I am looking to add the capability for users to write plugins to the program I have developed in Delphi. The program is a single executable with no DLLs used.
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Actually, the accepted answer to the question you cite is quite appropriate for Delphi as well. Your plug-ins will be DLLs, and you can dictate that they should export a function with a certain name and signature. Then, your program will load the DLL (with LoadLibrary) and get the address of the function (with GetProcAddress). If the DLL doesn't load, or the function isn't there, then the DLL is not a plug-in for your application.
After you have the address for the DLL, you can call it. You can pass the function an interface to something that represents the parts of your application that you wish to expose. You can also require that the function return an interface with methods that your application will call at various times.
When testing your plug-in system, it will be wise to write a plug-in yourself with a language other than Delphi. That way, you can be more confident that you haven't inadvertently required everyone to use Delphi.