#include <iostream>
#include <dlfcn.h>
#include <vector>
#include "KinovaTypes.h"
using namespace std;
int main()
{
int result;
cout << "GetForcesInfo function example" << endl;
void * commandLayer_handle;
int (*MyInitAPI)();
int (*MyCloseAPI)();
int (*MyGetForcesInfo)(ForcesInfo &Response);
commandLayer_handle = dlopen("Kinova.API.USBCommandLayerUbuntu.so",RTLD_NOW|RTLD_GLOBAL);
MyInitAPI = (int (*)()) dlsym(commandLayer_handle,"InitAPI");
MyCloseAPI = (int (*)()) dlsym(commandLayer_handle,"CloseAPI");
MyGetForcesInfo = (int (*)(ForcesInfo &)) dlsym(commandLayer_handle,"GetForcesInfo");
if((MyInitAPI == NULL) || (MyCloseAPI == NULL) || (MyGetForcesInfo == NULL))
{
cout << "Unable to initialize the command layer." << endl;
}
else
{
cout << "The command has been initialized correctly." << endl << endl;
cout << "Calling the method InitAPI()" << endl;
result = (*MyInitAPI)();
cout << "result of InitAPI() = " << result << endl;
ForcesInfo info;
result = (*MyGetForcesInfo)(info);
cout << "Actuator torque 1 = " << info.Actuator1 << " N * m" << endl;
cout << "Actuator torque 2 = " << info.Actuator2 << " N * m" << endl;
cout << "Actuator torque 3 = " << info.Actuator3 << " N * m" << endl;
cout << "Actuator torque 4 = " << info.Actuator4 << " N * m" << endl;
cout << "Actuator torque 5 = " << info.Actuator5 << " N * m" << endl;
cout << "Actuator torque 6 = " << info.Actuator6 << " N * m" << endl;
cout << endl << "Calling the method CloseAPI()" << endl;
result = (*MyCloseAPI)();
cout << "result of CloseAPI() = " << result << endl;
}
return 0;
}