simxInt extApi_getTimeDiffInMs(simxInt lastTime)
{
simxInt currentTime=extApi_getTimeInMs();
if (currentTime<lastTime)
return(currentTime+0x03ffffff-lastTime);
return(currentTime-lastTime);
}
simxInt extApi_send_sharedMem(simxInt clientID,const simxUChar* data,simxInt dataLength)
{
simxUChar* buff;
simxInt startTime;
simxInt off=0;
simxInt initDataLength=dataLength;
if (dataLength==0)
return(0);
#ifdef _WIN32
startTime=extApi_getTimeInMs();
buff=(simxUChar*)MapViewOfFile(_mmfConn[clientID],FILE_MAP_ALL_ACCESS,0,0,_mmfSize[clientID]+20);
if (buff!=0)
{
if (buff[0]!=1)
{
UnmapViewOfFile(buff);
return(0);
}
while (dataLength>0)
{
/* Wait for previous data to be gone: */
while (buff[5]!=0)
{
if (extApi_getTimeDiffInMs(startTime)>1000)
{
UnmapViewOfFile(buff);
return(0);
}
}
/* ok, we can send the data: */
if (dataLength<=_mmfSize[clientID])
{ /* we can send the data in one shot: */
memcpy(buff+20,data+off,dataLength);
((int*)(buff+6))[0]=dataLength;
((int*)(buff+6))[1]=20;
((int*)(buff+6))[2]=initDataLength;
dataLength=0;
}
else
{ /* just send a smaller part first: */
memcpy(buff+20,data+off,_mmfSize[clientID]);
((int*)(buff+6))[0]=_mmfSize[clientID];
((int*)(buff+6))[1]=20;
((int*)(buff+6))[2]=initDataLength;
dataLength-=(_mmfSize[clientID]);
off+=(_mmfSize[clientID]);
}
buff[5]=1; /* client has something to send! */
}
UnmapViewOfFile(buff);
return(initDataLength);
}
return(0);
#elif defined (__linux) || defined (__APPLE__)
return(0);
#endif
}
simxUChar* extApi_recv_sharedMem(simxInt clientID,simxInt* dataLength)
{
simxUChar* buff;
simxInt startT;
simxInt l=0;
simxInt off=0;
simxInt retDataOff=0;
simxUChar* retData=0;
simxInt totalLength=-1;
#ifdef _WIN32
buff=(simxUChar*)MapViewOfFile(_mmfConn[clientID],FILE_MAP_ALL_ACCESS,0,0,_mmfSize[clientID]+20);
if (buff!=0)
{
if (buff[0]!=1)
{ /* we are not connected anymore */
UnmapViewOfFile(buff);
return(0);
}
startT=extApi_getTimeInMs();
while (retDataOff!=totalLength)
{
/* Wait for data: */
while (buff[5]!=2)
{
if (extApi_getTimeDiffInMs(startT)>1000)
{
UnmapViewOfFile(buff);
return(0);
}
}
/* ok, data is there! */
/* Read the data with correct length: */
l=((int*)(buff+6))[0];
off=((int*)(buff+6))[1];
totalLength=((int*)(buff+6))[2];
if (retData==0)
retData=extApi_allocateBuffer(totalLength);
memcpy(retData+retDataOff,buff+off,l);
retDataOff=retDataOff+l;
/* Tell the other side we have read that part and additional parts could be sent (if present): */
buff[5]=0;
}
UnmapViewOfFile(buff);
dataLength[0]=retDataOff;
return(retData);
}
return(0);
#elif defined (__linux) || defined (__APPLE__)
return(0);
#endif
}
int main(int argc,char* argv[])
{
int clientID=simxStart((simxChar*)"127.0.0.1",19999,true,true,2000,5);
if (clientID!=-1)
{
printf("Connected to remote API server\n");
// Now try to retrieve data in a blocking fashion (i.e. a service call):
int objectCount;
int* objectHandles;
int ret=simxGetObjects(clientID,sim_handle_all,&objectCount,&objectHandles,simx_opmode_blocking);
if (ret==simx_return_ok)
printf("Number of objects in the scene: %d\n",objectCount);
else
printf("Remote API function call returned with error code: %d\n",ret);
extApi_sleepMs(2000);
// Now retrieve streaming data (i.e. in a non-blocking fashion):
int startTime=extApi_getTimeInMs();
int mouseX;
simxGetIntegerParameter(clientID,sim_intparam_mouse_x,&mouseX,simx_opmode_streaming); // Initialize streaming
while (extApi_getTimeDiffInMs(startTime) < 5000)
{
ret=simxGetIntegerParameter(clientID,sim_intparam_mouse_x,&mouseX,simx_opmode_buffer); // Try to retrieve the streamed data
if (ret==simx_return_ok) // After initialization of streaming, it will take a few ms before the first value arrives, so check the return code
printf("Mouse position x: %d\n",mouseX); // Mouse position x is actualized when the cursor is over V-REP's window
}
// Now send some data to V-REP in a non-blocking fashion:
simxAddStatusbarMessage(clientID,"Hello V-REP!",simx_opmode_oneshot);
// Before closing the connection to V-REP, make sure that the last command sent out had time to arrive. You can guarantee this with (for example):
int pingTime;
simxGetPingTime(clientID,&pingTime);
// Now close the connection to V-REP:
simxFinish(clientID);
}
return(0);
}
simxVoid extApi_initRand()
{
srand(extApi_getTimeInMs());
}
