public static void InitializeImpl()
{
if (!s_libraryLoaded)
{
try
{
//Force OS, since we know we are on Linux and the RIO if this is getting called
ILibraryLoader loader = new RoboRioLibraryLoader();
//Extract our s_library
string loadedPath = ExtractLibrary();
if (string.IsNullOrEmpty(loadedPath))
{
//If fail to load, throw exception
throw new FileNotFoundException("Library file could not be found in the resorces. Please contact RobotDotNet for support for this issue");
}
s_library = loader.LoadLibrary(loadedPath);
if (s_library == IntPtr.Zero)
{
//If s_library could not be loaded
throw new BadImageFormatException($"Library file {loadedPath} could not be loaded successfully.");
}
Initialize(s_library, loader);
HALAccelerometer.Initialize(s_library, loader);
HALAnalog.Initialize(s_library, loader);
HALCAN.Initialize(s_library, loader);
HALCanTalonSRX.Initialize(s_library, loader);
HALCompressor.Initialize(s_library, loader);
HALDigital.Initialize(s_library, loader);
HALInterrupts.Initialize(s_library, loader);
HALNotifier.Initialize(s_library, loader);
HALPDP.Initialize(s_library, loader);
HALPower.Initialize(s_library, loader);
HALSemaphore.Initialize(s_library, loader);
HALSerialPort.Initialize(s_library, loader);
HALSolenoid.Initialize(s_library, loader);
HALUtilities.Initialize(s_library, loader);
}
catch (Exception e)
{
Console.WriteLine(e.Message);
Console.WriteLine(e.StackTrace);
Environment.Exit(1);
}
s_libraryLoaded = true;
}
}
internal static IntPtr LoadLibrary(string dllLoc, OsType type, out ILibraryLoader loader)
{
switch (type)
{
case OsType.Windows32:
case OsType.Windows64:
loader = new WindowsLibraryLoader();
return loader.LoadLibrary(dllLoc);
case OsType.Linux32:
case OsType.Linux64:
loader = new LinuxLibraryLoader();
return loader.LoadLibrary(dllLoc);
case OsType.RoboRio:
loader = new RoboRioLibraryLoader();
return loader.LoadLibrary(dllLoc);
default:
loader = null;
return IntPtr.Zero;
}
}
