// This is the plugin start routine:
VREP_DLLEXPORT unsigned char v_repStart(void* reservedPointer,int reservedInt)
{ // This is called just once, at the start of V-REP
// Dynamically load and bind V-REP functions:
char curDirAndFile[1024];
#ifdef _WIN32
#ifdef QT_COMPIL
_getcwd(curDirAndFile, sizeof(curDirAndFile));
#else
GetModuleFileName(NULL,curDirAndFile,1023);
PathRemoveFileSpec(curDirAndFile);
#endif
#elif defined (__linux) || defined (__APPLE__)
getcwd(curDirAndFile, sizeof(curDirAndFile));
#endif
std::string currentDirAndPath(curDirAndFile);
std::string temp(currentDirAndPath);
#ifdef _WIN32
temp+="\\v_rep.dll";
#elif defined (__linux)
temp+="/libv_rep.so";
#elif defined (__APPLE__)
temp+="/libv_rep.dylib";
#endif /* __linux || __APPLE__ */
vrepLib=loadVrepLibrary(temp.c_str());
if (vrepLib==NULL)
{
std::cout << "Error, could not find or correctly load the V-REP library. Cannot start 'RemoteApi' plugin.\n";
return(0); // Means error, V-REP will unload this plugin
}
if (getVrepProcAddresses(vrepLib)==0)
{
std::cout << "Error, could not find all required functions in the V-REP library. Cannot start 'RemoteApi' plugin.\n";
unloadVrepLibrary(vrepLib);
return(0); // Means error, V-REP will unload this plugin
}
int vrepVer;
simGetIntegerParameter(sim_intparam_program_version,&vrepVer);
if (vrepVer<20604) // if V-REP version is smaller than 2.06.04
{
std::cout << "Sorry, your V-REP copy is somewhat old. Cannot start 'RemoteApi' plugin.\n";
unloadVrepLibrary(vrepLib);
return(0); // Means error, V-REP will unload this plugin
}
// Register 3 new Lua commands:
int inArgs1[]={1,sim_lua_arg_int};
simRegisterCustomLuaFunction(LUA_STATUS_COMMAND,strConCat("number status,table_5 info=",LUA_STATUS_COMMAND,"(number socketPort)"),inArgs1,LUA_STATUS_COMMAND_CALLBACK);
int inArgs2[]={4,sim_lua_arg_int,sim_lua_arg_int,sim_lua_arg_bool,sim_lua_arg_bool}; // 3/3/2014
simRegisterCustomLuaFunction(LUA_START_COMMAND,strConCat("number result=",LUA_START_COMMAND,"(number socketPort,number maxPacketSize=1300,boolean debug=false,boolean preEnableTrigger=false)"),inArgs2,LUA_START_COMMAND_CALLBACK); // 3/3/2014
simRegisterCustomLuaFunction(LUA_STOP_COMMAND,strConCat("number result=",LUA_STOP_COMMAND,"(number socketPort)"),inArgs1,LUA_STOP_COMMAND_CALLBACK);
simRegisterCustomLuaFunction(LUA_RESET_COMMAND,strConCat("number result=",LUA_RESET_COMMAND,"(number socketPort)"),inArgs1,LUA_RESET_COMMAND_CALLBACK);
// Read the configuration file to prepare socket connections:
CConfReader conf;
temp=currentDirAndPath;
#ifdef _WIN32
temp+="\\remoteApiConnections.txt";
#endif /* _WIN32 */
#if defined (__linux) || defined (__APPLE__)
temp+="/remoteApiConnections.txt";
#endif /* __linux || __APPLE__ */
conf.readConfiguration(temp.c_str());
conf.getBoolean("useAlternateSocketRoutines",CSimxSocket::useAlternateSocketRoutines);
int index=1;
while (true)
{
std::stringstream strStream;
strStream << index;
std::string variableNameBase("portIndex");
variableNameBase+=strStream.str();
std::string variableName=variableNameBase+"_port";
int portNb;
if (conf.getInteger(variableName.c_str(),portNb))
{
bool debug=false;
int maxPacketSize=1300;
if (portNb<0)
maxPacketSize=3200000;
bool synchronousTrigger=false;
variableName=variableNameBase+"_maxPacketSize";
conf.getInteger(variableName.c_str(),maxPacketSize);
variableName=variableNameBase+"_debug";
conf.getBoolean(variableName.c_str(),debug);
variableName=variableNameBase+"_syncSimTrigger";
conf.getBoolean(variableName.c_str(),synchronousTrigger);
if (portNb<0)
{ // when using shared memory
if (maxPacketSize<1000)
maxPacketSize=1000;
if (maxPacketSize>32000000)
maxPacketSize=32000000;
}
else
{ // when using sockets
if (maxPacketSize<200)
maxPacketSize=200;
if (maxPacketSize>30000)
maxPacketSize=30000;
}
if (allConnections.getConnectionFromPort(portNb)==NULL)
{
// 3/3/2014 synchronousTrigger&=(allConnections.getSynchronousSimulationTriggerConnection()==NULL);
CSimxSocket* oneSocketConnection=new CSimxSocket(portNb,false,debug,maxPacketSize,synchronousTrigger);
oneSocketConnection->start();
allConnections.addSocketConnection(oneSocketConnection);
// 3/3/2014 if (synchronousTrigger)
// 3/3/2014 allConnections.setSynchronousSimulationTriggerConnection(oneSocketConnection); // only one connection can act as trigger!
