114 lines
4.5 KiB
C++
114 lines
4.5 KiB
C++
/*
|
|
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 moduleActionExample.cpp Example demonstrating how to load an ArModule
|
|
*
|
|
This is a simple program that loads the modules moduleActionExample_Mod and
|
|
moduleActionExample_Mod2, which are
|
|
defined in moduleActionExample_Mod.cpp and moduleActionExample_Mod2.cpp. These modules
|
|
create and add some ArActions to the robot, but your module(s) may do
|
|
anything.
|
|
This
|
|
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 moduleActionExample_Mod.cpp.
|
|
@sa moduleActionExample_Mod2.cpp.
|
|
@sa ArModuleLoader in the reference manual.
|
|
*/
|
|
|
|
|
|
void printStatus(ArModuleLoader::Status status)
|
|
{
|
|
if (status == ArModuleLoader::STATUS_ALREADY_LOADED)
|
|
ArLog::log(ArLog::Terse, "moduleActionExample: Module already loaded.");
|
|
else if (status == ArModuleLoader::STATUS_FAILED_OPEN)
|
|
ArLog::log(ArLog::Terse, "moduleActionExample: Failed to find or open the simpleMod module.");
|
|
else if (status == ArModuleLoader::STATUS_INVALID)
|
|
ArLog::log(ArLog::Terse, "moduleActionExample: Invalid file.");
|
|
else if (status == ArModuleLoader::STATUS_INIT_FAILED)
|
|
ArLog::log(ArLog::Terse, "moduleActionExample: Module Init failed.");
|
|
else if (status == ArModuleLoader::STATUS_SUCCESS)
|
|
ArLog::log(ArLog::Terse, "moduleActionExample: Module succedded.");
|
|
else if (status == ArModuleLoader::STATUS_EXIT_FAILED)
|
|
ArLog::log(ArLog::Terse, "moduleActionExample: Module exit sequence failed.");
|
|
else if (status == ArModuleLoader::STATUS_NOT_FOUND)
|
|
ArLog::log(ArLog::Terse, "moduleActionExample: Module not found.");
|
|
else
|
|
ArLog::log(ArLog::Terse, "moduleActionExample: 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, "moduleActionExample: Loading the module \"moduleActionExample_Mod\" with a string argument...");
|
|
status=ArModuleLoader::load("./moduleActionExample_Mod", &robot, (char *)"You've loaded a module!");
|
|
printStatus(status);
|
|
|
|
ArLog::log(ArLog::Terse, "moduleActionExample: Loading the module \"moduleActionExample_Mod2\" with a string argument...");
|
|
status=ArModuleLoader::load("./moduleActionExample2_Mod", &robot, (char *)"You've loaded a second module!");
|
|
printStatus(status);
|
|
|
|
//ArLog::log(ArLog::Terse, "moduleActionExample: Reloading \"moduleActionExample_Mod\" with no argument...");
|
|
//status=ArModuleLoader::reload("./moduleActionExample_Mod", &robot);
|
|
//printStatus(status);
|
|
|
|
//ArLog::log(ArLog::Terse, "moduleActionExample: Closing \"moduleActionExample_Mod\"...");
|
|
//status=ArModuleLoader::close("./moduleActionExample_Mod");
|
|
//printStatus(status);
|
|
|
|
ArUtil::sleep(3000);
|
|
|
|
Aria::exit(0);
|
|
return(0);
|
|
}
|