// Services:
bool ROS_server::displayText_service(vrep_skeleton_msg_and_srv::displayText::Request &req,vrep_skeleton_msg_and_srv::displayText::Response &res)
{
res.dialogHandle=simDisplayDialog("Message from a ROS node",req.textToDisplay.c_str(),sim_dlgstyle_message,NULL,NULL,NULL,NULL);
return true;
}
// 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_mainscriptabouttobecalled)
{ // The main script is about to be run (only called while a simulation is running (and not paused!))
// main script is called every dynamics calculation.
tickRTCs(simGetSimulationTimeStep());
}
if (message==sim_message_eventcallback_simulationabouttostart)
{ // Simulation is about to start
simulatorClock.setSimulationTimeStep(simGetSimulationTimeStep());
//simulatorClock.setSimulationTime(simGetSimulationTime());
startRTCs();
}
if (message == sim_message_eventcallback_menuitemselected) {
simInt handle = auxiliaryData[0];
simInt state = auxiliaryData[1];
if (handle == robotItemHandle) {
std::cout << "Robot Menu Selected" << std::endl;
mainItemHandle = robotItemHandle;
spawnRTCMethod = spawnRobotRTC;
modelDlgHandle = simDisplayDialog("Input Robot Item", "Input Robot Model Name", sim_dlgstyle_input, "", NULL, NULL, NULL);
}
else if (handle == rangeItemHandle) {
std::cout << "Range Menu Selected" << std::endl;
mainItemHandle = rangeItemHandle;
spawnRTCMethod = spawnRangeRTC;
modelDlgHandle = simDisplayDialog("Input Item", "Input Range Model Name", sim_dlgstyle_input, "", NULL, NULL, NULL);
}
else if (handle == cameraItemHandle) {
std::cout << "Camera Menu Selected" << std::endl;
mainItemHandle = cameraItemHandle;
spawnRTCMethod = spawnCameraRTC;
modelDlgHandle = simDisplayDialog("Input Item", "Input Vision Sensor Model Name", sim_dlgstyle_input, "", NULL, NULL, NULL);
}
else if (handle == accelItemHandle) {
std::cout << "Acceleration Menu Selected" << std::endl;
mainItemHandle = accelItemHandle;
spawnRTCMethod = spawnAccelerometerRTC;
modelDlgHandle = simDisplayDialog("Input Item", "Input Accel Sensor Model Name", sim_dlgstyle_input, "", NULL, NULL, NULL);
}
else if (handle == gyroItemHandle) {
std::cout << "Gyro Menu Selected" << std::endl;
mainItemHandle = gyroItemHandle;
spawnRTCMethod = spawnGyroRTC;
modelDlgHandle = simDisplayDialog("Input Item", "Input Gyro Model Name", sim_dlgstyle_input, "", NULL, NULL, NULL);
}
else if (handle == depthItemHandle) {
std::cout << "Depth Menu Selected" << std::endl;
mainItemHandle = depthItemHandle;
spawnRTCMethod = spawnDepthRTC;
modelDlgHandle = simDisplayDialog("Input Item", "Input Depth Model Name", sim_dlgstyle_input, "", NULL, NULL, NULL);
}
else if (handle == objectItemHandle) {
std::cout << "Object Menu Selected" << std::endl;
mainItemHandle = objectItemHandle;
spawnRTCMethod = spawnObjectRTC;
modelDlgHandle = simDisplayDialog("Input Item", "Input Object Model Name", sim_dlgstyle_input, "", NULL, NULL, NULL);
}
}
if (message == sim_message_eventcallback_refreshdialogs) {
if (modelDlgHandle >= 0) {
simInt ret = simGetDialogResult(modelDlgHandle);
if (ret != sim_dlgret_still_open) {
if (ret == sim_dlgret_ok) {
char *buf = simGetDialogInput(modelDlgHandle);
modelName = buf;
std::cout << "Model Name is " << buf << std::endl;
simReleaseBuffer(buf);
argDlgHandle = simDisplayDialog("Input Argument of RTC", "Input Argument of createComponent method", sim_dlgstyle_input, "", NULL, NULL, NULL);
modelDlgHandle = -1;
}
}
} else if (argDlgHandle >= 0) {
simInt ret = simGetDialogResult(argDlgHandle);
if (ret != sim_dlgret_still_open) {
if (ret == sim_dlgret_ok) {
char *buf = simGetDialogInput(argDlgHandle);
argument = buf;
std::cout << "createComponent Argument is " << buf << std::endl;
simReleaseBuffer(buf);
argDlgHandle = -1;
spawnRTCMethod(modelName, argument);
}
}
}
}
if (message==sim_message_eventcallback_simulationended)
{ // Simulation just ended
stopRTCs();
}
simulatorClock.setSimulationTime(simGetSimulationTime());
message_pump();
// Keep following unchanged:
simSetIntegerParameter(sim_intparam_error_report_mode,errorModeSaved); // restore previous settings
return(retVal);
}
