bool CSimxSocket::getWaitForTrigger()
{
// make sure we override the external trigger if the user presses stop:
int ver;
simGetIntegerParameter(sim_intparam_program_version,&ver);
int req;
simGetIntegerParameter(sim_intparam_stop_request_counter,&req);
if ((req!=_stopSimulationRequestCounter)&&(ver>=30006)) // stop in stepped mode only supported from V-REP 3.0.6 on!
{
_waitForTrigger=false;
_waitForTriggerFunctionEnabled=false;
}
return(_waitForTriggerFunctionEnabled&&_waitForTrigger);
}
// This is the plugin messaging routine (i.e. V-REP calls this function very often, with various messages):
VREP_DLLEXPORT void* v_repMessage(int message,int* auxiliaryData,void* customData,int* replyData)
{ // This is called quite often. Just watch out for messages/events you want to handle
// This function should not generate any error messages:
int errorModeSaved;
simGetIntegerParameter(sim_intparam_error_report_mode,&errorModeSaved);
simSetIntegerParameter(sim_intparam_error_report_mode,sim_api_errormessage_ignore);
void* retVal=NULL;
if (message==sim_message_eventcallback_instancepass)
{ // This message is sent each time the scene was rendered (well, shortly after) (very often)
allConnections.instancePass();
}
if (message==sim_message_eventcallback_mainscriptabouttobecalled)
{ // Main script is about to be run
if (allConnections.thereWasARequestToCallTheMainScript())
replyData[0]=0; // this tells V-REP that we don't wanna execute the main script
else
allConnections.mainScriptWillBeCalled(); // this simply tells all remote API server services to reactivate their triggers (if that function is enabled)
}
if (message==sim_message_eventcallback_simulationended)
{ // Simulation just ended
allConnections.simulationEnded();
}
simSetIntegerParameter(sim_intparam_error_report_mode,errorModeSaved); // restore previous settings
return(retVal);
}
void LUA_DISABLEPUBLISHER_CALLBACK(SLuaCallBack* p)
{
p->outputArgCount=0;
CLuaFunctionData D;
int result=-1;
if (D.readDataFromLua(p,inArgs_DISABLEPUBLISHER,inArgs_DISABLEPUBLISHER[0],LUA_DISABLEPUBLISHER_COMMAND))
{
std::vector<CLuaFunctionDataItem>* inData=D.getInDataPtr();
std::string topicName(inData->at(0).stringData[0]);
if (topicName.length()>0)
{
int errorModeSaved;
simGetIntegerParameter(sim_intparam_error_report_mode,&errorModeSaved);
simSetIntegerParameter(sim_intparam_error_report_mode,sim_api_errormessage_ignore);
result=ROS_server::removePublisher(topicName.c_str(),false);
simSetIntegerParameter(sim_intparam_error_report_mode,errorModeSaved); // restore previous settings
if (result==-1)
simSetLastError(LUA_DISABLEPUBLISHER_COMMAND, "Topic could not be unpublished."); // output an error
}
else
simSetLastError(LUA_DISABLEPUBLISHER_COMMAND, "Invalid topic name."); // output an error
}
D.pushOutData(CLuaFunctionDataItem(result));
D.writeDataToLua(p);
}
void LUA_WAKEPUBLISHER_CALLBACK(SScriptCallBack* p)
{
CScriptFunctionData D;
int result=-1;
if (D.readDataFromStack(p->stackID,inArgs_WAKEPUBLISHER,inArgs_WAKEPUBLISHER[0],LUA_WAKEPUBLISHER_COMMAND))
{
std::vector<CScriptFunctionDataItem>* inData=D.getInDataPtr();
std::string topicName(inData->at(0).stringData[0]);
if (topicName.length()>0)
{
int publishCnt=inData->at(1).int32Data[0];
int errorModeSaved;
simGetIntegerParameter(sim_intparam_error_report_mode,&errorModeSaved);
simSetIntegerParameter(sim_intparam_error_report_mode,sim_api_errormessage_ignore);
result=ROS_server::wakePublisher(topicName.c_str(),publishCnt);
simSetIntegerParameter(sim_intparam_error_report_mode,errorModeSaved); // restore previous settings
if (result==-2)
simSetLastError(LUA_WAKEPUBLISHER_COMMAND, "Topic could not be found."); // output an error
}
else
simSetLastError(LUA_WAKEPUBLISHER_COMMAND, "Invalid topic name."); // output an error
}
D.pushOutData(CScriptFunctionDataItem(result));
D.writeDataToStack(p->stackID);
}
void CSimxContainer::executeCommands(CSimxContainer* outputContainer,CSimxSocket* sock)
{
if (outputContainer->getCommandCount()==0)
{ // Make sure the output buffer was already sent and is empty
outputContainer->setMessageID(_messageID);
outputContainer->setDataTimeStamp(_dataTimeStamp);
int simState=simGetSimulationState();
BYTE serverState=0;
outputContainer->setDataServerTimeStamp(int(simGetSystemTime()*1000.1f));
if (simState!=sim_simulation_stopped)
{
serverState|=1; // simulation is not stopped
if (simState==sim_simulation_paused)
serverState|=2; // simulation is paused
}
if (simGetRealTimeSimulation()>0)
serverState|=4;
int editModeType;
simGetIntegerParameter(sim_intparam_edit_mode_type,&editModeType);
serverState|=(editModeType<<3);
int sceneUniqueID;
simGetIntegerParameter(sim_intparam_scene_unique_id,&sceneUniqueID);
outputContainer->setSceneID(WORD(sceneUniqueID));
outputContainer->setServerState(serverState);
// Prepare for correct error reporting:
int errorModeSaved;
simGetIntegerParameter(sim_intparam_error_report_mode,&errorModeSaved);
simSetIntegerParameter(sim_intparam_error_report_mode,sim_api_errormessage_report);
char* err=simGetLastError(); // just clear the last error
if (err!=NULL)
simReleaseBuffer(err);
// Execute pending commands:
for (unsigned int i=0;i<_allCommands.size();i++)
{
CSimxCmd* outputCmd=_allCommands[i]->execute(sock,_otherSideIsBigEndian);
if (outputCmd!=NULL) // gradual or split commands are not added here!
outputContainer->addCommand(outputCmd,false);
}
// Restore previous error report mode:
simSetIntegerParameter(sim_intparam_error_report_mode,errorModeSaved);
_removeNonContinuousCommands(); // simx_opmode_oneshot_split commands are also kept!
}
}
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];
GetModuleFileName(NULL,curDirAndFile,1023);
PathRemoveFileSpec(curDirAndFile);
std::string currentDirAndPath(curDirAndFile);
std::string temp(currentDirAndPath);
temp+="\\v_rep.dll";
vrepLib=loadVrepLibrary(temp.c_str());
if (vrepLib==NULL)
{
std::cout << "Error, could not find or correctly load v_rep.dll. Cannot start 'Cam' 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 v_rep.dll. Cannot start 'Cam' plugin.\n";
unloadVrepLibrary(vrepLib);
return(0); // Means error, V-REP will unload this plugin
}
int vrepVer;
simGetIntegerParameter(sim_intparam_program_version,&vrepVer);
if (vrepVer<20600) // if V-REP version is smaller than 2.06.00
{
std::cout << "Sorry, your V-REP copy is somewhat old, V-REP 2.6.0 or later is required. Cannot start 'Cam' plugin.\n";
unloadVrepLibrary(vrepLib);
return(0); // initialization failed!!
}
// Marc modified following function to return a neg. value in case of initialization error:
deviceCount=setupESCAPI();
if (deviceCount<0)
{
std::cout << "ESCAPI initialization failed (error code: " << deviceCount << "). Is 'escapi.dll' available? Cannot start 'Cam' plugin.\n";
unloadVrepLibrary(vrepLib);
return(0); // initialization failed!!
}
// Register one new Lua command:
int inArgs1[]={3,sim_lua_arg_int,sim_lua_arg_int,sim_lua_arg_int};
simRegisterCustomLuaFunction(LUA_START,strConCat("number result,number resX,number resY=",LUA_START,"(number deviceIndex,number resX,number resY)"),inArgs1,LUA_START_CALLBACK);
int inArgs2[]={1,sim_lua_arg_int};
simRegisterCustomLuaFunction(LUA_END,strConCat("number result=",LUA_END,"(number deviceIndex)"),inArgs2,LUA_END_CALLBACK);
simRegisterCustomLuaFunction(LUA_INFO,strConCat("string info=",LUA_INFO,"(number index)"),inArgs2,LUA_INFO_CALLBACK);
int inArgs5[]={2,sim_lua_arg_int,sim_lua_arg_int};
simRegisterCustomLuaFunction(LUA_GRAB,strConCat("number result=",LUA_GRAB,"(number index,number visionSensorHandle)"),inArgs5,LUA_GRAB_CALLBACK);
InitializeCriticalSection(&m_cs);
return(3); // initialization went fine, return the version number of this extension module (can be queried with simGetModuleName)
// version 1 was for V-REP versions before V-REP 2.5.12
// version 2 was for V-REP versions before V-REP 2.6.0
}
// This is the plugin start routine (called just once, just after the plugin was loaded):
VREP_DLLEXPORT unsigned char v_repStart(void* reservedPointer,int reservedInt)
{
// Dynamically load and bind V-REP functions:
// ******************************************
// 1. Figure out this plugin's directory:
char curDirAndFile[1024];
#ifdef _WIN32
GetModuleFileName(NULL,curDirAndFile,1023);
PathRemoveFileSpec(curDirAndFile);
#elif defined (__linux) || defined (__APPLE__)
getcwd(curDirAndFile, sizeof(curDirAndFile));
#endif
std::string currentDirAndPath(curDirAndFile);
// 2. Append the V-REP library's name:
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__ */
// 3. Load the V-REP library:
vrepLib=loadVrepLibrary(temp.c_str());
if (vrepLib==NULL)
{
std::cout << "Error, could not find or correctly load the V-REP library. Cannot start 'PluginSkeleton' 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 'PluginSkeleton' plugin.\n";
unloadVrepLibrary(vrepLib);
return(0); // Means error, V-REP will unload this plugin
}
// ******************************************
// Check the version of V-REP:
// ******************************************
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 'PluginSkeleton' plugin.\n";
unloadVrepLibrary(vrepLib);
return(0); // Means error, V-REP will unload this plugin
}
// ******************************************
simLockInterface(1);
// Here you could handle various initializations
// Here you could also register custom Lua functions or custom Lua constants
// etc.
