dynlib_posix.cpp

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/*
 * Copyright (c) 2010, Willow Garage, Inc.
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
 *     * Redistributions of source code must retain the above copyright
 *       notice, this list of conditions and the following disclaimer.
 *     * Redistributions in binary form must reproduce the above copyright
 *       notice, this list of conditions and the following disclaimer in the
 *       documentation and/or other materials provided with the distribution.
 *     * Neither the name of the Willow Garage, Inc. nor the names of its
 *       contributors may be used to endorse or promote products derived from
 *       this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 * POSSIBILITY OF SUCH DAMAGE.
 */

#include <rve_dynlib/dynlib.h>

#include <ros/assert.h>

#include <dlfcn.h>

namespace rve_dynlib
{

Handle load(const char* path)
{
  Handle h;
  h.dlhandle = dlopen(path, RTLD_LAZY|RTLD_GLOBAL);
  if (!h)
  {
    throw LibraryLoadException(path, dlerror());
  }

  return h;
}

void unload(Handle& h)
{
  if (dlclose(h.dlhandle) != 0)
  {
    throw LibraryUnloadException(dlerror());
  }

  h.dlhandle = 0;
}

bool hasSymbol(Handle h, const char* symbol)
{
  ROS_ASSERT(h);
  return dlsym(h.dlhandle, symbol);
}

void* getSymbol(Handle h, const char* symbol)
{
  ROS_ASSERT(h);
  return dlsym(h.dlhandle, symbol);
}

const char* prefix()
{
  return "lib";
}

const char* suffix()
{
  return ".so";
}

}