Initial commit

Lts/Proxies/TrainingAreaBase/Plugins/UAS/TmsIfAdapter/module_loader.h

@@ -0,0 +1,78 @@
+/**
+  * Loads and manages the libTmsIfAdapter module
+  * $Id$
+  * $HeadURL$
+  * $Author$
+  *
+  * Created by Mike Wille, ESZS, 2025-04-17
+  */
+
+#pragma once
+
+#include "tms_if_adapter.h"
+
+#include <stdexcept>
+#include <string>
+
+/* there's a massive problem with symbol collision between RTI DDS & Cyclone DDS (namely dds::core::Time::invalid())
+ * so we need the linux specific RTLD_DEEPBIND to force the use of the Cyclone DDS symbols inside the library */
+#include <dlfcn.h>
+
+
+namespace UAS
+{
+namespace ModuleLoader
+{
+using dlopen_handle = void *;
+
+
+dlopen_handle load(std::string libPath) noexcept(false)
+{
+  dlopen_handle handle = dlopen((libPath + "/libTmsIfAdapter.so").c_str(), RTLD_NOW | RTLD_LOCAL | RTLD_DEEPBIND);
+
+  if (handle == nullptr)
+  {
+    throw std::runtime_error((std::string("tms_if.h => ModuleLoader::load: unable to load libTmsIfAdapter.so: ") + dlerror()).c_str());
+  }
+
+  return handle;
+}
+
+
+TmsIfAdapter &get(dlopen_handle handle) noexcept(false)
+{
+  auto get = reinterpret_cast<void *(*)()>(dlsym(handle, "get"));
+  if (get == nullptr)
+  {
+    throw std::runtime_error((std::string("tms_if.h => ModuleLoader::get: function symbol 'get' does not exist in libTmsIfAdapter.so: ") + dlerror()).c_str());
+  }
+
+  UAS::TmsIfAdapter &adapter = *reinterpret_cast<UAS::TmsIfAdapter *>(get());
+  return adapter;
+}
+
+
+void unload(dlopen_handle handle) noexcept(false)
+{
+  if (handle == nullptr)
+  {
+    return;
+  }
+
+  auto stop = reinterpret_cast<void *(*)()>(dlsym(handle, "stop"));
+  if (stop == nullptr)
+  {
+    throw std::runtime_error((std::string("tms_if.h => ModuleLoader::unload: function symbol 'stop' does not exist in libTmsIfAdapter.so: ") + dlerror()).c_str());
+  }
+
+  stop();
+
+  const int ret = dlclose(handle);
+
+  if (ret != 0)
+  {
+    throw std::runtime_error((std::string("tms_if.h => ModuleLoader::unload: dlclose failed - ret != 0 (was "+std::to_string(ret)+"): ") + dlerror()).c_str());
+  }
+}
+} // ModuleLoader
+} // namespace UAS