simLockInterface(0);
return(PLUGIN_VERSION); // initialization went fine, we return the version number of this plugin (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 'OpenMesh' 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 'OpenMesh' 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 'OpenMesh' 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_DECIMATE,inArgs);
simRegisterCustomLuaFunction(LUA_DECIMATE_COMMAND,strConCat("table newVertices,table newIndices=",LUA_DECIMATE_COMMAND,"(table vertices,table indices,number maxVertices,number maxTriangles)"),&inArgs[0],LUA_DECIMATE_CALLBACK);
return(2); // initialization went fine, we return the version number of this extension module (can be queried with simGetModuleName)
}
// This is the plugin start routine (called just once, just after the plugin was loaded):
VREP_DLLEXPORT unsigned char v_repStart(void* reservedPointer,int reservedInt)
{
// Dynamically load and bind V-REP functions:
// ******************************************
// 1. Figure out this plugin's directory:
char curDirAndFile[1024];
getcwd(curDirAndFile, sizeof(curDirAndFile));
std::string currentDirAndPath(curDirAndFile);
// 2. Append the V-REP library's name:
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
// 3. Load the V-REP library:
vrepLib=loadVrepLibrary(temp.c_str());
if (vrepLib==NULL)
{
std::cout << "Error, could not find or correctly load the V-REP library. Cannot start 'rosSkeleton' 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 'rosSkeleton' plugin.\n";
unloadVrepLibrary(vrepLib);
return(0); // Means error, V-REP will unload this plugin
}
// ******************************************
// Check the version of V-REP:
// ******************************************
int vrepVer;
simGetIntegerParameter(sim_intparam_program_version,&vrepVer);
if (vrepVer<30102) // if V-REP version is smaller than 3.01.02
{
std::cout << "Sorry, your V-REP copy is somewhat old. Cannot start 'rosSkeleton' plugin.\n";
unloadVrepLibrary(vrepLib);
return(0); // Means error, V-REP will unload this plugin
}
// ******************************************
// Initialize the ROS part:
if(!ROS_server::initialize())
{
std::cout << "ROS master is not running. Cannot start 'rosSkeleton' plugin.\n";
return (0); //If the master is not running then the plugin is not loaded.
}
return(PLUGIN_VERSION); // initialization went fine, we return the version number of this plugin (can be queried with simGetModuleName)
}
void CSimxSocket::setWaitForTriggerEnabled(bool e)
{
if (_waitForTriggerFunctionAuthorized)
{
_waitForTriggerFunctionEnabled=e;
_waitForTrigger=e;
// initialize the stop request counter:
simGetIntegerParameter(sim_intparam_stop_request_counter,&_stopSimulationRequestCounter);
}
}
VREP_DLLEXPORT void* v_repMessage(int message,int* auxiliaryData,void* customData,int* replyData)
{ // This is called quite often. Just watch out for messages/events you want to handle
simLockInterface(1);
// This function should not generate any error messages:
int errorModeSaved;
simGetIntegerParameter(sim_intparam_error_report_mode,&errorModeSaved);
simSetIntegerParameter(sim_intparam_error_report_mode,sim_api_errormessage_ignore);
void* retVal=NULL;
// Acknowledgment message display:
// *****************************************************************
static int auxConsoleHandleForAcknowledgmentDisplay=-1;
static int acknowledgmentDisplayStartTime=0;
if (displayAcknowledgment)
{
auxConsoleHandleForAcknowledgmentDisplay=simAuxiliaryConsoleOpen("Acknowledgments",10,2+4+16,NULL,NULL,NULL,NULL);
simAuxiliaryConsolePrint(auxConsoleHandleForAcknowledgmentDisplay,"The wiimote plugin is courtesy of Eric Rohmer.\n\nThe wiimote plugin contains WiiYourself! wiimote code by gl.tter\nhttp://gl.tter.org");
acknowledgmentDisplayStartTime=timeGetTime();
displayAcknowledgment=false;
}
if ( (auxConsoleHandleForAcknowledgmentDisplay!=-1)&&(timeGetTime()-acknowledgmentDisplayStartTime>5000) )
{
simAuxiliaryConsoleClose(auxConsoleHandleForAcknowledgmentDisplay);
auxConsoleHandleForAcknowledgmentDisplay=-1;
}
// *****************************************************************
// Clean-up at simulation end:
// *****************************************************************
if (message==sim_message_eventcallback_simulationended)
{
if (auxConsoleHandleForAcknowledgmentDisplay!=-1)
{
simAuxiliaryConsoleClose(auxConsoleHandleForAcknowledgmentDisplay);
auxConsoleHandleForAcknowledgmentDisplay=-1;
}
for (int i=0;i<4;i++) // for the 4 devices
{
while (startCountPerDevice[i]>0)
{
startCountOverall--;
startCountPerDevice[i]--;
if (startCountOverall==0)
killThread();
}
}
}
// *****************************************************************
simSetIntegerParameter(sim_intparam_error_report_mode,errorModeSaved); // restore previous settings
simLockInterface(0);
return(retVal);
}
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:
// ******************************************
// 1. Figure out this plugin's directory:
char curDirAndFile[1024];
#ifdef _WIN32
_getcwd(curDirAndFile, sizeof(curDirAndFile));
#elif defined (__linux) || defined (__APPLE__)
getcwd(curDirAndFile, sizeof(curDirAndFile));
#endif
std::string currentDirAndPath(curDirAndFile);
// 2. Append the V-REP library's name:
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__ */
// 3. Load the V-REP library:
vrepLib=loadVrepLibrary(temp.c_str());
if (vrepLib==NULL)
{
std::cout << "Error, could not find or correctly load the V-REP library. Cannot start 'ExternalRenderer' 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 'ExternalRenderer' plugin.\n";
unloadVrepLibrary(vrepLib);
return(0); // Means error, V-REP will unload this plugin
}
// ******************************************
// Check the version of V-REP:
// ******************************************
int vrepVer;
simGetIntegerParameter(sim_intparam_program_version,&vrepVer);
if (vrepVer<30201) // if V-REP version is smaller than 3.02.01
{
std::cout << "Sorry, your V-REP copy is somewhat old. Cannot start 'ExternalRenderer' plugin.\n";
unloadVrepLibrary(vrepLib);
return(0); // Means error, V-REP will unload this plugin
}
// ******************************************
return(2); // initialization went fine, return the version number of this plugin!
}
// This is the plugin messaging routine (i.e. V-REP calls this function very often, with various messages):
VREP_DLLEXPORT void* v_repMessage(int message,int* auxiliaryData,void* customData,int* replyData)
{ // This is called quite often. Just watch out for messages/events you want to handle
// Keep following 6 lines at the beginning and unchanged:
static bool refreshDlgFlag=true;
int errorModeSaved;
simGetIntegerParameter(sim_intparam_error_report_mode,&errorModeSaved);
simSetIntegerParameter(sim_intparam_error_report_mode,sim_api_errormessage_ignore);
void* retVal=NULL;
// Here we can intercept many messages from V-REP (actually callbacks).
// For a complete list of messages that you can intercept/react with, search for "sim_message_eventcallback"-type constants
// in the V-REP user manual.
if (message==sim_message_eventcallback_refreshdialogs)
refreshDlgFlag=true; // V-REP dialogs were refreshed. Maybe a good idea to refresh this plugin's dialog too
if (message==sim_message_eventcallback_menuitemselected)
{ // A custom menu bar entry was selected..
if (auxiliaryData[0]==urdfDialog->dialogMenuItemHandle)
urdfDialog->makeVisible(!urdfDialog->getVisible()); // Toggle visibility of the dialog
}
if (message==sim_message_eventcallback_instancepass)
{ // It is important to always correctly react to events in V-REP. This message is the most convenient way to do so:
urdfDialog->handleCommands();
urdfDialog->setSimulationStopped(simGetSimulationState()==sim_simulation_stopped);
int flags=auxiliaryData[0];
bool sceneContentChanged=((flags&(1+2+4+8+16+32+64+256))!=0); // object erased, created, model or scene loaded, und/redo called, instance switched, or object scaled since last sim_message_eventcallback_instancepass message
bool instanceSwitched=((flags&64)!=0);
if (instanceSwitched)
{
// React to an instance switch here!!
}
if (sceneContentChanged)
{
refreshDlgFlag=true;
}
}
if ((message==sim_message_eventcallback_guipass)&&refreshDlgFlag)
{ // handle refresh of the plugin's dialog:
urdfDialog->refresh(); // Refresh the dialog
refreshDlgFlag=false;
}
// Keep following unchanged:
simSetIntegerParameter(sim_intparam_error_report_mode,errorModeSaved); // restore previous settings
return(retVal);
}
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];
GetModuleFileName(NULL,curDirAndFile,1023);
PathRemoveFileSpec(curDirAndFile);
std::string currentDirAndPath(curDirAndFile);
std::string temp(currentDirAndPath);
temp+="\\v_rep.dll";
vrepLib=loadVrepLibrary(temp.c_str());
if (vrepLib==NULL)
{
std::cout << "Error, could not find or correctly load v_rep.dll. Cannot start 'Wii' 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 v_rep.dll. Cannot start 'Wii' plugin.\n";
unloadVrepLibrary(vrepLib);
return(0); // Means error, V-REP will unload this plugin
}
int vrepVer;
simGetIntegerParameter(sim_intparam_program_version,&vrepVer);
if (vrepVer<20600) // if V-REP version is smaller than 2.06.00
{
printf("Sorry, your V-REP copy is somewhat old, V-REP 2.6.0 or later is required. Cannot start 'Wii' plugin.\n");
unloadVrepLibrary(vrepLib);
return(0); // initialization failed!!
