Aria  2.8.0

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
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
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 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.");
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");
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!");
//ArLog::log(ArLog::Terse, "moduleExample: Reloading the module with no argument...");
//status=ArModuleLoader::reload("./moduleExample_Mod", &robot);
//ArLog::log(ArLog::Terse, "moduleExample: Closing the module...");