std::cout << "Starting a remote API server on port " << portNb << std::endl;
}
else
std::cout << "Failed starting a remote API server on port " << portNb << std::endl;
index++;
}
else
break;
}
return(SIMX_VERSION); // initialization went fine, we return the version number of this extension module (can be queried with simGetModuleName)
}
// This is the plugin start routine:
VREP_DLLEXPORT unsigned char v_repStart(void* reservedPointer,int reservedInt)
{ // This is called just once, at the start of V-REP
// Dynamically load and bind V-REP functions:
char curDirAndFile[1024];
#ifdef _WIN32
#ifdef QT_COMPIL
_getcwd(curDirAndFile, sizeof(curDirAndFile));
#else
GetModuleFileName(NULL,curDirAndFile,1023);
PathRemoveFileSpec(curDirAndFile);
#endif
#elif defined (__linux) || defined (__APPLE__)
getcwd(curDirAndFile, sizeof(curDirAndFile));
#endif
std::string currentDirAndPath(curDirAndFile);
std::string temp(currentDirAndPath);
#ifdef _WIN32
temp+="\\v_rep.dll";
#elif defined (__linux)
temp+="/libv_rep.so";
#elif defined (__APPLE__)
temp+="/libv_rep.dylib";
#endif /* __linux || __APPLE__ */
vrepLib=loadVrepLibrary(temp.c_str());
if (vrepLib==NULL)
{
std::cout << "Error, could not find or correctly load the V-REP library. Cannot start 'RemoteApi' plugin.\n";
return(0); // Means error, V-REP will unload this plugin
}
if (getVrepProcAddresses(vrepLib)==0)
{
std::cout << "Error, could not find all required functions in the V-REP library. Cannot start 'RemoteApi' plugin.\n";
unloadVrepLibrary(vrepLib);
return(0); // Means error, V-REP will unload this plugin
}
int vrepVer;
simGetIntegerParameter(sim_intparam_program_version,&vrepVer);
if (vrepVer<30200) // if V-REP version is smaller than 3.02.00
{
std::cout << "Sorry, your V-REP copy is somewhat old. Cannot start 'RemoteApi' plugin.\n";
unloadVrepLibrary(vrepLib);
return(0); // Means error, V-REP will unload this plugin
}
std::vector<int> inArgs;
// Register the new Lua commands:
CLuaFunctionData::getInputDataForFunctionRegistration(inArgs_START,inArgs);
simRegisterCustomLuaFunction(LUA_START_COMMAND,strConCat("number result=",LUA_START_COMMAND,"(number socketPort,number maxPacketSize=1300,boolean debug=false,boolean preEnableTrigger=false)"),&inArgs[0],LUA_START_CALLBACK);
CLuaFunctionData::getInputDataForFunctionRegistration(inArgs_STOP,inArgs);
simRegisterCustomLuaFunction(LUA_STOP_COMMAND,strConCat("number result=",LUA_STOP_COMMAND,"(number socketPort)"),&inArgs[0],LUA_STOP_CALLBACK);
CLuaFunctionData::getInputDataForFunctionRegistration(inArgs_RESET,inArgs);
simRegisterCustomLuaFunction(LUA_RESET_COMMAND,strConCat("number result=",LUA_RESET_COMMAND,"(number socketPort)"),&inArgs[0],LUA_RESET_CALLBACK);
CLuaFunctionData::getInputDataForFunctionRegistration(inArgs_STATUS,inArgs);
simRegisterCustomLuaFunction(LUA_STATUS_COMMAND,strConCat("number status,table_5 info,number version,number clientVersion,string connectedIp=",LUA_STATUS_COMMAND,"(number socketPort)"),&inArgs[0],LUA_STATUS_CALLBACK);
// Read the configuration file to prepare socket connections:
CConfReader conf;
temp=currentDirAndPath;
#ifdef _WIN32
temp+="\\remoteApiConnections.txt";
#endif /* _WIN32 */
#if defined (__linux) || defined (__APPLE__)
temp+="/remoteApiConnections.txt";