}
// Register one new Lua command:
int inArgs1[]={1,sim_lua_arg_int};
simRegisterCustomLuaFunction(LUA_START,strConCat("number deviceIndex=",LUA_START,"(number deviceIndex)"),inArgs1,LUA_START_CALLBACK);
int inArgs2[]={1,sim_lua_arg_int};
simRegisterCustomLuaFunction(LUA_END,strConCat("number result=",LUA_END,"(number deviceIndex)"),inArgs2,LUA_END_CALLBACK);
int inArgs3[]={3,sim_lua_arg_int,sim_lua_arg_int,sim_lua_arg_bool};
simRegisterCustomLuaFunction(LUA_SET,strConCat("number result=",LUA_SET,"(number deviceIndex,number ledStates,boolean rumble)"),inArgs3,LUA_SET_CALLBACK);
int inArgs4[]={1,sim_lua_arg_int};
simRegisterCustomLuaFunction(LUA_GET,strConCat("number result,number buttons,table_3 accelerations,table_2 rollAndPitch,number battery=",LUA_GET,"(number deviceIndex)"),inArgs4,LUA_GET_CALLBACK);
InitializeCriticalSection(&m_cs);
return(3); // initialization went fine, return the version number of this plugin!
// version 1 was for V-REP 2.5.11 or earlier
// version 2 was for V-REP 2.6.0 or earlier
}
// This is the plugin messaging routine (i.e. V-REP calls this function very often, with various messages):
VREP_DLLEXPORT void* v_repMessage(int message,int* auxiliaryData,void* customData,int* replyData)
{
// This is called quite often. Just watch out for messages/events you want to handle
// Keep following 4 lines at the beginning and unchanged:
int errorModeSaved;
simGetIntegerParameter(sim_intparam_error_report_mode,&errorModeSaved);
simSetIntegerParameter(sim_intparam_error_report_mode,sim_api_errormessage_ignore);
void* retVal=NULL;
// Here we can intercept many messages from V-REP (actually callbacks). Only the most important messages are listed here:
if (message==sim_message_eventcallback_instancepass)
{
// This message is sent each time the scene was rendered (well, shortly after) (very often)
// When a simulation is not running, but you still need to execute some commands, then put some code here
ROS_server::instancePass();
}
if (message==sim_message_eventcallback_mainscriptabouttobecalled)
{
// Main script is about to be run (only called while a simulation is running (and not paused!))
//
// This is a good location to execute simulation commands
if (ROS_server::mainScriptAboutToBeCalled())
{
simSetBooleanParameter(sim_boolparam_waiting_for_trigger,1); // the remote API client can query that value
replyData[0]=0; // this tells V-REP that we don't wanna execute the main script
}
else
simSetBooleanParameter(sim_boolparam_waiting_for_trigger,0); // the remote API client can query that value
}
if (message==sim_message_eventcallback_simulationabouttostart)
{
// Simulation is about to start
ROS_server::simulationAboutToStart();
}
if (message==sim_message_eventcallback_simulationended)
{
// Simulation just ended
simSetBooleanParameter(sim_boolparam_waiting_for_trigger,0); // the remote API client can query that value
ROS_server::simulationEnded();
}
// Keep following unchanged:
simSetIntegerParameter(sim_intparam_error_report_mode,errorModeSaved); // restore previous settings
return(retVal);
}
void ROS_server::spinOnce()
{
// Disable error reporting (it is enabled in the service processing part, but we don't want error reporting for publishers/subscribers)
int errorModeSaved;
simGetIntegerParameter(sim_intparam_error_report_mode,&errorModeSaved);
simSetIntegerParameter(sim_intparam_error_report_mode,sim_api_errormessage_ignore);
//Handle all streaming (publishers)
streamAllData();
//Process all requested services and topic subscriptions
ros::spinOnce();
// Restore previous error report mode:
simSetIntegerParameter(sim_intparam_error_report_mode,errorModeSaved);
}
// This is the plugin messaging routine (i.e. V-REP calls this function very often, with various messages):
VREP_DLLEXPORT void* v_repMessage(int message,int* auxiliaryData,void* customData,int* replyData)
{
// This is called quite often. Just watch out for messages/events you want to handle
// Keep following 5 lines at the beginning and unchanged:
simLockInterface(1);
int errorModeSaved;
simGetIntegerParameter(sim_intparam_error_report_mode,&errorModeSaved);
simSetIntegerParameter(sim_intparam_error_report_mode,sim_api_errormessage_ignore);
void* retVal = NULL;
// Here we can intercept many messages from V-REP (actually callbacks).
// Only the most important messages are listed here:
if (message==sim_message_eventcallback_simulationabouttostart)
{
// Simulation is about to start
ROS_INFO("[V-REP_DXL_ARM] Simulation is about to start.");
getJointHandles();
}
if (message==sim_message_eventcallback_mainscriptabouttobecalled)
{
std::cout << " ---- ---- ---- " << std::endl;
// A simulation iteration is about to take place
for (int i = 0; i < JOINT_COUNT; ++i)
{
simGetJointPosition(joint_handles[i], &msg.data[i]);
msg.data[i] *= RAD_TO_DEG;
msg.data[i] += 150;
std::cout << msg.data[i] << std::endl;
}
msg.data[JOINT_COUNT] = 150; // Grasp -> center position
pub.publish(msg);
}
if (message==sim_message_eventcallback_simulationended)
{
// Simulation just ended
ROS_INFO("[V-REP_DXL_ARM] Simulation just ended.");
}
// Keep following unchanged:
simSetIntegerParameter(sim_intparam_error_report_mode, errorModeSaved); // restore previous settings
simLockInterface(0);
return (retVal);
}
VREP_DLLEXPORT void* v_repMessage(int message,int* auxiliaryData,void* customData,int* replyData)
{ // This is called quite often. Just watch out for messages/events you want to handle
// This function should not generate any error messages:
int errorModeSaved;
simGetIntegerParameter(sim_intparam_error_report_mode,&errorModeSaved);
simSetIntegerParameter(sim_intparam_error_report_mode,sim_api_errormessage_ignore);
void* retVal=NULL;
if (message==sim_message_eventcallback_simulationabouttostart)
simulationAboutToStart();
if (message==sim_message_eventcallback_simulationended)
simulationEnded();
simSetIntegerParameter(sim_intparam_error_report_mode,errorModeSaved); // restore previous settings
return(retVal);
}
void LUA_ENABLESUBSCRIBER_CALLBACK(SScriptCallBack* p)
{
CScriptFunctionData D;
int result=-1;
if (D.readDataFromStack(p->stackID,inArgs_ENABLESUBSCRIBER,inArgs_ENABLESUBSCRIBER[0]-2,LUA_ENABLESUBSCRIBER_COMMAND)) // -2 because the last two args are optional
{
std::vector<CScriptFunctionDataItem>* inData=D.getInDataPtr();
std::string topicName(inData->at(0).stringData[0]);
if (topicName.length()>0)
{
int queueSize=inData->at(1).int32Data[0];
int streamCmd=inData->at(2).int32Data[0];
int auxInt1=inData->at(3).int32Data[0];
int auxInt2=inData->at(4).int32Data[0];
std::string auxString(inData->at(5).stringData[0]);
int callbackTag_before=-1; // no callback (default)
int callbackTag_after=-1; // no callback (default)
if (inData->size()>6)
callbackTag_before=inData->at(6).int32Data[0];
if (inData->size()>7)
callbackTag_after=inData->at(7).int32Data[0];
int errorModeSaved;
simGetIntegerParameter(sim_intparam_error_report_mode,&errorModeSaved);
simSetIntegerParameter(sim_intparam_error_report_mode,sim_api_errormessage_ignore);
result=ROS_server::addSubscriber(topicName.c_str(),queueSize,streamCmd,auxInt1,auxInt2,auxString.c_str(),callbackTag_before,callbackTag_after);
simSetIntegerParameter(sim_intparam_error_report_mode,errorModeSaved); // restore previous settings
if (result==-1)
simSetLastError(LUA_ENABLESUBSCRIBER_COMMAND, "Topic could not be subscribed."); // output an error
}
else
simSetLastError(LUA_ENABLESUBSCRIBER_COMMAND, "Invalid topic name."); // output an error
}
D.pushOutData(CScriptFunctionDataItem(result));
D.writeDataToStack(p->stackID);
}
void LUA_DISABLESUBSCRIBER_CALLBACK(SScriptCallBack* p)
{
CScriptFunctionData D;
bool result=false;
if (D.readDataFromStack(p->stackID,inArgs_DISABLESUBSCRIBER,inArgs_DISABLESUBSCRIBER[0],LUA_DISABLESUBSCRIBER_COMMAND))
{
std::vector<CScriptFunctionDataItem>* inData=D.getInDataPtr();
int errorModeSaved;
simGetIntegerParameter(sim_intparam_error_report_mode,&errorModeSaved);
simSetIntegerParameter(sim_intparam_error_report_mode,sim_api_errormessage_ignore);
result=ROS_server::removeSubscriber(inData->at(0).int32Data[0]);
simSetIntegerParameter(sim_intparam_error_report_mode,errorModeSaved); // restore previous settings
if (!result)
simSetLastError(LUA_DISABLESUBSCRIBER_COMMAND, "Topic could not be unsubscribed."); // output an error
}
D.pushOutData(CScriptFunctionDataItem(result));
D.writeDataToStack(p->stackID);
}
void LUA_ENABLEPUBLISHER_CALLBACK(SScriptCallBack* p)
{
CScriptFunctionData D;
std::string effectiveTopicName;
if (D.readDataFromStack(p->stackID,inArgs_ENABLEPUBLISHER,inArgs_ENABLEPUBLISHER[0]-1,LUA_ENABLEPUBLISHER_COMMAND)) // -1 because the last argument is optional
{
std::vector<CScriptFunctionDataItem>* inData=D.getInDataPtr();
