iLab Neuromorphic Robotics Toolkit  0.1
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DynamicLoader.H
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1 /*! @file
2  @author Randolph Voorhies
3  @copyright GNU Public License (GPL v3)
4  @section License
5  @verbatim
6  // ////////////////////////////////////////////////////////////////////////
7  // The iLab Neuromorphic Robotics Toolkit (NRT) //
8  // Copyright 2010-2012 by the University of Southern California (USC) //
9  // and the iLab at USC. //
10  // //
11  // iLab - University of Southern California //
12  // Hedco Neurociences Building, Room HNB-10 //
13  // Los Angeles, Ca 90089-2520 - USA //
14  // //
15  // See http://ilab.usc.edu for information about this project. //
16  // ////////////////////////////////////////////////////////////////////////
17  // This file is part of The iLab Neuromorphic Robotics Toolkit. //
18  // //
19  // The iLab Neuromorphic Robotics Toolkit is free software: you can //
20  // redistribute it and/or modify it under the terms of the GNU General //
21  // Public License as published by the Free Software Foundation, either //
22  // version 3 of the License, or (at your option) any later version. //
23  // //
24  // The iLab Neuromorphic Robotics Toolkit is distributed in the hope //
25  // that it will be useful, but WITHOUT ANY WARRANTY; without even the //
26  // implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR //
27  // PURPOSE. See the GNU General Public License for more details. //
28  // //
29  // You should have received a copy of the GNU General Public License //
30  // along with The iLab Neuromorphic Robotics Toolkit. If not, see //
31  // <http://www.gnu.org/licenses/>. //
32  // ////////////////////////////////////////////////////////////////////////
33  @endverbatim */
34 
35 
36 #ifndef INCLUDE_NRT_CORE_UTIL_DYNAMICLOADER_H
37 #define INCLUDE_NRT_CORE_UTIL_DYNAMICLOADER_H
38 
40 
41 #include <functional>
42 #include <dlfcn.h>
43 
44 namespace nrt
45 {
46  //! A class to open shared object (.so) files and load functions contained in them.
47  /*! \ingroup util */
49  {
50  public:
51  //! Open the shared object located at filename
52  /*! \exception nrt::exception::DynamicLoaderException The requested shared object file could not be opened */
53  DynamicLoader(std::string const & filename);
54 
55  //! Close the shared object file
56  /*! Beware that closing the object file will remove all links to any objects/functions/etc that have been created
57  from the shared object. Use this function only if you want nothing more to do with anything created from this
58  object file. */
59  void close();
60 
61  //! Load the symbol named functionName
62  /*! This method returns an std::function that points to the requested name in the shared object opened by this
63  DynamicLoader. For example, to load the function <code>int foo(double x, bool y)</code> from the file
64  "mySharedObject.so" you should write:
65 
66 @code
67 nrt::DynamicLoader loader("./mySharedObject.so");
68 try
69 {
70  std::function<int(double,bool)> foo = loader.load<int(double,bool)>("foo");
71 }
72 catch(nrt::exception::DynamicLoaderException e)
73 {
74  NRT_FATAL(e.what());
75 }
76 int result = foo(3.0, true);
77 @endcode
78 
79  \note You should not try to use anything returned by load() after the DynamicLoader has been close()ed or
80  destroyed.
81 
82  \exception nrt::exception::DynamicLoaderException The requested symbol could not be found in the opened shared
83  object */
84  template <class Signature>
85  std::function<Signature> load(std::string const & functionName);
86 
87  private:
88  void *itsLibraryHandle;
89  std::string itsFilename;
90  };
91 }
92 
93 // Include implementation details
95 
96 #endif // INCLUDE_NRT_CORE_UTIL_DYNAMICLOADER_H