int main(int argc,char* argv[])
{
int clientID=simxStart((simxChar*)"127.0.0.1",19999,true,true,2000,5);
if (clientID!=-1)
{
printf("Connected to remote API server\n");
// Now try to retrieve data in a blocking fashion (i.e. a service call):
int objectCount;
int* objectHandles;
int ret=simxGetObjects(clientID,sim_handle_all,&objectCount,&objectHandles,simx_opmode_blocking);
if (ret==simx_return_ok)
printf("Number of objects in the scene: %d\n",objectCount);
else
printf("Remote API function call returned with error code: %d\n",ret);
extApi_sleepMs(2000);
// Now retrieve streaming data (i.e. in a non-blocking fashion):
int startTime=extApi_getTimeInMs();
int mouseX;
simxGetIntegerParameter(clientID,sim_intparam_mouse_x,&mouseX,simx_opmode_streaming); // Initialize streaming
while (extApi_getTimeDiffInMs(startTime) < 5000)
{
ret=simxGetIntegerParameter(clientID,sim_intparam_mouse_x,&mouseX,simx_opmode_buffer); // Try to retrieve the streamed data
if (ret==simx_return_ok) // After initialization of streaming, it will take a few ms before the first value arrives, so check the return code
printf("Mouse position x: %d\n",mouseX); // Mouse position x is actualized when the cursor is over V-REP's window
}
// Now send some data to V-REP in a non-blocking fashion:
simxAddStatusbarMessage(clientID,"Hello V-REP!",simx_opmode_oneshot);
// Before closing the connection to V-REP, make sure that the last command sent out had time to arrive. You can guarantee this with (for example):
int pingTime;
simxGetPingTime(clientID,&pingTime);
// Now close the connection to V-REP:
simxFinish(clientID);
}
return(0);
}
void RobotVREP::addStatusbarMessage(char * message, simxInt operationMode)
{
int error = simxAddStatusbarMessage(clientID,(char*)message, operationMode);
if(error != 0) vrep_error << "simxAddStatusbarMessage - " << message << " : " << error << endl;
}