std::string topicName(inData->at(0).stringData[0]);
if (topicName.length()>0)
{
int queueSize=inData->at(1).int32Data[0];
int streamCmd=inData->at(2).int32Data[0];
int auxInt1=inData->at(3).int32Data[0];
int auxInt2=inData->at(4).int32Data[0];
std::string auxString(inData->at(5).stringData[0]);
int publishCnt=0; // 0 is the default value for this optional argument
if (inData->size()>6)
publishCnt=inData->at(6).int32Data[0];
int errorModeSaved;
simGetIntegerParameter(sim_intparam_error_report_mode,&errorModeSaved);
simSetIntegerParameter(sim_intparam_error_report_mode,sim_api_errormessage_ignore);
effectiveTopicName=ROS_server::addPublisher(topicName.c_str(),queueSize,streamCmd,auxInt1,auxInt2,auxString.c_str(),publishCnt);
simSetIntegerParameter(sim_intparam_error_report_mode,errorModeSaved); // restore previous settings
if (effectiveTopicName.length()==0)
simSetLastError(LUA_ENABLEPUBLISHER_COMMAND, "Topic could not be published."); // output an error
}
else
simSetLastError(LUA_ENABLEPUBLISHER_COMMAND, "Invalid topic name."); // output an error
}
if (effectiveTopicName.size()!=0)
D.pushOutData(CScriptFunctionDataItem(effectiveTopicName));
D.writeDataToStack(p->stackID);
}
// This is the plugin start routine (called just once, just after the plugin was loaded):
VREP_DLLEXPORT unsigned char v_repStart(void* reservedPointer,int reservedInt)
{
// Dynamically load and bind V-REP functions:
// ******************************************
// 1. Figure out this plugin's directory:
char curDirAndFile[1024];
#ifdef _WIN32
_getcwd(curDirAndFile, sizeof(curDirAndFile));
#elif defined (__linux) || defined (__APPLE__)
getcwd(curDirAndFile, sizeof(curDirAndFile));
#endif
std::string currentDirAndPath(curDirAndFile);
// 2. Append the V-REP library's name:
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__ */
// 3. Load the V-REP library:
vrepLib=loadVrepLibrary(temp.c_str());
if (vrepLib==NULL)
{
std::cout << "Error, could not find or correctly load the V-REP library. Cannot start 'Collada' 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 'Collada' plugin.\n";
unloadVrepLibrary(vrepLib);
return(0); // Means error, V-REP will unload this plugin
}
// ******************************************
// Check the version of V-REP:
// ******************************************
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 'Collada' plugin.\n";
unloadVrepLibrary(vrepLib);
return(0); // Means error, V-REP will unload this plugin
}
// ******************************************
// Check if V-REP runs in headless mode:
// ******************************************
if (simGetBooleanParameter(sim_boolparam_headless)>0)
{
std::cout << "V-REP runs in headless mode. Cannot start 'Collada' plugin.\n";
unloadVrepLibrary(vrepLib);
return(0); // Means error, V-REP will unload this plugin
}
// ******************************************
QWidget* pMainWindow = (QWidget*)simGetMainWindow(1);
colladaDialog=new CColladaDialog(pMainWindow); // The plugin dialog
simAddModuleMenuEntry("",1,&colladaDialog->dialogMenuItemHandle);
simSetModuleMenuItemState(colladaDialog->dialogMenuItemHandle,1,"COLLADA import/export...");
return(PLUGIN_VERSION); // initialization went fine, we return the version number of this plugin (can be queried with simGetModuleName)
}
// This is the plugin start routine (called just once, just after the plugin was loaded):
VREP_DLLEXPORT unsigned char v_repStart(void* reservedPointer,int reservedInt)
{
// Dynamically load and bind V-REP functions:
// ******************************************
// 1. Figure out this plugin's directory:
char curDirAndFile[1024];
getcwd(curDirAndFile, sizeof(curDirAndFile));
std::string currentDirAndPath(curDirAndFile);
// 2. Append the V-REP library's name:
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
// 3. Load the V-REP library:
vrepLib=loadVrepLibrary(temp.c_str());
if (vrepLib==NULL)
{
std::cout << "Error, could not find or correctly load the V-REP library. Cannot start 'ROS' 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 'ROS' plugin.\n";
unloadVrepLibrary(vrepLib);
return(0); // Means error, V-REP will unload this plugin
}
// ******************************************
// Check the version of V-REP:
// ******************************************
int vrepVer;
simGetIntegerParameter(sim_intparam_program_version,&vrepVer);
if (vrepVer<20605) // if V-REP version is smaller than 2.06.04
{
std::cout << "Sorry, your V-REP copy is somewhat old. Cannot start 'ROS' plugin.\n";
unloadVrepLibrary(vrepLib);
return(0); // Means error, V-REP will unload this plugin
}
// ******************************************
// Initialize the ROS part:
if(!ROS_server::initialize())
{
std::cout << "ROS master is not running. Cannot start 'ROS' plugin.\n";
return (0); //If the master is not running then the plugin is not loaded.
}
// Register the new Lua commands:
simRegisterScriptCallbackFunction(strConCat(LUA_ENABLEPUBLISHER_COMMAND,"@","Ros"),strConCat("string topicName=",LUA_ENABLEPUBLISHER_COMMAND,"(string topicName,number queueSize,number rosStreamCmd,number auxInt1,number auxInt2,string auxString,number publishCnt=0)"),LUA_ENABLEPUBLISHER_CALLBACK);
simRegisterScriptCallbackFunction(strConCat(LUA_DISABLEPUBLISHER_COMMAND,"@","Ros"),strConCat("number referenceCounter=",LUA_DISABLEPUBLISHER_COMMAND,"(string topicName)"),LUA_DISABLEPUBLISHER_CALLBACK);
simRegisterScriptCallbackFunction(strConCat(LUA_WAKEPUBLISHER_COMMAND,"@","Ros"),strConCat("number result=",LUA_WAKEPUBLISHER_COMMAND,"(string topicName,number publishCnt)"),LUA_WAKEPUBLISHER_CALLBACK);
simRegisterScriptCallbackFunction(strConCat(LUA_ENABLESUBSCRIBER_COMMAND,"@","Ros"),strConCat("number subscriberId=",LUA_ENABLESUBSCRIBER_COMMAND,"(string topicName,number queueSize,number rosStreamCmd,number auxInt1,number auxInt2,string auxString,number callbackTag_before=-1,number callbackTag_after=-1)"),LUA_ENABLESUBSCRIBER_CALLBACK);
simRegisterScriptCallbackFunction(strConCat(LUA_DISABLESUBSCRIBER_COMMAND,"@","Ros"),strConCat("boolean result=",LUA_DISABLESUBSCRIBER_COMMAND,"(number subscriberID)"),LUA_DISABLESUBSCRIBER_CALLBACK);
// Publisher constants:
simRegisterScriptVariable("simros_strmcmd_get_laser_scanner_data",(boost::lexical_cast<std::string>(int(simros_strmcmd_get_laser_scanner_data))).c_str(),0);
simRegisterScriptVariable("simros_strmcmd_get_odom_data",(boost::lexical_cast<std::string>(int(simros_strmcmd_get_odom_data))).c_str(),0);
simRegisterScriptVariable("simros_strmcmd_get_object_selection",(boost::lexical_cast<std::string>(int(simros_strmcmd_get_object_selection))).c_str(),0);
simRegisterScriptVariable("simros_strmcmd_get_array_parameter",(boost::lexical_cast<std::string>(int(simros_strmcmd_get_array_parameter))).c_str(),0);
simRegisterScriptVariable("simros_strmcmd_get_boolean_parameter",(boost::lexical_cast<std::string>(int(simros_strmcmd_get_boolean_parameter))).c_str(),0);
simRegisterScriptVariable("simros_strmcmd_get_dialog_result",(boost::lexical_cast<std::string>(int(simros_strmcmd_get_dialog_result))).c_str(),0);
simRegisterScriptVariable("simros_strmcmd_get_floating_parameter",(boost::lexical_cast<std::string>(int(simros_strmcmd_get_floating_parameter))).c_str(),0);
simRegisterScriptVariable("simros_strmcmd_get_integer_parameter",(boost::lexical_cast<std::string>(int(simros_strmcmd_get_integer_parameter))).c_str(),0);
simRegisterScriptVariable("simros_strmcmd_get_joint_state",(boost::lexical_cast<std::string>(int(simros_strmcmd_get_joint_state))).c_str(),0);
simRegisterScriptVariable("simros_strmcmd_get_object_pose",(boost::lexical_cast<std::string>(int(simros_strmcmd_get_object_pose))).c_str(),0);
// simRegisterScriptVariable("simros_strmcmd_get_object_quaternion",(boost::lexical_cast<std::string>(int(simros_strmcmd_get_object_quaternion))).c_str(),0);
simRegisterScriptVariable("simros_strmcmd_get_object_parent",(boost::lexical_cast<std::string>(int(simros_strmcmd_get_object_parent))).c_str(),0);
// simRegisterScriptVariable("simros_strmcmd_get_object_position",(boost::lexical_cast<std::string>(int(simros_strmcmd_get_object_position))).c_str(),0);
simRegisterScriptVariable("simros_strmcmd_get_objects",(boost::lexical_cast<std::string>(int(simros_strmcmd_get_objects))).c_str(),0);
simRegisterScriptVariable("simros_strmcmd_get_string_parameter",(boost::lexical_cast<std::string>(int(simros_strmcmd_get_string_parameter))).c_str(),0);
simRegisterScriptVariable("simros_strmcmd_get_ui_event_button",(boost::lexical_cast<std::string>(int(simros_strmcmd_get_ui_event_button))).c_str(),0);
simRegisterScriptVariable("simros_strmcmd_get_vision_sensor_depth_buffer",(boost::lexical_cast<std::string>(int(simros_strmcmd_get_vision_sensor_depth_buffer))).c_str(),0);
