public static APIVersion GetAPIVersion()
{
lock (lockObject)
{
if (driver == null)
{
driver = new CANSparkMaxDriverNative(NativeLibraryLoader.LoadNativeLibrary("CANSparkMaxDriver") !);
}
}
return(driver.c_SparkMax_GetAPIVersion());
}
public static void *Create_Inplace(int deviceId)
{
lock (lockObject)
{
if (driver == null)
{
driver = new CANSparkMaxDriverNative(NativeLibraryLoader.LoadNativeLibrary("CANSparkMaxDriver") !);
}
}
return(driver.c_SparkMax_Create_Inplace(deviceId));
}
static LibraryLoaderHolder()
{
if (!s_libraryLoaded)
{
try
{
finalizeLibraryLoader.Ping();
string[] commandArgs = Environment.GetCommandLineArgs();
foreach (var commandArg in commandArgs)
{
//search for a line with the prefix "-wpilib:"
if (commandArg.ToLower().Contains("-wpilib:"))
{
//Split line to get the library.
int splitLoc = commandArg.IndexOf(':');
string file = commandArg.Substring(splitLoc + 1);
//If the file exists, just return it so dlopen can load it.
if (File.Exists(file))
{
s_libraryLocation = file;
s_useCommandLineFile = true;
}
}
}
const string resourceRoot = "FRC.HAL.DesktopLibraries.Libraries.";
#if FALSE
s_useCommandLineFile = true;
s_libraryLocation = IntPtr.Size == 8 ?
@"C:\Users\thadh\Documents\GitHub\ThadHouse\MockHalTesting\native\build\binaries\mockhalSharedLibrary\x64\mockhal.dll" :
@"C:\Users\thadh\Documents\GitHub\ThadHouse\MockHalTesting\native\build\binaries\mockhalSharedLibrary\x86\mockhal.dll";
#endif
s_nativeLoader = new NativeLibraryLoader();
s_nativeLoader.AddLibraryLocation(OsType.Windows32,
resourceRoot + "x86.mockhal.dll");
s_nativeLoader.AddLibraryLocation(OsType.Windows64,
resourceRoot + "amd64.mockhal.dll");
s_nativeLoader.AddLibraryLocation(OsType.roboRIO, "libHALAthena.so");
/*
* NativeLoader.AddLibraryLocation(OsType.Linux32,
* resourceRoot + "x86.libcscore.so");
* NativeLoader.AddLibraryLocation(OsType.Linux64,
* resourceRoot + "amd64.libcscore.so");
* NativeLoader.AddLibraryLocation(OsType.MacOs32,
* resourceRoot + "x86.libcscore.dylib");
* NativeLoader.AddLibraryLocation(OsType.MacOs64,
* resourceRoot + "amd64.libcscore.dylib");
*/
if (s_useCommandLineFile)
{
s_nativeLoader.LoadNativeLibrary <LibraryLoaderHolder>(s_libraryLocation, true);
}
else
{
s_nativeLoader.LoadNativeLibraryFromReflectedAssembly("FRC.HAL.DesktopLibraries");
s_libraryLocation = s_nativeLoader.LibraryLocation;
}
}
catch (Exception e)
{
Console.WriteLine(e.Message);
Console.WriteLine(e.StackTrace);
Environment.Exit(1);
}
s_runFinalizer = true;
s_libraryLoaded = true;
}
}
static Interop()
{
if (!s_libraryLoaded)
{
try
{
finalizeInterop.Ping();
string[] commandArgs = Environment.GetCommandLineArgs();
foreach (var commandArg in commandArgs)
{
//search for a line with the prefix "-ntcore:"
if (commandArg.ToLower().Contains("-ntcore:"))
{
//Split line to get the library.
int splitLoc = commandArg.IndexOf(':');
string file = commandArg.Substring(splitLoc + 1);
//If the file exists, just return it so dlopen can load it.
if (File.Exists(file))
{
s_libraryLocation = file;
s_useCommandLineFile = true;
}
}
}
const string resourceRoot = "FRC.NetworkTables.Core.DesktopLibraries.Libraries.";
NativeLoader = new NativeLibraryLoader();
NativeLoader.AddLibraryLocation(OsType.Windows32,
resourceRoot + "Windows.x86.ntcore.dll");
NativeLoader.AddLibraryLocation(OsType.Windows64,
resourceRoot + "Windows.amd64.ntcore.dll");
NativeLoader.AddLibraryLocation(OsType.Linux32,
resourceRoot + "Linux.x86.libntcore.so");
NativeLoader.AddLibraryLocation(OsType.Linux64,
resourceRoot + "Linux.amd64.libntcore.so");
NativeLoader.AddLibraryLocation(OsType.MacOs32,
resourceRoot + "Mac_OS_X.x86.libntcore.dylib");
NativeLoader.AddLibraryLocation(OsType.MacOs64,
resourceRoot + "Mac_OS_X.x86_64.libntcore.dylib");
NativeLoader.AddLibraryLocation(OsType.roboRIO, "libntcore.so");
if (s_useCommandLineFile)
{
NativeLoader.LoadNativeLibrary <Interop>(s_libraryLocation, true);
}
else
{
NativeLoader.LoadNativeLibraryFromReflectedAssembly("FRC.NetworkTables.Core.DesktopLibraries");
s_libraryLocation = NativeLoader.LibraryLocation;
}
NativeDelegateInitializer.SetupNativeDelegates <Interop>(NativeLoader);
}
catch (Exception e)
{
Console.WriteLine(e.Message);
Console.WriteLine(e.StackTrace);
Environment.Exit(1);
}
s_runFinalizer = true;
s_libraryLoaded = true;
}
}
