/*

ARIA header files for use with ARNL 1.7.1

Copyright(C) 2004, 2005 ActivMedia Robotics, LLC. 
Copyright(C) 2006, 2007, 2008, 2009 MobileRobots Inc.
All rights reserved.

This copy of Aria was relicensed for use with Arnl and the Arnl
license by MobileRobots Inc.  If you wish to download a seperate
distribution of Aria licensed under the GPL or a commercial license go to
http://www.mobilerobots.com/SOFTWARE/aria.html or contact MobileRobots
Inc, at robots@mobilerobots.com or MobileRobots Inc,
10 Columbia Drive, Amherst, NH 03031; 800-639-9481

MobileRobots Inc hereby grants to other individuals or
organizations permission to use this software with Arnl and in
compliance with the Arnl license.  This software may not be
distributed to others except by MobileRobots Inc.

MobileRobots Inc does not make any representations about the
suitability of this software for any purpose.  It is provided "as is"
without express or implied warranty.

*/
#ifndef ARMODULELOADER_H
#define ARMODULELOADER_H


#include <map>
#include <string>
#include "ariaTypedefs.h"
#include "ArRobot.h"


/// Dynamic ArModule loader
/**
   The ArModuleLoader is used to load ArModules into a program and invoke
   them. 

   See also ArModule to see how to define an ArModule.

   See also the example programs advanced/simpleMod.cpp and advanced/simpleModule.cpp. 
*/
class ArModuleLoader
{
public:

#ifdef WIN32
  typedef HINSTANCE DllRef;
#else
  typedef void * DllRef;
#endif

  typedef enum {
    STATUS_SUCCESS=0, ///< Load succeded
    STATUS_ALREADY_LOADED, ///< Module already loaded
    STATUS_FAILED_OPEN, ///< Could not find or open the module
    STATUS_INVALID, ///< Invalid module file format
    STATUS_INIT_FAILED, ///< The module failed its init stage
    STATUS_EXIT_FAILED, ///< The module failed its exit stage
    STATUS_NOT_FOUND ///< The module was not found
  } Status;

  /// Load an ArModule
  AREXPORT static Status load(const char *modName, ArRobot *robot,
			      void *modArgument = NULL, bool quiet = false);
  /// Close and then reload an ArModule
  AREXPORT static Status reload(const char *modName, ArRobot *robot,
				void * modArgument = NULL, bool quiet = false);
  /// Close an ArModule
  AREXPORT static Status close(const char *modName, bool quiet = false);
  /// Close all open ArModule
  AREXPORT static void closeAll();

protected:

  static std::map<std::string, DllRef> ourModMap;
};


#endif // ARMODULELOADER_H