simRegisterScriptVariable("simros_strmcmd_get_vision_sensor_image",(boost::lexical_cast<std::string>(int(simros_strmcmd_get_vision_sensor_image))).c_str(),0);
// simRegisterScriptVariable("simros_strmcmd_get_joint_force",(boost::lexical_cast<std::string>(int(simros_strmcmd_get_joint_force))).c_str(),0);
simRegisterScriptVariable("simros_strmcmd_read_collision",(boost::lexical_cast<std::string>(int(simros_strmcmd_read_collision))).c_str(),0);
simRegisterScriptVariable("simros_strmcmd_read_distance",(boost::lexical_cast<std::string>(int(simros_strmcmd_read_distance))).c_str(),0);
simRegisterScriptVariable("simros_strmcmd_read_force_sensor",(boost::lexical_cast<std::string>(int(simros_strmcmd_read_force_sensor))).c_str(),0);
simRegisterScriptVariable("simros_strmcmd_read_proximity_sensor",(boost::lexical_cast<std::string>(int(simros_strmcmd_read_proximity_sensor))).c_str(),0);
simRegisterScriptVariable("simros_strmcmd_read_vision_sensor",(boost::lexical_cast<std::string>(int(simros_strmcmd_read_vision_sensor))).c_str(),0);
simRegisterScriptVariable("simros_strmcmd_get_object_float_parameter",(boost::lexical_cast<std::string>(int(simros_strmcmd_get_object_float_parameter))).c_str(),0);
simRegisterScriptVariable("simros_strmcmd_get_object_int_parameter",(boost::lexical_cast<std::string>(int(simros_strmcmd_get_object_int_parameter))).c_str(),0);
simRegisterScriptVariable("simros_strmcmd_get_ui_button_property",(boost::lexical_cast<std::string>(int(simros_strmcmd_get_ui_button_property))).c_str(),0);
simRegisterScriptVariable("simros_strmcmd_get_ui_slider",(boost::lexical_cast<std::string>(int(simros_strmcmd_get_ui_slider))).c_str(),0);
simRegisterScriptVariable("simros_strmcmd_get_float_signal",(boost::lexical_cast<std::string>(int(simros_strmcmd_get_float_signal))).c_str(),0);
simRegisterScriptVariable("simros_strmcmd_get_integer_signal",(boost::lexical_cast<std::string>(int(simros_strmcmd_get_integer_signal))).c_str(),0);
simRegisterScriptVariable("simros_strmcmd_get_string_signal",(boost::lexical_cast<std::string>(int(simros_strmcmd_get_string_signal))).c_str(),0);
simRegisterScriptVariable("simros_strmcmd_get_and_clear_string_signal",(boost::lexical_cast<std::string>(int(simros_strmcmd_get_and_clear_string_signal))).c_str(),0);
simRegisterScriptVariable("simros_strmcmd_get_transform",(boost::lexical_cast<std::string>(int(simros_strmcmd_get_transform))).c_str(),0);
simRegisterScriptVariable("simros_strmcmd_get_range_finder_data",(boost::lexical_cast<std::string>(int(simros_strmcmd_get_range_finder_data))).c_str(),0);
simRegisterScriptVariable("simros_strmcmd_get_depth_sensor_data",(boost::lexical_cast<std::string>(int(simros_strmcmd_get_depth_sensor_data))).c_str(),0);
simRegisterScriptVariable("simros_strmcmd_get_vision_sensor_info",(boost::lexical_cast<std::string>(int(simros_strmcmd_get_vision_sensor_info))).c_str(),0);
simRegisterScriptVariable("simros_strmcmd_get_twist_status",(boost::lexical_cast<std::string>(int(simros_strmcmd_get_twist_status))).c_str(),0);
simRegisterScriptVariable("simros_strmcmd_get_object_group_data",(boost::lexical_cast<std::string>(int(simros_strmcmd_get_object_group_data))).c_str(),0);
simRegisterScriptVariable("simros_strmcmd_receive_data_from_script_function",(boost::lexical_cast<std::string>(int(simros_strmcmd_receive_data_from_script_function))).c_str(),0);
// Subscriber constants:
simRegisterScriptVariable("simros_strmcmd_add_status_bar_message",(boost::lexical_cast<std::string>(int(simros_strmcmd_add_status_bar_message))).c_str(),0);
simRegisterScriptVariable("simros_strmcmd_set_object_selection",(boost::lexical_cast<std::string>(int(simros_strmcmd_set_object_selection))).c_str(),0);
simRegisterScriptVariable("simros_strmcmd_auxiliary_console_print",(boost::lexical_cast<std::string>(int(simros_strmcmd_auxiliary_console_print))).c_str(),0);
simRegisterScriptVariable("simros_strmcmd_set_array_parameter",(boost::lexical_cast<std::string>(int(simros_strmcmd_set_array_parameter))).c_str(),0);
simRegisterScriptVariable("simros_strmcmd_set_boolean_parameter",(boost::lexical_cast<std::string>(int(simros_strmcmd_set_boolean_parameter))).c_str(),0);
simRegisterScriptVariable("simros_strmcmd_set_floating_parameter",(boost::lexical_cast<std::string>(int(simros_strmcmd_set_floating_parameter))).c_str(),0);
simRegisterScriptVariable("simros_strmcmd_set_integer_parameter",(boost::lexical_cast<std::string>(int(simros_strmcmd_set_integer_parameter))).c_str(),0);
simRegisterScriptVariable("simros_strmcmd_set_joint_force",(boost::lexical_cast<std::string>(int(simros_strmcmd_set_joint_force))).c_str(),0);
simRegisterScriptVariable("simros_strmcmd_set_joint_position",(boost::lexical_cast<std::string>(int(simros_strmcmd_set_joint_position))).c_str(),0);
simRegisterScriptVariable("simros_strmcmd_set_joint_target_position",(boost::lexical_cast<std::string>(int(simros_strmcmd_set_joint_target_position))).c_str(),0);
simRegisterScriptVariable("simros_strmcmd_set_joint_target_velocity",(boost::lexical_cast<std::string>(int(simros_strmcmd_set_joint_target_velocity))).c_str(),0);
simRegisterScriptVariable("simros_strmcmd_set_vision_sensor_image",(boost::lexical_cast<std::string>(int(simros_strmcmd_set_vision_sensor_image))).c_str(),0);
simRegisterScriptVariable("simros_strmcmd_set_object_float_parameter",(boost::lexical_cast<std::string>(int(simros_strmcmd_set_object_float_parameter))).c_str(),0);
simRegisterScriptVariable("simros_strmcmd_set_object_int_parameter",(boost::lexical_cast<std::string>(int(simros_strmcmd_set_object_int_parameter))).c_str(),0);
// simRegisterScriptVariable("simros_strmcmd_set_object_orientation",(boost::lexical_cast<std::string>(int(simros_strmcmd_set_object_orientation))).c_str(),0);
simRegisterScriptVariable("simros_strmcmd_set_object_position",(boost::lexical_cast<std::string>(int(simros_strmcmd_set_object_position))).c_str(),0);
simRegisterScriptVariable("simros_strmcmd_set_object_pose",(boost::lexical_cast<std::string>(int(simros_strmcmd_set_object_pose))).c_str(),0);
simRegisterScriptVariable("simros_strmcmd_set_joint_state",(boost::lexical_cast<std::string>(int(simros_strmcmd_set_joint_state))).c_str(),0);
simRegisterScriptVariable("simros_strmcmd_set_object_quaternion",(boost::lexical_cast<std::string>(int(simros_strmcmd_set_object_quaternion))).c_str(),0);
simRegisterScriptVariable("simros_strmcmd_set_ui_button_label",(boost::lexical_cast<std::string>(int(simros_strmcmd_set_ui_button_label))).c_str(),0);
simRegisterScriptVariable("simros_strmcmd_set_ui_button_property",(boost::lexical_cast<std::string>(int(simros_strmcmd_set_ui_button_property))).c_str(),0);
simRegisterScriptVariable("simros_strmcmd_set_ui_slider",(boost::lexical_cast<std::string>(int(simros_strmcmd_set_ui_slider))).c_str(),0);
simRegisterScriptVariable("simros_strmcmd_clear_float_signal",(boost::lexical_cast<std::string>(int(simros_strmcmd_clear_float_signal))).c_str(),0);
simRegisterScriptVariable("simros_strmcmd_clear_integer_signal",(boost::lexical_cast<std::string>(int(simros_strmcmd_clear_integer_signal))).c_str(),0);
simRegisterScriptVariable("simros_strmcmd_clear_string_signal",(boost::lexical_cast<std::string>(int(simros_strmcmd_clear_string_signal))).c_str(),0);
simRegisterScriptVariable("simros_strmcmd_set_float_signal",(boost::lexical_cast<std::string>(int(simros_strmcmd_set_float_signal))).c_str(),0);
simRegisterScriptVariable("simros_strmcmd_set_integer_signal",(boost::lexical_cast<std::string>(int(simros_strmcmd_set_integer_signal))).c_str(),0);
simRegisterScriptVariable("simros_strmcmd_set_string_signal",(boost::lexical_cast<std::string>(int(simros_strmcmd_set_string_signal))).c_str(),0);
simRegisterScriptVariable("simros_strmcmd_append_string_signal",(boost::lexical_cast<std::string>(int(simros_strmcmd_append_string_signal))).c_str(),0);
simRegisterScriptVariable("simros_strmcmd_set_twist_command",(boost::lexical_cast<std::string>(int(simros_strmcmd_set_twist_command))).c_str(),0);
simRegisterScriptVariable("simros_strmcmd_set_joy_sensor",(boost::lexical_cast<std::string>(int(simros_strmcmd_set_joy_sensor))).c_str(),0);
// simRegisterScriptVariable("simros_strmcmd_set_joint_trajectory",(boost::lexical_cast<std::string>(int(simros_strmcmd_set_joint_trajectory))).c_str(),0);
simRegisterScriptVariable("simros_strmcmd_send_data_to_script_function",(boost::lexical_cast<std::string>(int(simros_strmcmd_send_data_to_script_function))).c_str(),0);
return(PLUGIN_VERSION); // initialization went fine, we return the version number of this plugin (can be queried with simGetModuleName)
}
VREP_DLLEXPORT unsigned char v_repStart(void* reservedPointer,int reservedInt)
{ // This is called just once, at the start of V-REP.
