rosaria/Legacy/Aria/examples/moduleExample.cpp

/*
Adept MobileRobots Robotics Interface for Applications (ARIA)
Copyright (C) 2004, 2005 ActivMedia Robotics LLC
Copyright (C) 2006, 2007, 2008, 2009, 2010 MobileRobots Inc.
Copyright (C) 2011, 2012, 2013 Adept Technology

     This program 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 2 of the License, or
     (at your option) any later version.

     This program 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 program; if not, write to the Free Software
     Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA

If you wish to redistribute ARIA under different terms, contact 
Adept MobileRobots for information about a commercial version of ARIA at 
robots@mobilerobots.com or 
Adept MobileRobots, 10 Columbia Drive, Amherst, NH 03031; +1-603-881-7960
*/
#include "Aria.h"


/** @example moduleExample.cpp Example demonstrating how to load an ArModule
 *
  This is a simple program that loads the module moduleExample_Mod, which is
  defined in moduleExample_Mod.cpp.   The
  program simply calls ArModuleLoader::load() with a short message
  argument and ArModuleLoader::reload with no argument and finally
  calls ArModuleLoader::close(). The return status of the load(),
  reload(), and close() are checked and printed out.
  ArModuleLoader uses the name of the module file without the platform-specific
  suffix (i.e. ".dll" on Windows and ".so" on Linux) to load the module.

  @sa moduleExample_Mod.cpp.
  @sa ArModuleLoader in the reference manual.  
*/


void printStatus(ArModuleLoader::Status status)
{
  if (status == ArModuleLoader::STATUS_ALREADY_LOADED)
    ArLog::log(ArLog::Terse, "moduleExample: Module already loaded.");
  else if (status == ArModuleLoader::STATUS_FAILED_OPEN)
    ArLog::log(ArLog::Terse, "moduleExample: Failed to find or open the simpleMod module.");
  else if (status == ArModuleLoader::STATUS_INVALID)
    ArLog::log(ArLog::Terse, "moduleExample: Invalid file.");
  else if (status == ArModuleLoader::STATUS_INIT_FAILED)
    ArLog::log(ArLog::Terse, "moduleExample: Module Init failed.");
  else if (status == ArModuleLoader::STATUS_SUCCESS)
    ArLog::log(ArLog::Terse, "moduleExample: Module succedded.");
  else if (status == ArModuleLoader::STATUS_EXIT_FAILED)
    ArLog::log(ArLog::Terse, "moduleExample: Module exit sequence failed.");
  else if (status == ArModuleLoader::STATUS_NOT_FOUND)
    ArLog::log(ArLog::Terse, "moduleExample: Module not found.");
  else
    ArLog::log(ArLog::Terse, "moduleExample: Module returned unknown status!");
  ArLog::log(ArLog::Terse, "");
}

int main(int argc, char **argv)
{

  Aria::init();

  ArArgumentParser parser(&argc, argv);
  // set up our simple connector
  ArSimpleConnector simpleConnector(&parser);  
  ArRobot robot;

  // set up the robot for connecting
  if (!simpleConnector.connectRobot(&robot))
  {
    printf("Could not connect to robot... exiting\n");
    Aria::exit(1);
  }

  robot.runAsync(true);

  ArModuleLoader::Status status;
  std::string str;

  ArLog::log(ArLog::Terse, "moduleExample: Loading the module \"moduleExample_Mod\" with a string argument...");
  status=ArModuleLoader::load("./moduleExample_Mod", &robot, (char *)"You've loaded a module!");
  printStatus(status);
  //ArLog::log(ArLog::Terse, "moduleExample: Reloading the module with no argument...");
  //status=ArModuleLoader::reload("./moduleExample_Mod", &robot);
  //printStatus(status);

  //ArLog::log(ArLog::Terse, "moduleExample: Closing the module...");
  //status=ArModuleLoader::close("./moduleExample_Mod");
  //printStatus(status);

  ArUtil::sleep(3000);

  Aria::exit(0);
  return(0);
}