Aria: moduleExample.cpp Source File

00001 /*
00002 MobileRobots Advanced Robotics Interface for Applications (ARIA)
00003 Copyright (C) 2004, 2005 ActivMedia Robotics LLC
00004 Copyright (C) 2006, 2007 MobileRobots Inc.
00005 
00006      This program is free software; you can redistribute it and/or modify
00007      it under the terms of the GNU General Public License as published by
00008      the Free Software Foundation; either version 2 of the License, or
00009      (at your option) any later version.
00010 
00011      This program is distributed in the hope that it will be useful,
00012      but WITHOUT ANY WARRANTY; without even the implied warranty of
00013      MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
00014      GNU General Public License for more details.
00015 
00016      You should have received a copy of the GNU General Public License
00017      along with this program; if not, write to the Free Software
00018      Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
00019 
00020 If you wish to redistribute ARIA under different terms, contact 
00021 MobileRobots for information about a commercial version of ARIA at 
00022 robots@mobilerobots.com or 
00023 MobileRobots Inc, 19 Columbia Drive, Amherst, NH 03031; 800-639-9481
00024 */
00025 
00026 #include "Aria.h"
00027 
00028 
00045 void printStatus(ArModuleLoader::Status status)
00046 {
00047   if (status == ArModuleLoader::STATUS_ALREADY_LOADED)
00048     ArLog::log(ArLog::Terse, "moduleExample: Module already loaded.");
00049   else if (status == ArModuleLoader::STATUS_FAILED_OPEN)
00050     ArLog::log(ArLog::Terse, "moduleExample: Failed to find or open the simpleMod module.");
00051   else if (status == ArModuleLoader::STATUS_INVALID)
00052     ArLog::log(ArLog::Terse, "moduleExample: Invalid file.");
00053   else if (status == ArModuleLoader::STATUS_INIT_FAILED)
00054     ArLog::log(ArLog::Terse, "moduleExample: Module Init failed.");
00055   else if (status == ArModuleLoader::STATUS_SUCCESS)
00056     ArLog::log(ArLog::Terse, "moduleExample: Module succedded.");
00057   else if (status == ArModuleLoader::STATUS_EXIT_FAILED)
00058     ArLog::log(ArLog::Terse, "moduleExample: Module exit sequence failed.");
00059   else if (status == ArModuleLoader::STATUS_NOT_FOUND)
00060     ArLog::log(ArLog::Terse, "moduleExample: Module not found.");
00061   else
00062     ArLog::log(ArLog::Terse, "moduleExample: Module returned unknown status!");
00063   ArLog::log(ArLog::Terse, "");
00064 }
00065 
00066 int main()
00067 {
00068   ArModuleLoader::Status status;
00069   ArRobot robot;
00070   std::string str;
00071 
00072   Aria::init();
00073   
00074 
00075   ArLog::log(ArLog::Terse, "moduleExample: Loading the module \"moduleExample_Mod\" with a string argument...");
00076   status=ArModuleLoader::load("./moduleExample_Mod", &robot, (char *)"You've loaded a module!");
00077   printStatus(status);
00078   ArLog::log(ArLog::Terse, "moduleExample: Reloading the module with no argument...");
00079   status=ArModuleLoader::reload("./moduleExample_Mod", &robot);
00080   printStatus(status);
00081 
00082   ArLog::log(ArLog::Terse, "moduleExample: Closing the module...");
00083   status=ArModuleLoader::close("./moduleExample_Mod");
00084   printStatus(status);
00085 
00086   Aria::shutdown();
00087   return(0);
00088 }