WIN_AFX_MANAGE_STATE;
// Dynamically load and bind V-REP functions:
char curDirAndFile[1024];
#ifdef _WIN32
GetModuleFileName(NULL,curDirAndFile,1023);
PathRemoveFileSpec(curDirAndFile);
#elif defined (__linux) || defined (__APPLE__)
if (getcwd(curDirAndFile, sizeof(curDirAndFile))==NULL){
// output some error if desired
}
#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 v_rep.dll. Cannot start '" << pluginName << "' 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 v_rep.dll. Cannot start '" << pluginName << "' plugin.\n";
unloadVrepLibrary(vrepLib);
return(0); // Means error, V-REP will unload this plugin
}
// Check the V-REP version:
int vrepVer;
simGetIntegerParameter(sim_intparam_program_version,&vrepVer);
if (vrepVer<VREP_VERISON_MAJOR*1e4+VREP_VERSION_MINOR*1e2+VREP_VERSION_PATCH)
{
std::cout << "Sorry, your V-REP copy is somewhat old, V-REP" <<
VREP_VERISON_MAJOR << "." << VREP_VERSION_MINOR << "." << VREP_VERSION_PATCH <<
"or higher is required. Cannot start '" << pluginName << "' plugin.\n";
unloadVrepLibrary(vrepLib);
return(0); // Means error, V-REP will unload this plugin
}
//Initialize ROS
if(!ros::isInitialized()){
int argc = 0;
ros::init(argc,NULL,"vrep");
}
if(!ros::master::check())
{
std::cout << "ROS master is not running. Cannot start '" << pluginName << "' plugin.\n";
return (0);
}
// Do the normal plugin initialization:
simLockInterface(1);
objectContainer = new GenericObjectContainer();
// Register lua collbacks
const int inArgsSimExtGetAllCustomData[]={1,sim_lua_arg_int};
simRegisterCustomLuaFunction("simExtGetAllCustomData",
"string customData=simExtGetAllCustomData(number objectHandle)",
inArgsSimExtGetAllCustomData, GenericObjectContainer::simExtGetAllCustomData);
const int inArgsSimExtGetCustomDataFromHeader[]={2,sim_lua_arg_int,sim_lua_arg_int};
simRegisterCustomLuaFunction("simExtGetCustomDataFromHeader",
"number data=simExtGetCustomDataFromHeader(number objectHandle, number dataHeader)",
inArgsSimExtGetCustomDataFromHeader, GenericObjectContainer::simExtGetCustomDataFromHeader);
const int inArgsSimExtSetFloatCustomDataFromHeader[]={3,sim_lua_arg_int,sim_lua_arg_int,sim_lua_arg_float};
simRegisterCustomLuaFunction("simExtSetFloatCustomDataFromHeader",
"number data=simExtSetFloatCustomDataFromHeader(number objectHandle, number dataHeader, number value)",
inArgsSimExtSetFloatCustomDataFromHeader, GenericObjectContainer::simExtSetFloatCustomDataFromHeader);
const int inArgsSimExtSetIntCustomDataFromHeader[]={3,sim_lua_arg_int,sim_lua_arg_int,sim_lua_arg_int};
simRegisterCustomLuaFunction("simExtSetIntCustomDataFromHeader",
"number data=simExtSetIntCustomDataFromHeader(number objectHandle, number dataHeader, number value)",
inArgsSimExtSetIntCustomDataFromHeader, GenericObjectContainer::simExtSetIntCustomDataFromHeader);
CustomDataHeaders::registerCustomDataHeaders();
simLockInterface(0);
return(PLUGIN_VERSION); // initialization went fine, we return the version number of this plugin (can be queried with simGetModuleName)
}
// This is the plugin messaging routine (i.e. V-REP calls this function very often, with various messages):
VREP_DLLEXPORT void* v_repMessage(int message,int* auxiliaryData,void* customData,int* replyData)
{ // This is called quite often. Just watch out for messages/events you want to handle
// Keep following 5 lines at the beginning and unchanged:
static bool refreshDlgFlag=true;
int errorModeSaved;
simGetIntegerParameter(sim_intparam_error_report_mode,&errorModeSaved);
simSetIntegerParameter(sim_intparam_error_report_mode,sim_api_errormessage_ignore);
void* retVal=NULL;
// Here we can intercept many messages from V-REP (actually callbacks). Only the most important messages are listed here.
// For a complete list of messages that you can intercept/react with, search for "sim_message_eventcallback"-type constants
// in the V-REP user manual.
if (message==sim_message_eventcallback_refreshdialogs)
refreshDlgFlag=true; // V-REP dialogs were refreshed. Maybe a good idea to refresh this plugin's dialog too
if (message==sim_message_eventcallback_menuitemselected)
{ // A custom menu bar entry was selected..
// here you could make a plugin's main dialog visible/invisible
}
if (message==sim_message_eventcallback_instancepass)
{ // This message is sent each time the scene was rendered (well, shortly after) (very often)
// It is important to always correctly react to events in V-REP. This message is the most convenient way to do so:
int flags=auxiliaryData[0];
bool sceneContentChanged=((flags&(1+2+4+8+16+32+64+256))!=0); // object erased, created, model or scene loaded, und/redo called, instance switched, or object scaled since last sim_message_eventcallback_instancepass message
bool instanceSwitched=((flags&64)!=0);
if (instanceSwitched)
{
// React to an instance switch here!!
}
if (sceneContentChanged)
{ // we actualize plugin objects for changes in the scene
refreshDlgFlag=true; // always a good idea to trigger a refresh of this plugin's dialog here
}
//...
//////////////
// PUT MAIN CODE HERE
/////////////
if (simGetSimulationState() != sim_simulation_advancing_abouttostop) //checks if the simulation is still running
{
//if(kukaPluginPG) BOOST_LOG_TRIVIAL(info) << "current simulation time:" << simGetSimulationTime() << std::endl; // gets simulation time point
}
// make sure it is "right" (what does that mean?)
// find the v-rep C functions to do the following:
////////////////////////////////////////////////////
// Use handles that were found at the "start" of this simulation running
// next few Lines get the joint angles, torque, etc from the simulation
if (kukaPluginPG)// && kukaPluginPG->allHandlesSet == true // allHandlesSet now handled internally
{
try
{
// run one loop synchronizing the arm and plugin
kukaPluginPG->run_one();
} catch (const boost::exception& e){
// log the error and print it to the screen, don't release the exception
std::string initerr("v_repExtKukaLBRiiwa plugin encountered the following error and will disable itself:\n" + boost::diagnostic_information(e));
simAddStatusbarMessage( initerr.c_str());
BOOST_LOG_TRIVIAL(error) << initerr;
kukaPluginPG.reset();
} catch (const std::exception& e){
// log the error and print it to the screen, don't release the exception
std::string initerr("v_repExtKukaLBRiiwa plugin encountered the following error and will disable itself:\n" + boost::diagnostic_information(e));
simAddStatusbarMessage( initerr.c_str());
BOOST_LOG_TRIVIAL(error) << initerr;
kukaPluginPG.reset();
} catch (...){
// log the error and print it to the screen, don't release the exception
std::string initerr("v_repExtKukaLBRiiwa plugin encountered an unknown error and will disable itself. Please debug this issue! file and line:" + std::string(__FILE__) + " " + boost::lexical_cast<std::string>(__LINE__) + "\n");
simAddStatusbarMessage( initerr.c_str());
BOOST_LOG_TRIVIAL(error) << initerr;
kukaPluginPG.reset();
}
}
}
if (message==sim_message_eventcallback_mainscriptabouttobecalled)
{ // The main script is about to be run (only called while a simulation is running (and not paused!))
}
if (message==sim_message_eventcallback_simulationabouttostart)
{ // Simulation is about to start
/////////////////////////
// PUT OBJECT STARTUP CODE HERE
////////////////////
// get the handles to all the objects, joints, etc that we need
/////////////////////
// simGetObjectHandle
// try {
// BOOST_LOG_TRIVIAL(info) << "Starting KUKA LBR iiwa plugin connection to Kuka iiwa\n";
// kukaPluginPG = std::make_shared<grl::KukaVrepPlugin>();
// kukaPluginPG->construct();
// //kukaPluginPG->run_one(); // for debugging purposes only
// //kukaPluginPG.reset(); // for debugging purposes only
// } catch (boost::exception& e){
// // log the error and print it to the screen, don't release the exception
// std::string initerr("v_repExtKukaLBRiiwa plugin initialization error:\n" + boost::diagnostic_information(e));
// simAddStatusbarMessage( initerr.c_str());
// BOOST_LOG_TRIVIAL(error) << initerr;
// }
}
if (message==sim_message_eventcallback_simulationended)
{ // Simulation just ended
/////////////////////////
// PUT OBJECT RESET CODE HERE
// close out as necessary
////////////////////
BOOST_LOG_TRIVIAL(info) << "Ending KUKA LBR iiwa plugin connection to Kuka iiwa\n";
kukaPluginPG.reset();
}
if (message==sim_message_eventcallback_moduleopen)
{ // A script called simOpenModule (by default the main script). Is only called during simulation.
if ( (customData==NULL)||(_stricmp("PluginSkeleton",(char*)customData)==0) ) // is the command also meant for this plugin?
{
// we arrive here only at the beginning of a simulation
}
}
if (message==sim_message_eventcallback_modulehandle)
{ // A script called simHandleModule (by default the main script). Is only called during simulation.
if ( (customData==NULL)||(_stricmp("PluginSkeleton",(char*)customData)==0) ) // is the command also meant for this plugin?
{
// we arrive here only while a simulation is running
}
}
if (message==sim_message_eventcallback_moduleclose)
{ // A script called simCloseModule (by default the main script). Is only called during simulation.
if ( (customData==NULL)||(_stricmp("PluginSkeleton",(char*)customData)==0) ) // is the command also meant for this plugin?
