//MODA C++ for VC2005 sample code
//Light source blink sample, using LightSource group

#include "Modacpp.h"

#define MODASERVER "localhost"
#define MYROBOTNAME    "/"

int main(int argc, char* argv[])
{
ModaCPP::Connection *connection=new ModaCPP::Connection(true);
//Try connect to MODA server
if(connection->Connect(MODASERVER))
    {
    _cprintf("Connection ok to moda server\r\n");
    //Find the robot
    ModaCPP::RobotPHX *robot=connection->QueryRobotPHX(MYROBOTNAME);
    if(robot)
        {
        //find devices
        ModaCPP::DeviceLightSource *pLight1=robot->QueryDeviceLightSource("light0/l");
        ModaCPP::DeviceLightSource *pLight2=robot->QueryDeviceLightSource("light1/l");
        if(pLight1 && pLight2)
            {
            //create group
            ModaCPP::DevicesGroupLightSource group(connection);
            group.AddDevice(pLight1);
            group.AddDevice(pLight2);

            //blink !
            float intensities[2]={1.0f,0.5f};
            while(!_kbhit())
                {
                group.SetIntensity(0);
                connection->Sleep(100);
                group.SetIntensities(intensities,2);
                connection->Sleep(100);
                }

            //delete objects
            delete pLight1;
            delete pLight2;
            }
        _cprintf("robot found\r\n");
        }
    else
        {
        _cprintf("robot not found\r\n");
        }
    }
else
    {
    _cprintf("Unable to connect to moda server\r\n");
    }
//Disconnect & delete
connection->Disconnect();
delete connection;
_getch();
return 0;
}