#include #include #include #include #include #include #include #include namespace fs = std::filesystem; namespace hk { namespace sense_api { static std::optional findLibraryPath( const std::string& libraryPath) { std::vector searchPaths = { OptionParser::getOptions().senseApiLibPath, fs::current_path().string(), fs::path("/proc/self/exe").parent_path().string() }; for (const auto& path : searchPaths) { fs::path fullPath = fs::path(path) / libraryPath; if (fs::exists(fullPath)) { return fullPath.string(); } } std::cerr << std::string(__func__) + ": library '" + libraryPath + "' isn't in search bespoke search paths: "; for (const auto& path : searchPaths) { std::cerr << path << " "; } std::cerr << std::endl; std::cerr << "Trying to load " + libraryPath + " from system default search " "paths\n"; return std::nullopt; } SenseApiLib& SenseApiManager::loadSenseApiLib(const std::string& libraryPath) { std::optional fullPath = findLibraryPath(libraryPath); auto lib = std::make_unique(fullPath.value_or(libraryPath)); // Clear any existing error dlerror(); lib->handle.reset(dlopen(lib->libraryPath.c_str(), RTLD_LAZY)); if (!lib->handle && fullPath.has_value()) { // Fallback to using the supplied libraryPath dlerror(); lib->handle.reset(dlopen(libraryPath.c_str(), RTLD_LAZY)); } if (!lib->handle) { std::string error = dlerror() ? dlerror() : "Unknown error while opening shlib"; throw std::runtime_error( std::string(__func__) + " - Cannot load library '" + libraryPath + "': " + error); } // Initialize getSenseApiDescriptor auto func = reinterpret_cast( dlsym(lib->handle.get(), HK_SENSE_API_DESC_GETTER_FN_NAME)); if (!func) { throw std::runtime_error( std::string(__func__) + ": dlsym(" HK_SENSE_API_DESC_GETTER_FN_NAME ") failed for library '" + lib->libraryPath + "'"); } lib->getSenseApiDescriptor = func; senseApiLibs.push_back(std::move(lib)); return *senseApiLibs.back(); } std::optional> SenseApiManager::getSenseApiLib(const std::string& libraryPath) { auto it = std::find_if(senseApiLibs.begin(), senseApiLibs.end(), [&libPath = libraryPath](const std::unique_ptr& lib) { return lib->libraryPath == libPath; } ); if (it != senseApiLibs.end()) { return **it; } return std::nullopt; } void SenseApiManager::unloadSenseApiLib(const std::string& libraryPath) { auto it = std::find_if(senseApiLibs.begin(), senseApiLibs.end(), [&lpath = libraryPath](const std::unique_ptr& lib) { return lib->libraryPath == lpath; } ); if (it != senseApiLibs.end()) { senseApiLibs.erase(it); return; } std::cerr << std::string(__func__) + ": Library not found: " << libraryPath << '\n'; } } // namespace sense_api } // namespace hk