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/*
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);
}
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