1 files changed, 137 insertions, 0 deletions
diff --git a/src/main.cpp b/src/main.cpp
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index 0000000..6deb436
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+++ b/src/main.cpp
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+/* main.cpp -- plugin entry points
+ * Copyright (C) 2013  Galois, Inc.
+ *
+ * This library is free software: you can redistribute it and/or modify it under
+ * the terms of the GNU General Public License as published by the Free Software
+ * Foundation, either version 3 of the License, or (at your option) any later
+ * version.
+ *
+ * This library is distributed in the hope that it will be useful, but WITHOUT
+ * ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+ * FOR A PARTICULAR PURPOSE.  See the GNU General Public License for more
+ * details.
+ *
+ * You should have received a copy of the GNU General Public License along with
+ * this library.  If not, see <http://www.gnu.org/licenses/>.
+ *
+ * To contact Galois, complete the Web form at <http://corp.galois.com/contact/>
+ * or write to Galois, Inc., 421 Southwest 6th Avenue, Suite 300, Portland,
+ * Oregon, 97204-1622. */
+
+#ifdef HAVE_CONFIG_H
+#   include <config.h>
+#endif
+
+#include <cstddef>
+
+#include <exception>
+#include <stdexcept>
+#include <string>
+
+#include <boost/filesystem.hpp>
+#include <v_repLib.h>
+
+#include "automobile.h"
+#include "main.h"
+#include "vrep.h"
+#include "vrepFfi.h"
+
+namespace {
+
+    const unsigned char PLUGIN_VERSION = 1;
+
+    // The V-REP library that will get loaded at runtime
+    const std::string VREP_LIBRARY_NAME = "libv_rep.so";
+    LIBRARY vrepLibrary;
+
+
+    // Prototypes //
+
+    /* The library we think we're loading might not actually be the right
+     * library. */
+    class BadLibraryError : public std::runtime_error {
+    public:
+        explicit inline BadLibraryError();
+    };
+
+    // We might be using a too-old V-REP.
+    class TooOldVrepError : public std::runtime_error {
+    public:
+        explicit inline TooOldVrepError(const simInt version);
+    };
+
+    /* Loads the V-REP library and ensures it has the correct set of symbols.
+     * Throws 'std::exception' if an error occurs. */
+    // This function is declared inline because it is only used once.
+    inline void loadAndValidateVrepLibrary();
+
+    /* Throws 'std::exception' if the current version of V-REP is strictly less
+       than the 'simInt' passed. */
+    // This function is declared inline because it is only used once.
+    inline void requireVrepVersion(const simInt);
+}
+
+unsigned char v_repStart(void *, int) {
+    try {
+        loadAndValidateVrepLibrary();
+        // If we needed a specific version of V-REP, we'd check it here with
+        // 'requireVrepVersion'.
+        vrep::InterfaceLockGuard lockInterface;
+        // Register functions.
+        registerLuaFunctions();
+        // Returning zero indicates a failure condition.
+        static_assert(PLUGIN_VERSION != 0, "Plugin version must be nonzero");
+        return PLUGIN_VERSION;
+    } catch (const std::exception& error) {
+        // Loading the plugin failed.  Return 0 to indicate failure.
+        return 0;
+    }
+}
+
+void v_repEnd() {
+    unloadVrepLibrary(vrepLibrary);
+}
+
+void *v_repMessage(int, int *, void *, int *) {
+    return nullptr;
+}
+
+namespace {
+
+    void loadAndValidateVrepLibrary() {
+        try {
+            // Load the V-REP library out of the V-REP directory.
+            const std::string vrepLibraryPath =
+                boost::filesystem::current_path().string()
+                + "/" + VREP_LIBRARY_NAME;
+            vrepLibrary = loadVrepLibrary(vrepLibraryPath.c_str());
+            // Make sure we can actually get code out of the V-REP library.
+            if (getVrepProcAddresses(vrepLibrary) == 0) {
+                throw BadLibraryError();
+            }
+        } catch (const std::exception& e) {
+            // Problems occurred loading the library; unload it before leaving.
+            unloadVrepLibrary(vrepLibrary);
+            throw e;
+        }
+    }
+
+    void requireVrepVersion(const simInt expected) {
+        simInt actual;
+        VREP(simGetIntegerParameter(sim_intparam_program_version, &actual));
+        if (actual < expected) {
+            throw TooOldVrepError(expected);
+        }
+    }
+
+    BadLibraryError::BadLibraryError()
+        : std::runtime_error("could not find all required functions in "
+                             + VREP_LIBRARY_NAME) {
+    }
+
+    TooOldVrepError::TooOldVrepError(const simInt version)
+        : std::runtime_error("plugin requires V-REP >= "
+                             + std::to_string(version)) {
+    }
+
+}