/// <summary>
/// Loads a native library with a reflected assembly holding the native libraries
/// </summary>
/// <param name="assembly">The assembly to load from</param>
/// <param name="localLoadOnRio">True to force a local load on the RoboRIO</param>
public void LoadNativeLibraryFromAssembly(Assembly assembly, bool localLoadOnRio = true)
{
if (localLoadOnRio && CheckIsRoboRio())
{
ILibraryLoader loader = new EmbeddedLibraryLoader();
LibraryLoader = loader;
var location = m_nativeLibraryName[OsType.roboRIO];
loader.LoadLibrary(location);
LibraryLocation = location;
return;
}
if (OsType == OsType.None)
{
throw new InvalidOperationException(
"OS type is unknown. Must use the overload to manually load the file");
}
if (!m_nativeLibraryName.ContainsKey(OsType))
{
throw new InvalidOperationException("OS Type not contained in dictionary");
}
switch (OsType)
{
case OsType.Windows32:
case OsType.Windows64:
LibraryLoader = new WindowsLibraryLoader();
break;
case OsType.Linux32:
case OsType.Linux64:
LibraryLoader = new LinuxLibraryLoader();
break;
case OsType.MacOs32:
case OsType.MacOs64:
LibraryLoader = new MacOsLibraryLoader();
break;
case OsType.LinuxAarch64:
case OsType.LinuxRaspbian:
case OsType.roboRIO:
LibraryLoader = new EmbeddedLibraryLoader();
break;
}
if (LibraryLoader == null)
{
throw new ArgumentNullException(nameof(LibraryLoader), "Library loader cannot be null");
}
string extractLocation = Path.GetTempFileName();
UsingTempFile = true;
ExtractNativeLibrary(m_nativeLibraryName[OsType], extractLocation, assembly);
LibraryLoader.LoadLibrary(extractLocation);
LibraryLocation = extractLocation;
}
/// <summary>
/// Try to load a native library directly from a path
/// </summary>
/// <param name="libraryName"></param>
/// <returns></returns>
public bool TryLoadNativeLibraryPath(string libraryName)
{
OsType osType = OsType;
if (osType == OsType.None)
{
throw new InvalidOperationException(
"OS type is unknown. Must use the overload to manually load the file");
}
ILibraryLoader loader;
switch (osType)
{
case OsType.Windows32:
case OsType.Windows64:
loader = new WindowsLibraryLoader();
libraryName = $"{libraryName}.dll";
break;
case OsType.Linux32:
case OsType.Linux64:
loader = new LinuxLibraryLoader();
libraryName = $"lib{libraryName}.so";
break;
case OsType.MacOs32:
case OsType.MacOs64:
loader = new MacOsLibraryLoader();
libraryName = $"lib{libraryName}.dylib";
break;
case OsType.LinuxAarch64:
case OsType.LinuxRaspbian:
case OsType.roboRIO:
loader = new EmbeddedLibraryLoader();
libraryName = $"lib{libraryName}.so";
break;
default:
throw new InvalidOperationException("Unknown OS type?");
}
bool wasLoaded = loader.TryLoadLibrary(libraryName);
if (wasLoaded)
{
LibraryLoader = loader;
LibraryLocation = libraryName;
}
return(wasLoaded);
}
/// <summary>
/// Loads a native library using the specified file. The OS is determined automatically
/// </summary>
/// <typeparam name="T">The type containing the native resource, if it is embedded.</typeparam>
/// <param name="location">The file location. Can be either an embedded resource, or a direct file location</param>
/// <param name="directLoad">True to load the file directly from disk, otherwise false to extract from embedded</param>
/// <param name="extractLocation">The location to extract to if the file is embedded. On null, it extracts to a temp file</param>
public void LoadNativeLibrary <T>(string location, bool directLoad = false, string?extractLocation = null)
{
if (location == null)
{
throw new ArgumentNullException(nameof(location), "Library location cannot be null");
}
OsType osType = OsType;
if (osType == OsType.None)
{
throw new InvalidOperationException(
"OS type is unknown. Must use the overload to manually load the file");
}
if (!m_nativeLibraryName.ContainsKey(osType) && !directLoad)
{
throw new InvalidOperationException("OS Type not contained in dictionary");
}
switch (osType)
{
case OsType.Windows32:
case OsType.Windows64:
LibraryLoader = new WindowsLibraryLoader();
break;
case OsType.Linux32:
case OsType.Linux64:
LibraryLoader = new LinuxLibraryLoader();
break;
case OsType.MacOs32:
case OsType.MacOs64:
LibraryLoader = new MacOsLibraryLoader();
break;
case OsType.LinuxAarch64:
case OsType.LinuxRaspbian:
case OsType.roboRIO:
LibraryLoader = new EmbeddedLibraryLoader();
break;
}
LoadNativeLibrary <T>(LibraryLoader, location, directLoad, extractLocation);
}
