Aria  2.8.0
moduleExample.cpp

Example demonstrating how to load an ArModuleThis 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.

See also
moduleExample_Mod.cpp.
ArModuleLoader in the reference manual.
/*
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"
void printStatus(ArModuleLoader::Status status)
{
ArLog::log(ArLog::Terse, "moduleExample: Module already loaded.");
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.");
ArLog::log(ArLog::Terse, "moduleExample: Module Init failed.");
else if (status == ArModuleLoader::STATUS_SUCCESS)
ArLog::log(ArLog::Terse, "moduleExample: Module succedded.");
ArLog::log(ArLog::Terse, "moduleExample: Module exit sequence failed.");
ArLog::log(ArLog::Terse, "moduleExample: Module not found.");
else
ArLog::log(ArLog::Terse, "moduleExample: Module returned unknown status!");
}
int main(int argc, char **argv)
{
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");
}
robot.runAsync(true);
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);
return(0);
}
ArModuleLoader::STATUS_ALREADY_LOADED
Module already loaded.
Definition: ArModuleLoader.h:57
ArModuleLoader::load
static Status load(const char *modName, ArRobot *robot, void *modArgument=NULL, bool quiet=false)
Load an ArModule.
Definition: ArModuleLoader.cpp:99
ArLog::Terse
Use terse logging.
Definition: ArLog.h:61
ArSimpleConnector
Legacy connector for robot and laser.
Definition: ArSimpleConnector.h:51
Aria::exit
static void exit(int exitCode=0)
Shutdown all Aria processes/threads, call exit callbacks, and exit the program.
Definition: Aria.cpp:367
ArLog::log
static void log(LogLevel level, const char *str,...)
Log a message, with formatting and variable number of arguments.
Definition: ArLog.cpp:93
ArModuleLoader::STATUS_INVALID
Invalid module file format.
Definition: ArModuleLoader.h:59
Aria::init
static void init(SigHandleMethod method=SIGHANDLE_THREAD, bool initSockets=true, bool sigHandleExitNotShutdown=true)
Initialize Aria global data struture and perform OS-specific initialization, including adding OS sign...
Definition: Aria.cpp:128
ArRobot
Central class for communicating with and operating the robot.
Definition: ArRobot.h:82
ArArgumentParser
Parse and store program command-line arguments for use by other ARIA classes.
Definition: ArArgumentParser.h:64
ArModuleLoader::STATUS_FAILED_OPEN
Could not find or open the module.
Definition: ArModuleLoader.h:58
ArRobot::runAsync
void runAsync(bool stopRunIfNotConnected, bool runNonThreadedPacketReader=false)
Starts the instance to do processing in its own new thread.
Definition: ArRobot.cpp:301
ArUtil::sleep
static void sleep(unsigned int ms)
Sleep for the given number of milliseconds.
Definition: ariaUtil.cpp:151
ArModuleLoader::STATUS_SUCCESS
Load succeded.
Definition: ArModuleLoader.h:56
ArModuleLoader::STATUS_NOT_FOUND
The module was not found.
Definition: ArModuleLoader.h:62
ArModuleLoader::STATUS_EXIT_FAILED
The module failed its exit stage.
Definition: ArModuleLoader.h:61
ArModuleLoader::Status
Status
Definition: ArModuleLoader.h:55
ArModuleLoader::STATUS_INIT_FAILED
The module failed its init stage.
Definition: ArModuleLoader.h:60