{
// we arrive here only at the end of a simulation
}
}
if (message==sim_message_eventcallback_instanceswitch)
{ // Here the user switched the scene. React to this message in a similar way as you would react to a full
// scene content change. In this plugin example, we react to an instance switch by reacting to the
// sim_message_eventcallback_instancepass message and checking the bit 6 (64) of the auxiliaryData[0]
// (see here above)
}
if (message==sim_message_eventcallback_broadcast)
{ // Here we have a plugin that is broadcasting data (the broadcaster will also receive this data!)
}
if (message==sim_message_eventcallback_scenesave)
{ // The scene is about to be saved. If required do some processing here (e.g. add custom scene data to be serialized with the scene)
}
// You can add many more messages to handle here
if ((message==sim_message_eventcallback_guipass)&&refreshDlgFlag)
{ // handle refresh of the plugin's dialogs
// ...
refreshDlgFlag=false;
}
// Keep following unchanged:
simSetIntegerParameter(sim_intparam_error_report_mode,errorModeSaved); // restore previous settings
return(retVal);
}
VREP_DLLEXPORT void* v_repMessage(int message,int* auxiliaryData,void* customData,int* replyData)
{ // This is called quite often. Just watch out for messages/events you want to handle
WIN_AFX_MANAGE_STATE;
simLockInterface(1);
static bool refreshDlgFlag=true;
// This function should not generate any error messages:
int errorModeSaved;
simGetIntegerParameter(sim_intparam_error_report_mode,&errorModeSaved);
simSetIntegerParameter(sim_intparam_error_report_mode,sim_api_errormessage_ignore);
void* retVal=NULL;
if (message==sim_message_eventcallback_refreshdialogs){
// V-REP dialogs were refreshed. Maybe a good idea to refresh this plugin's dialog too
refreshDlgFlag=true;
}
if (message==sim_message_eventcallback_menuitemselected){
// A custom menu bar entry was selected..
}
if (message==sim_message_eventcallback_instancepass){
// It is important to always correctly react to events in V-REP. This message is the most convenient way to do so:
const int flags=auxiliaryData[0];
const bool sceneContentChanged=((flags&(1+2+4+8+16+32+64+256))!=0); // object erased, created, model or scene loaded, und/redo called, instance switched, or object scaled since last sim_message_eventcallback_instancepass message
const bool instanceSwitched=((flags&64)!=0);
if (instanceSwitched)
{
// React to an instance switch here!!
}
if (sceneContentChanged)
{ // we actualize plugin objects for changes in the scene
objectContainer->actualizeForSceneContent();
refreshDlgFlag=true;
}
}
if (message==sim_message_eventcallback_moduleopen)
{ // A script called simOpenModule (by default the main script). Is only called during simulation.
if ( (customData==NULL)||(_stricmp(pluginName,(char*)customData)==0) ) // is the command also meant for this plugin?
objectContainer->startOfSimulation(); // yes!
}
if (message==sim_message_eventcallback_modulehandle){
// A script called simHandleModule (by default the main script). Is only called during simulation.
if ( (customData==NULL)||(_stricmp(pluginName,(char*)customData)==0) ) // is the command also meant for this plugin?
{
//clock_t init, final;
//init=clock();
objectContainer->handleSimulation();
//final=clock()-init;
//std::cout << (double)final / ((double)CLOCKS_PER_SEC) << std::endl;
}// yes!
}
if (message==sim_message_eventcallback_moduleclose){
// A script called simCloseModule (by default the main script). Is only called during simulation.
if ( (customData==NULL)||(_stricmp(pluginName,(char*)customData)==0) ) // is the command also meant for this plugin?
objectContainer->endOfSimulation(); // yes!
}
if (message==sim_message_eventcallback_instanceswitch){
// Here the user switched the instance. React to this message in a similar way as you would react to a full
// scene content change. In this plugin example, we react to an instance switch by reacting to the
// sim_message_eventcallback_instancepass message and checking the bit 6 (64) of the auxiliaryData[0]
// (see here above)
}
if (message==sim_message_eventcallback_broadcast){
// Here we have a plugin that is broadcasting data (the broadcaster will also receive this data!)
}
if (message==sim_message_eventcallback_scenesave){
// The scene is about to be saved. If required do some processing here (e.g. add custom scene data to be serialized with the scene)
}
if (message==sim_message_eventcallback_simulationabouttostart){
// Simulation is about to start
}
if (message==sim_message_eventcallback_simulationended){
// Simulation just ended
}
// You can add more messages to handle here
if ((message==sim_message_eventcallback_guipass)&&refreshDlgFlag){
// handle refresh of the plugin's dialog:
refreshDlgFlag=false;
}
simSetIntegerParameter(sim_intparam_error_report_mode,errorModeSaved); // restore previous settings
simLockInterface(0);
return(retVal);
}
// This is the plugin start routine (called just once, just after the plugin was loaded):
VREP_DLLEXPORT unsigned char v_repStart(void* reservedPointer,int reservedInt)
{
// Dynamically load and bind V-REP functions:
// ******************************************
// 1. Figure out this plugin's directory:
char curDirAndFile[1024];
char * filenptr = getcwd(curDirAndFile, sizeof(curDirAndFile));
if (filenptr == NULL)
{
std::cout << "[V-REP_ROS_POOL_SIM] Cannot get current directory. Failed to start 'ROS' plugin.\n";
return(0); // Means error, V-REP will unload this plugin
}
std::string currentDirAndPath(curDirAndFile);
// 2. Append the V-REP library's name:
std::string temp(currentDirAndPath);
temp+="/libv_rep.so";
// 3. Load the V-REP library:
vrepLib=loadVrepLibrary(temp.c_str());
if (vrepLib == NULL)
{
std::cout << "[V-REP_ROS_POOL_SIM]ind or correctly load the V-REP library. Cannot start 'ROS' plugin.\n";
return (0); // Means error, V-REP will unload this plugin
}
if (getVrepProcAddresses(vrepLib)==0)
{
std::cout << "[V-REP_ROS_POOL_SIM] Error, could not find all required functions in the V-REP library. Cannot start 'ROS' plugin.\n";
unloadVrepLibrary(vrepLib);
return (0); // Means error, V-REP will unload this plugin
}
// ******************************************
// Check the version of V-REP:
// ******************************************
int vrepVer;
simGetIntegerParameter(sim_intparam_program_version,&vrepVer);
if (vrepVer<20604) // if V-REP version is smaller than 2.06.04
{
std::cout << "[V-REP_ROS_POOL_SIM] Sorry, your V-REP copy is somewhat old. Cannot start 'ROS' plugin.\n";
unloadVrepLibrary(vrepLib);
return (0); // Means error, V-REP will unload this plugin
}
// ******************************************
// Here you could handle various initializations
// Here you could also register custom Lua functions or custom Lua constants
//
// e.g. you could register following functions here:
// nodeHandle=simExtRosStart(...)
// simExtRosFinish(nodeHandle)
// simExtRosEnableService(nodeHandle,...)
// etc.
std::cout << "[V-REP_ROS_POOL_SIM] Initializing v-rep plugin...\n";
int argc = 0;
char** argv = NULL;
ros::init(argc,argv,"v_rep_pool_sim");
if (!ros::master::check())
{
ROS_ERROR("[V-REP_ROS_POOL_SIM] Cannot detect ROS master!");
return 0;
}
ROS_INFO("[V-REP_ROS_POOL_SIM] Creating node...");
node = new ros::NodeHandle();
img_transport = new image_transport::ImageTransport(*node);
img_pub = img_transport->advertise("camera_image", 2);
table_state_pub = node->advertise<vrep_plugin::Pool_table_state>("pool_table_state", 1);
score_pub = node->advertise<std_msgs::Int32>("turn_score", 1);
ROS_INFO("[V-REP_ROS_POOL_SIM] Subscribing...");
turn_sub = node->subscribe("player_turn", 1, new_player_turn_callback);
//pool_table = node->advertiseService("player_turn", evaluate_player_turn_callback);
//sim_change_sub = node->subscribe("sim_change_status", 2, sim_change_callback);
ROS_INFO("[V-REP_ROS_POOL_SIM] Initialized!");
return (PLUGIN_VERSION); // initialization went fine, we return the version number of this plugin (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<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 messaging routine (i.e. V-REP calls this function very often, with various messages):
VREP_DLLEXPORT void* v_repMessage(int message,int* auxiliaryData,void* customData,int* replyData)
{ // This is called quite often. Just watch out for messages/events you want to handle
// Keep following 5 lines at the beginning and unchanged:
simLockInterface(1);
int errorModeSaved;
simGetIntegerParameter(sim_intparam_error_report_mode,&errorModeSaved);
simSetIntegerParameter(sim_intparam_error_report_mode,sim_api_errormessage_ignore);
void* retVal=NULL;
// Here we can intercept many messages from V-REP (actually callbacks). Only the most important messages are listed here:
if (message==sim_message_eventcallback_instancepass)
{ // This message is sent each time the scene was rendered (well, shortly after) (very often)
// When a simulation is not running, but you still need to execute some commands, then put some code here
}
if (message==sim_message_eventcallback_mainscriptabouttobecalled)
{ // Main script is about to be run (only called while a simulation is running (and not paused!))
