//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; }