This function gets the list of all protection zones.
#include <iostream>
#include <dlfcn.h>
#include <vector>
#include "KinovaTypes.h"
using namespace std;
int main()
{
int result;
cout << "GetProtectionZone function example" << endl;
void * commandLayer_handle;
int (*MyInitAPI)();
int (*MyCloseAPI)();
int (*MyGetProtectionZone)(ZoneList &Response);
commandLayer_handle = dlopen("Kinova.API.USBCommandLayerUbuntu.so",RTLD_NOW|RTLD_GLOBAL);
MyInitAPI = (int (*)()) dlsym(commandLayer_handle,"InitAPI");
MyCloseAPI = (int (*)()) dlsym(commandLayer_handle,"CloseAPI");
MyGetProtectionZone = (int (*)(ZoneList &)) dlsym(commandLayer_handle,"GetProtectionZone");
if((MyInitAPI == NULL) || (MyCloseAPI == NULL) || (MyGetProtectionZone == 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;
ZoneList zoneList;
result = (*MyGetProtectionZone)(zoneList);
cout << "Active zone count = " << zoneList.NbZones << endl;
cout << endl << "Calling the method CloseAPI()" << endl;
result = (*MyCloseAPI)();
cout << "result of CloseAPI() = " << result << endl;
}
return 0;
}