//MODA C++ native code sample

#include "stdafx.h"
#include "Modacpp.h"
#include "conio.h"

#define MODASERVER "localhost"

//----------------------------------------------------------------------------
void Enum(ModaCPP::RobotPHX *pRobot, Marilou::Commons::ActiveEntityClasses filter)
{
xkode::lib::ObjectsArray<xkode::lib::String> list=pRobot->GetEntitiesList(filter,true);
for(int i=0;i<list.Count();i++)
    {
    _cprintf("\t%s\r\n",list[i].GetData());
    }
}

//----------------------------------------------------------------------------
int main(int argc, TCHAR* argv[])
{
ModaCPP::Connection *connection=new ModaCPP::Connection(true);
if(connection->Connect(MODASERVER))
    {
    _cprintf("Connection ok to moda server\r\n");

    xkode::lib::ObjectsArray<xkode::lib::String> PHXlist=connection->GetRobotPHXsList();
    _cprintf("%d PHX(s) found:\r\n",PHXlist.Count());
    for(int i=0;i<PHXlist.Count();i++)
        {
        _cprintf("\t%s\r\n",PHXlist[i].GetData());
        }
    _cprintf("End of PHX enums\r\n\n");

    if(PHXlist.Count()>=1)
        {
        xkode::lib::String ChoosenRobot=PHXlist[1];
        ModaCPP::RobotPHX *pRobot=connection->QueryRobotPHX(ChoosenRobot);
        if(pRobot)
            {
            _cprintf("Connected to %s\r\n\n",ChoosenRobot.GetData());

            _cprintf("Enum physics entities:\r\n");
            Enum(pRobot,Marilou::Commons::ActiveEntityClasses::PhysicsGeoms);

            _cprintf("Enum devices:\r\n");
            Enum(pRobot,Marilou::Commons::ActiveEntityClasses::CoreDevice);

            _cprintf("Enum all:\r\n");
            Enum(pRobot,Marilou::Commons::ActiveEntityClasses::All);
            }
        else
            {
            _cprintf("Cannot connected to %s\r\n",ChoosenRobot.GetData());
            }
        }
    else
        {
        _cprintf("No PHX in this world ...\r\n");
        }
    }
else
    {
    _cprintf("Unable to connect to moda server\r\n");
    }

connection->Disconnect();
delete connection;
_getch();
return 0;
}