text: 
  //  Copyright (c) 2003-2021 Xsens Technologies B.V. or subsidiaries worldwide.
  //  All rights reserved.
  //  
  //  Redistribution and use in source and binary forms, with or without modification,
  //  are permitted provided that the following conditions are met:
  //  
  //  1.	Redistributions of source code must retain the above copyright notice,
  //  	this list of conditions, and the following disclaimer.
  //  
  //  2.	Redistributions in binary form must reproduce the above copyright notice,
  //  	this list of conditions, and the following disclaimer in the documentation
  //  	and/or other materials provided with the distribution.
  //  
  //  3.	Neither the names of the copyright holders nor the names of their contributors
  //  	may be used to endorse or promote products derived from this software without
  //  	specific prior written permission.
  //  
  //  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY
  //  EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
  //  MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL
  //  THE COPYRIGHT HOLDERS OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
  //  SPECIAL, EXEMPLARY OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT 
  //  OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
  //  HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY OR
  //  TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
  //  SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.THE LAWS OF THE NETHERLANDS 
  //  SHALL BE EXCLUSIVELY APPLICABLE AND ANY DISPUTES SHALL BE FINALLY SETTLED UNDER THE RULES 
  //  OF ARBITRATION OF THE INTERNATIONAL CHAMBER OF COMMERCE IN THE HAGUE BY ONE OR MORE 
  //  ARBITRATORS APPOINTED IN ACCORDANCE WITH SAID RULES.
  //  
  
  
  //  Copyright (c) 2003-2021 Xsens Technologies B.V. or subsidiaries worldwide.
  //  All rights reserved.
  //  
  //  Redistribution and use in source and binary forms, with or without modification,
  //  are permitted provided that the following conditions are met:
  //  
  //  1.	Redistributions of source code must retain the above copyright notice,
  //  	this list of conditions, and the following disclaimer.
  //  
  //  2.	Redistributions in binary form must reproduce the above copyright notice,
  //  	this list of conditions, and the following disclaimer in the documentation
  //  	and/or other materials provided with the distribution.
  //  
  //  3.	Neither the names of the copyright holders nor the names of their contributors
  //  	may be used to endorse or promote products derived from this software without
  //  	specific prior written permission.
  //  
  //  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY
  //  EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
  //  MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL
  //  THE COPYRIGHT HOLDERS OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
  //  SPECIAL, EXEMPLARY OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT 
  //  OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
  //  HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY OR
  //  TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
  //  SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.THE LAWS OF THE NETHERLANDS 
  //  SHALL BE EXCLUSIVELY APPLICABLE AND ANY DISPUTES SHALL BE FINALLY SETTLED UNDER THE RULES 
  //  OF ARBITRATION OF THE INTERNATIONAL CHAMBER OF COMMERCE IN THE HAGUE BY ONE OR MORE 
  //  ARBITRATORS APPOINTED IN ACCORDANCE WITH SAID RULES.
  //  
  
  #include "xslibraryloader.h"
  #include "xsstring.h"
  
  #ifdef __GNUC__
  	#include <dlfcn.h>
  #elif defined(_MSC_VER)
  	#include <Windows.h>
  #endif
  
  /*! \brief Dynamically load a library
  
  	\param[in,out] thisp the XsLibraryLoader object handle
  	\param[in] libraryName the name of the library to load. The library
  		should be present in the current search path, or be specified by a path
  	\return non-zero if the library could be loaded, zero otherwise
  */
  int XsLibraryLoader_load(XsLibraryLoader* thisp, const XsString* libraryName)
  {
  #ifdef __GNUC__
  	if (XsLibraryLoader_isLoaded(thisp))
  		return 0;
  	thisp->m_handle = dlopen(libraryName->m_data, RTLD_LAZY);
  #elif defined(_MSC_VER)
  	wchar_t* libraryNameW;
  	XsSize required;
  	if (XsLibraryLoader_isLoaded(thisp))
  		return 0;
  	required = XsString_copyToWCharArray(libraryName, NULL, 0);
  	libraryNameW = (wchar_t*)malloc(required * sizeof(wchar_t));
  
  	(void)XsString_copyToWCharArray(libraryName, libraryNameW, required);
  
  	thisp->m_handle = LoadLibrary(libraryNameW);
  
  	free(libraryNameW);
  #endif
  	return XsLibraryLoader_isLoaded(thisp);
  }
  
  /*! \brief Resolve a function from the library
  
  	\param[in] thisp the library handle
  	\param[in] functionName the name of the function
  	\return a pointer to the resolved function, may be NULL if no function could be resolved
  */
  void* XsLibraryLoader_resolve(const XsLibraryLoader* thisp, const char* functionName)
  {
  #ifdef __GNUC__
  	return dlsym(thisp->m_handle, functionName);
  #elif defined(_MSC_VER)
  #pragma warning(push)
  #pragma warning(disable: 4152)
  	return GetProcAddress(thisp->m_handle, functionName);
  #pragma warning(pop)
  #endif
  }
  
  /*! \brief Unload the loaded library
  
  	\param[in,out] thisp the library handle
  	\return zero on failure, non-zero otherwise
  */
  int XsLibraryLoader_unload(XsLibraryLoader* thisp)
  {
  	void* handle = thisp->m_handle;
  	thisp->m_handle = NULL;
  	if (handle)
  	{
  #ifdef __GNUC__
  		return dlclose(handle) == 0;
  #elif defined(_MSC_VER)
  		return FreeLibrary(handle) != 0;
  #endif
  	}
  	return 0;
  }
  
  /*! \brief Check if a library is loaded
  
  	\param[in] thisp the library handle
  	\return zero if nothing is loaded, non-zero otherwise
  */
  int XsLibraryLoader_isLoaded(const XsLibraryLoader* thisp)
  {
  	return thisp->m_handle != NULL;
  }
  
  /*! \brief Get an error string after a failure occurred
  	\param[in,out] error the string to fill with the result error
  */
  void XsLibraryLoader_getErrorString(XsString* error)
  {
  #ifdef __GNUC__
  	XsString_assignCharArray(error, dlerror());
  #elif defined(_MSC_VER)
  	LPTSTR errorText = NULL;
  	(void)FormatMessageW(FORMAT_MESSAGE_FROM_SYSTEM
  		| FORMAT_MESSAGE_ALLOCATE_BUFFER
  		| FORMAT_MESSAGE_IGNORE_INSERTS,
  		NULL,
  		GetLastError(),
  		MAKELANGID(LANG_NEUTRAL, SUBLANG_DEFAULT),
  		(LPTSTR)&errorText,
  		0,
  		NULL);
  
  	XsString_assignWCharArray(error, errorText);
  	LocalFree(errorText);
  #endif
  }
  