ArModule.h

/*
MobileRobots Advanced Robotics Interface for Applications (ARIA)
Copyright (C) 2004, 2005 ActivMedia Robotics LLC
Copyright (C) 2006, 2007 MobileRobots Inc.

     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 
MobileRobots for information about a commercial version of ARIA at 
robots@mobilerobots.com or 
MobileRobots Inc, 19 Columbia Drive, Amherst, NH 03031; 800-639-9481
*/

#ifndef ARMODULE_H
#define ARMODULE_H


#include "ariaTypedefs.h"
#include "ArRobot.h"



class ArModule
{
public:

  AREXPORT ArModule();
  AREXPORT virtual ~ArModule();


  AREXPORT virtual bool init(ArRobot *robot, 
                 void *argument = NULL) = 0;

  AREXPORT virtual bool exit() = 0;

  AREXPORT ArRobot * getRobot() {return(myRobot);}

  AREXPORT void setRobot(ArRobot *robot) {myRobot=robot;}

protected:

  ArRobot *myRobot;
};


/*
  Beware ye all who pass beyond this point. Ugly macros abound and you might
  get eaten by a gru if your light fails.  */


#ifdef ARIA_STATIC

#define ARDEF_MODULE(mod)

#else

#ifdef WIN32

#define ARDEF_MODULE(mod) \
extern "C" {\
ArModule *__AriaModule__=&mod; \
_declspec(dllexport) bool \
ariaInitModule(ArRobot *robot, void *argument = NULL) \
{ \
  if (__AriaModule__) \
  { \
    __AriaModule__->setRobot(robot); \
    return(__AriaModule__->init(robot, argument)); \
  } \
  else \
    return(false); \
} \
_declspec(dllexport) bool ariaExitModule() \
{ \
  if (__AriaModule__) \
    return(__AriaModule__->exit()); \
  return(false); \
} \
}
#else // WIN32

#define ARDEF_MODULE(mod) \
ArModule *__AriaModule__=&mod; \
extern "C" {\
bool ariaInitModule(ArRobot *robot, void *argument = NULL) \
{ \
  if (__AriaModule__) \
  { \
    __AriaModule__->setRobot(robot); \
    return(__AriaModule__->init(robot, argument)); \
  } \
  else \
    return(false); \
} \
bool ariaExitModule() \
{ \
  if (__AriaModule__) \
    return(__AriaModule__->exit()); \
  return(false); \
} \
}

#endif // WIN32

#endif // ARIA_STATIC


#endif // ARMODULE_H

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