void DrawMeshHandler::registerCustomVariables() const {
#if VREP_VERSION_MAJOR*10000 + VREP_VERSION_MINOR*100 + VREP_VERSION_PATCH < 3*10000 + 3*100 + 1
simRegisterCustomLuaVariable("sim_ext_ros_bridge_draw_mesh_data_main",
(boost::lexical_cast<std::string>(int(DATA_MAIN))).c_str());
simRegisterCustomLuaVariable("sim_ext_ros_bridge_draw_mesh_data_width",
(boost::lexical_cast<std::string>(int(DATA_WIDTH))).c_str());
simRegisterCustomLuaVariable("sim_ext_ros_bridge_draw_mesh_data_diffuse",
(boost::lexical_cast<std::string>(int(DATA_DIFFUSE))).c_str());
simRegisterCustomLuaVariable("sim_ext_ros_bridge_draw_mesh_data_specular",
(boost::lexical_cast<std::string>(int(DATA_SPECULAR))).c_str());
simRegisterCustomLuaVariable("sim_ext_ros_bridge_draw_mesh_data_emission",
(boost::lexical_cast<std::string>(int(DATA_EMISSION))).c_str());
simRegisterCustomLuaVariable(
"sim_ext_ros_bridge_draw_mesh_data_transparency",
(boost::lexical_cast<std::string>(int(DATA_TRANSPARENCY))).c_str());
#else
simRegisterScriptVariable("sim_ext_ros_bridge_draw_mesh_data_main",
(boost::lexical_cast<std::string>(int(DATA_MAIN))).c_str(),0);
simRegisterScriptVariable("sim_ext_ros_bridge_draw_mesh_data_width",
(boost::lexical_cast<std::string>(int(DATA_WIDTH))).c_str(),0);
simRegisterScriptVariable("sim_ext_ros_bridge_draw_mesh_data_diffuse",
(boost::lexical_cast<std::string>(int(DATA_DIFFUSE))).c_str(),0);
simRegisterScriptVariable("sim_ext_ros_bridge_draw_mesh_data_specular",
(boost::lexical_cast<std::string>(int(DATA_SPECULAR))).c_str(),0);
simRegisterScriptVariable("sim_ext_ros_bridge_draw_mesh_data_emission",
(boost::lexical_cast<std::string>(int(DATA_EMISSION))).c_str(),0);
simRegisterScriptVariable("sim_ext_ros_bridge_draw_mesh_data_transparency",
(boost::lexical_cast<std::string>(int(DATA_TRANSPARENCY))).c_str(),0);
#endif
}
// 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)
}
