Protected Attributes
static std::map< std::string, DllRef >	ourModMap

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Detailed Description

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 simpleMod.cpp and simpleModule.cpp. For a more complete example, see the example programs joydriveActionMod.cpp and joydriveActionModule.cpp.

Definition at line 48 of file ArModuleLoader.h.

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Member Enumeration Documentation

enum ArModuleLoader::Status

Enumeration values: STATUS_SUCCESS  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. Definition at line 58 of file ArModuleLoader.h.

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Member Function Documentation

ArModuleLoader::Status ArModuleLoader::close (  const char *  modName, bool  quiet = false )  [static]

Close an ArModule. Calls ArModule::exit() on the module, then closes the library. Parameters: modName  fileName of the module without the extension (.dll or .so) quiet  whether to print out a message if this fails or not, defaults to false Definition at line 184 of file ArModuleLoader.cpp. References ArLog::log(), STATUS_INIT_FAILED, STATUS_NOT_FOUND, and STATUS_SUCCESS. Referenced by closeAll(), and reload().

ArModuleLoader::Status ArModuleLoader::load (  const char *  modName, ArRobot *  robot, void *  modArgument = NULL, bool  quiet = false )  [static]

Load an ArModule. THIS ONLY LOADS one init on the module right now, if its called again it'll load the same init over. I'll fix it later... read the more verbose description in ArModule.h. Takes a string name of the module which is just the file name of the module without the extension (.dll or .so). It will figure out the correct extension based on wheter its a Linux or Windows build. It will also uses the standard operating systems ability to find the library. So the library must be located within the PATH variable for Windows and the LD_LIBRARY_PATH for Linux. You can also just give the absolute path to the library, or the relative path from the directory the program was started in (ie ./simpleMod). The ArModule will be passed the ArRobot reference that load() takes. This is the ArRobot that the ArModule will use for its processing. Parameters: modName  fileName of the module without the extension (.dll or .so) robot  ArRobot reference which the module is to use, this can be NULL modArgument  A void pointer argument to pass to the module, if its a const value you'll need to cast it to a non-const value to get it to work (for example if you were using a constant string). This value defaults to NULL. quiet  whether to print out a message if this fails or not, defaults to false Definition at line 100 of file ArModuleLoader.cpp. References ArLog::log(), STATUS_ALREADY_LOADED, STATUS_FAILED_OPEN, STATUS_INIT_FAILED, and STATUS_SUCCESS. Referenced by reload().

ArModuleLoader::Status ArModuleLoader::reload (  const char *  modName, ArRobot *  robot, void *  modArgument = NULL, bool  quiet = false )  [static]

Close and then reload an ArModule. reload() is similiar to load(), except that it will call close() on the module and then call load(). Parameters: modName  fileName of the module without the extension (.dll or .so) Definition at line 169 of file ArModuleLoader.cpp. References close(), and load().

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The documentation for this class was generated from the following files:

• ArModuleLoader.h
• ArModuleLoader.cpp

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