#endif /* __linux || __APPLE__ */
// Read the configuration file and start remote API server services accordingly:
conf.readConfiguration(temp.c_str());
conf.getBoolean("useAlternateSocketRoutines",CSimxSocket::useAlternateSocketRoutines);
int index=1;
while (true)
{
std::stringstream strStream;
strStream << index;
std::string variableNameBase("portIndex");
variableNameBase+=strStream.str();
std::string variableName=variableNameBase+"_port";
int portNb;
if (conf.getInteger(variableName.c_str(),portNb))
{
bool debug=false;
int maxPacketSize=1300;
if (portNb<0)
maxPacketSize=3200000;
bool synchronousTrigger=false;
variableName=variableNameBase+"_maxPacketSize";
conf.getInteger(variableName.c_str(),maxPacketSize);
variableName=variableNameBase+"_debug";
conf.getBoolean(variableName.c_str(),debug);
variableName=variableNameBase+"_syncSimTrigger";
conf.getBoolean(variableName.c_str(),synchronousTrigger);
if (portNb<0)
{ // when using shared memory
if (maxPacketSize<1000)
maxPacketSize=1000;
if (maxPacketSize>32000000)
maxPacketSize=32000000;
}
else
{ // when using sockets
if (maxPacketSize<200)
maxPacketSize=200;
if (maxPacketSize>30000)
maxPacketSize=30000;
}
if (allConnections.getConnectionFromPort(portNb)==NULL)
{
CSimxSocket* oneSocketConnection=new CSimxSocket(portNb,true,false,debug,maxPacketSize,synchronousTrigger);
oneSocketConnection->start();
allConnections.addSocketConnection(oneSocketConnection);
std::cout << "Starting a remote API server on port " << portNb << std::endl;
}
else
std::cout << "Failed starting a remote API server on port " << portNb << std::endl;
index++;
}
else
break;
}
// Check if we need to start additional remote API server services:
for (int iarg=0;iarg<9;iarg++)
{
char* str=simGetStringParameter(sim_stringparam_app_arg1+iarg);
if (str!=NULL)
{
std::string arg(str);
simReleaseBuffer(str);
if ( (arg.compare(0,23,"REMOTEAPISERVERSERVICE_")==0)&&(arg.length()>23) )
{
size_t pos1=arg.find('_',24);
size_t pos2=std::string::npos;
size_t pos3=std::string::npos;
if (pos1!=std::string::npos)
pos2=arg.find('_',pos1+1);
if (pos2!=std::string::npos)
pos3=arg.find('_',pos2+1);
int portNb=-1;
bool debug=false;
bool syncTrigger=true;
int maxPacketSize=1300;
std::string portStr;
if (pos1!=std::string::npos)
{
portStr=arg.substr(23,pos1-23);
if (pos2!=std::string::npos)
{
debug=(arg.compare(pos1+1,pos2-pos1-1,"TRUE")==0);
if (pos3!=std::string::npos)
syncTrigger=(arg.compare(pos2+1,pos3-pos2-1,"TRUE")==0);
else
syncTrigger=(arg.compare(pos2+1,std::string::npos,"TRUE")==0);
}
else
debug=(arg.compare(pos1+1,std::string::npos,"TRUE")==0);
}
else
portStr=arg.substr(23,std::string::npos);
if (portStr.length()!=0)
{
portNb=atoi(portStr.c_str());
if (allConnections.getConnectionFromPort(portNb)==NULL)
{
CSimxSocket* oneSocketConnection=new CSimxSocket(portNb,true,false,debug,maxPacketSize,syncTrigger);
oneSocketConnection->start();
allConnections.addSocketConnection(oneSocketConnection);
std::cout << "Starting a remote API server on port " << portNb << std::endl;
}
else
std::cout << "Failed starting a remote API server on port " << portNb << std::endl;
}
}
}
}
return(SIMX_VERSION); // initialization went fine, we return the version number of this extension module (can be queried with simGetModuleName)
}