//
// This is a good location to execute commands (e.g. commands needed to generate ROS messages)
//
// e.g. to read all joint positions:
simLockInterface(1);
ros::spinOnce();
sensor_msgs::Image image_msg;
//
// Execute player speceific functions
//
if ((player_turn_state == PLAYER_NONE) && new_player_turn)
{
//ROS_INFO("New player turn received: %f %f", player_turn.power, player_turn.angle);
ROS_INFO("[PLAYER_NONE] Player turn ended.\n");
new_player_turn = false;
}
else if (player_turn_state == PLAYER_ROTATE_MOVE)
{
tip_position[0] = table_state.white_ball.x - TIP_OFFSET_DISTANCE * sin(player_turn.angle);
tip_position[1] = table_state.white_ball.y + TIP_OFFSET_DISTANCE * cos(player_turn.angle);
tip_orientation[2] = player_turn.angle;
std::cout << "[V-REP_ROS_POOL_SIM][PLAYER_ROTATE_MOVE] Orientation success: " <<
simSetObjectOrientation(tip_handle, WORLD_FRAME, tip_orientation) << std::endl;
std::cout << "[V-REP_ROS_POOL_SIM][PLAYER_ROTATE_MOVE] Position success: " <<
simSetObjectPosition(tip_handle, WORLD_FRAME, tip_position) << std::endl;
player_turn_state = PLAYER_CUE_DOWN;
}
else if (player_turn_state == PLAYER_CUE_DOWN)
{
tip_position[2] = CUE_ON_TABLE_HEIGHT;
std::cout << "[V-REP_ROS_POOL_SIM][PLAYER_CUE_DOWN] Position success: " <<
simSetObjectPosition(tip_handle, WORLD_FRAME, tip_position) << std::endl;
player_turn_state = PLAYER_EXECUTE_SHOT;
}
else if (player_turn_state == PLAYER_EXECUTE_SHOT)
{
double dist = player_turn.power * POWER_DISTANCE_RATIO + MIN_POWER_DISTANCE;
tip_position[0] += sin(player_turn.angle) * dist;
tip_position[1] -= cos(player_turn.angle) * dist;
std::cout << "[V-REP_ROS_POOL_SIM][PLAYER_EXECUTE_SHOT] Position success: " <<
simSetObjectPosition(tip_handle, WORLD_FRAME, tip_position) << std::endl;
player_turn_state = PLAYER_RAISE_CUE;
}
else if (player_turn_state == PLAYER_RAISE_CUE)
{
tip_position[2] = CUE_RAISED_HEIGHT;
std::cout << "[V-REP_ROS_POOL_SIM][PLAYER_RAISE_CUE] Position success: " <<
simSetObjectPosition(tip_handle, WORLD_FRAME, tip_position) << std::endl;
player_turn_state = PLAYER_NONE;
}
generate_image_message(image_msg);
//
// Transfer to old table state and get new state
//
old_table_state = table_state;
get_ball_positions();
get_cue_position_orientation();
//
//Check if table is in steady state
//
steady_state = (table_state.white_ball.z < POOL_TABLE_HEIGHT)?
(true):(closeTo(old_table_state.white_ball, table_state.white_ball, STEADY_STATE_DRIFT));
for (unsigned int i = 0; (i < BALL_COUNT) && steady_state; i++)
{
if (!closeTo(old_table_state.balls[i], table_state.balls[i], STEADY_STATE_DRIFT))
{
steady_state = false;
}
}
//
// Publish information
//
if (steady_state && (player_turn_state == PLAYER_NONE && new_player_turn == false))
{
ROS_INFO("Table is in steady state!\n");
//calculate turn score and publish it.
int score = calculate_turn_score();
ROS_INFO("The score for the last turn is %d", score);
std_msgs::Int32 score_msg;
score_msg.data = score;
score_pub.publish(score_msg);
usleep(50 * 1000); //50ms
table_state_pub.publish(table_state); // publish a message only if nothing is moving
}
//
// Move white ball if potted
//
if (steady_state && (table_state.white_ball.z < POOL_TABLE_HEIGHT)&&
(player_turn_state == PLAYER_NONE && new_player_turn == false))
{
std::cout << "[V-REP_ROS_POOL_SIM] Reset: " << simResetDynamicObject(white_ball_handle) << " ";
std::cout << "[V-REP_ROS_POOL_SIM] Moving white to initial position success: " <<
simSetObjectPosition(white_ball_handle, WORLD_FRAME, white_ball_initial_position) << std::endl;
table_state.white_ball.x = white_ball_initial_position[0];
table_state.white_ball.y = white_ball_initial_position[1];
table_state.white_ball.z = white_ball_initial_position[2];
}
//
// Move all red balls is all potted
//
if (steady_state)
{
int balls_in = 0;
for (unsigned int i = 0; i < BALL_COUNT; i++)
{
if (table_state.balls[i].z < POOL_TABLE_HEIGHT)
{
balls_in++;
}
}
if (balls_in == BALL_COUNT)
{
//Move all balls to the top!
std::cout << "[V-REP_ROS_POOL_SIM] Reset: " << simResetDynamicObject(white_ball_handle) << " ";
std::cout << "[V-REP_ROS_POOL_SIM] Moving white to initial position success: " <<
simSetObjectPosition(white_ball_handle, WORLD_FRAME, white_ball_initial_position) << std::endl;
for (unsigned int i = 0; i < BALL_COUNT; i++)
{
std::cout << "[V-REP_ROS_POOL_SIM] Ball " << i << std::endl;
float p[3];
p[0] = initial_table_state.balls[i].x;
p[1] = initial_table_state.balls[i].y;
p[2] = initial_table_state.balls[i].z;
std::cout << "[V-REP_ROS_POOL_SIM] Reset: " << simResetDynamicObject(balls_handle[i]) << std::endl;
std::cout << "[V-REP_ROS_POOL_SIM] Moving ball position success: " <<
simSetObjectPosition(balls_handle[i], WORLD_FRAME, p) << std::endl;
}
table_state = initial_table_state;
games_played++;
ROS_INFO("The are %d games played so far.", games_played);
}
}
simLockInterface(0);
//Publish messages
img_pub.publish(image_msg);
// The best would be to start ROS activity when a simulation is running, and stop it when a simulation ended
// If you allow ROS activity while a simulation is not running, then it becomes a little bit tricky when a scene
// was switched for example (e.g. the clients would need a way to detect that)
}
if (message==sim_message_eventcallback_simulationabouttostart)
{ // Simulation is about to start
// Here you could launch the ROS node (if using just one node)
// If more than one node should be supported (e.g. with different services per node),
// then it is better to start a node via a custom Lua function
white_ball_handle = simGetObjectHandle("white_ball");
std::cout << "[V-REP POOL PLUGIN] White ball handle: " << white_ball_handle << std::endl;
tip_handle = simGetObjectHandle("tip");
for (int i=0; i < BALL_COUNT; i++)
{
std::stringstream ball_name;
ball_name << "ball";
ball_name << i;
balls_handle[i] = simGetObjectHandle(ball_name.str().c_str());
//std::cout << "Ball " << i << " handle: " << balls_handle[i] << std::endl;
}
camera_handle = simGetObjectHandle("camera_sensor");
std::cout << "[V-REP POOL PLUGIN] Camera handle: " << camera_handle << std::endl;
//Read all positions and make them as old positions
get_ball_positions();
old_table_state = table_state;
pre_hit_table_state = table_state;
initial_table_state = table_state;
}
if (message==sim_message_eventcallback_simulationended)
{ // Simulation just ended
// Here you could kill the ROS node(s) that are still active. There could also be a custom Lua function to kill a specific ROS node.
}
// Keep following unchanged:
simSetIntegerParameter(sim_intparam_error_report_mode, errorModeSaved); // restore previous settings
simLockInterface(0);
return (retVal);
}
// This is the plugin messaging routine (i.e. V-REP calls this function very often, with various messages):
VREP_DLLEXPORT void* v_repMessage(int message,int* auxiliaryData,void* customData,int* replyData)
{ // This is called quite often. Just watch out for messages/events you want to handle
// Keep following 6 lines at the beginning and unchanged:
static bool refreshDlgFlag=true;
int errorModeSaved;
simGetIntegerParameter(sim_intparam_error_report_mode,&errorModeSaved);
simSetIntegerParameter(sim_intparam_error_report_mode,sim_api_errormessage_ignore);
void* retVal=NULL;
// Here we can intercept many messages from V-REP (actually callbacks).
// For a complete list of messages that you can intercept/react with, search for "sim_message_eventcallback"-type constants
// in the V-REP user manual.
if (message==sim_message_eventcallback_refreshdialogs)
refreshDlgFlag=true; // V-REP dialogs were refreshed. Maybe a good idea to refresh this plugin's dialog too
if (message==sim_message_eventcallback_menuitemselected)
{ // A custom menu bar entry was selected..
if (auxiliaryData[0]==colladaDialog->dialogMenuItemHandle)
{
colladaDialog->makeVisible(!colladaDialog->getVisible()); // Toggle visibility of the dialog
}
}
if (message==sim_message_eventcallback_colladaplugin)
{
if (auxiliaryData[0]==0)
replyData[0]=PLUGIN_VERSION; // this is the version number of this plugin
if (auxiliaryData[0]==1)
replyData[0]=colladaDialog->importSingleGroupedShape((const char*)customData,(auxiliaryData[1]&1)!=0,float(auxiliaryData[2])/1000.0f);
}
if (message==sim_message_eventcallback_instancepass)
{ // It is important to always correctly react to events in V-REP. This message is the most convenient way to do so:
colladaDialog->handleCommands();
colladaDialog->setSimulationStopped(simGetSimulationState()==sim_simulation_stopped);
int flags=auxiliaryData[0];
bool sceneContentChanged=((flags&(1+2+4+8+16+32+64+256))!=0); // object erased, created, model or scene loaded, und/redo called, instance switched, or object scaled since last sim_message_eventcallback_instancepass message
bool instanceSwitched=((flags&64)!=0);
if (instanceSwitched)
{
// React to an instance switch here!!
}
if (sceneContentChanged)
{
refreshDlgFlag=true;
}
}
if ((message==sim_message_eventcallback_guipass)&&refreshDlgFlag)
{ // handle refresh of the plugin's dialog:
colladaDialog->refresh(); // Refresh the dialog
refreshDlgFlag=false;
}
if (message==sim_message_eventcallback_simulationabouttostart)
{
colladaDialog->simulationAboutToStart();
}
if (message==sim_message_eventcallback_mainscriptabouttobecalled)
{
colladaDialog->mainScriptAboutToBeCalled();
}
if (message==sim_message_eventcallback_beforerendering)
{ // we are still in the main SIM thread!
colladaDialog->renderingPassAboutToBeCalled();
}
if (message==sim_message_eventcallback_simulationended)
{
colladaDialog->simulationEnded();
}
// You can add many more messages to handle here
// Keep following unchanged:
simSetIntegerParameter(sim_intparam_error_report_mode,errorModeSaved); // restore previous settings
return(retVal);
}
