40 lines
920 B
C++
40 lines
920 B
C++
#include "ekf_load.h"
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#include <dlfcn.h>
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std::vector<const EKF*>& ekf_get_all() {
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static std::vector<const EKF*> vec;
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return vec;
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}
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void ekf_register(const EKF* ekf) {
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ekf_get_all().push_back(ekf);
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}
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const EKF* ekf_lookup(const std::string& ekf_name) {
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for (const auto& ekfi : ekf_get_all()) {
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if (ekf_name == ekfi->name) {
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return ekfi;
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}
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}
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return NULL;
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}
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void ekf_load_and_register(const std::string& ekf_directory, const std::string& ekf_name) {
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if (ekf_lookup(ekf_name)) {
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return;
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}
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#ifdef __APPLE__
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std::string dylib_ext = ".dylib";
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#else
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std::string dylib_ext = ".so";
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#endif
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std::string ekf_path = ekf_directory + "/lib" + ekf_name + dylib_ext;
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void* handle = dlopen(ekf_path.c_str(), RTLD_NOW);
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assert(handle);
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void* (*ekf_get)() = (void*(*)())dlsym(handle, "ekf_get");
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assert(ekf_get != NULL);
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const EKF* ekf = (const EKF*)ekf_get();
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ekf_register(ekf);
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}
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