//Sample from samples/devices/camera

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

#define MODASERVER "localhost"

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 *phx=connection->QueryRobotPHX("/");
    if(phx)
        {
        _cprintf("phx found\r\n");
        ModaCPP::DeviceCamera *pCamera=phx->QueryDeviceCamera("viewpoint0/camera");
        if(pCamera)
            {
            _cprintf("camera found\r\n");
            ModaCPP::Image theimage;
            while(!_kbhit())
                {
                pCamera->GetNextImage(&theimage);
                if(theimage.IsValid())
                    {
                    theimage.DoHorizontalFlip();
                    theimage.Display(0,0);
                    }
                connection->Sleep(20);
                }
            }
        }
    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;
}