#include <iostream>
#include <dlfcn.h>
#include <vector>
#include "KinovaTypes.h"
using namespace std;
int main()
{
int result;
cout << "SetTorqueZero function example" << endl;
void * commandLayer_handle;
int (*MyInitAPI)();
int (*MyCloseAPI)();
int (*MySetTorqueZero)(int);
commandLayer_handle = dlopen("Kinova.API.USBCommandLayerUbuntu.so",RTLD_NOW|RTLD_GLOBAL);
MyInitAPI = (int (*)()) dlsym(commandLayer_handle,"InitAPI");
MyCloseAPI = (int (*)()) dlsym(commandLayer_handle,"CloseAPI");
MySetTorqueZero = (int (*)(int)) dlsym(commandLayer_handle,"SetTorqueZero");
if((MyInitAPI == NULL) || (MyCloseAPI == NULL) || (MySetTorqueZero == 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 << endl;
result = (*MySetTorqueZero)(16);
cout << "Torque of the first actuator(address 16) has been set to its zero value." << endl;
cout << endl << "Calling the method CloseAPI()" << endl;
result = (*MyCloseAPI)();
cout << "result of CloseAPI() = " << result << endl;
}
return 0;
}