void printToConsole(const char* txt)
{
static int handle=-1;
std::string text(txt);
text+="\n";
std::cout << text;
if (simAuxiliaryConsolePrint(handle,text.c_str())<=0)
{
handle=simAuxiliaryConsoleOpen("URDF import",5000,2+4,NULL,NULL,NULL,NULL);
simAuxiliaryConsolePrint(handle,text.c_str());
}
}
void CSubscriberData::auxiliaryConsolePrintCallback(const std_msgs::String::ConstPtr& txt)
{
if (txt->data.length()==0)
{
if (simAuxiliaryConsolePrint(auxInt1,NULL)<=0)
shutDownGeneralSubscriber();
}
else
{
if (simAuxiliaryConsolePrint(auxInt1,txt->data.c_str())<=0)
shutDownGeneralSubscriber();
}
}
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);
}
void CSimxSocket::instancePass()
{
// 3/3/2014
// if (!_simulationOnly)
{
int simState=simGetSimulationState();
if ((simState&sim_simulation_advancing)==0)
_executeCommands();
}
if (_debug)
{ // we should never access the V-REP API from a thread not created in V-REP!
_lock();
for (unsigned int i=0;i<_textToPrintToConsole.size();i++)
simAuxiliaryConsolePrint(_auxConsoleHandle,_textToPrintToConsole[i].c_str());
_textToPrintToConsole.clear();
_unlock();
}
}