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 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());
}
}
CSimxSocket::CSimxSocket(int portNb,bool simulationOnly,bool debug,int maxPacketSize,bool waitForTriggerFunctionAuthorized)
{
_commThreadLaunched=false;
_commThreadEnded=true;
clientIsConnected=false;
otherSideIsBigEndian=false;
_portNb=portNb;
_simulationOnly=simulationOnly;
_debug=debug;
_maxPacketSize=maxPacketSize;
_auxConsoleHandle=-1;
_waitForTrigger=true;
_waitForTriggerFunctionEnabled=false;
_waitForTriggerFunctionAuthorized=waitForTriggerFunctionAuthorized;
if (debug)
{
int options=4;
if (_simulationOnly)
options|=1;
else
options|=16;
std::stringstream strStream;
strStream << "Remote Api monitor on port " << _portNb;
_auxConsoleHandle=simAuxiliaryConsoleOpen(strStream.str().c_str(),100,options,NULL,NULL,NULL,NULL);
}
_receivedCommands=new CSimxContainer(true);
_dataToSend=new CSimxContainer(false);
_lockLevel=0;
#ifdef _WIN32
_mutex=CreateMutex(0,FALSE,0);
_mutexAux=CreateMutex(0,FALSE,0);
#elif defined (__linux) || defined (__APPLE__)
pthread_mutex_init(&_mutex, NULL);
pthread_mutex_init(&_mutexAux, NULL);
#endif /* __linux || __APPLE__ */
}
