void LUA_RESET_CALLBACK(SLuaCallBack* p)
{
p->outputArgCount=0;
CLuaFunctionData D;
int result=-1;
if (D.readDataFromLua(p,inArgs_RESET,inArgs_RESET[0],LUA_RESET_COMMAND))
{
std::vector<CLuaFunctionDataItem>* inData=D.getInDataPtr();
int port=inData->at(0).intData[0];
CSimxSocket* s=allConnections.getConnectionFromPort(port);
if (s!=NULL)
{
bool simulOnly=s->getActiveOnlyDuringSimulation();
bool continuous=s->getContinuousService();
bool debug=s->getDebug();
int maxPacketS=s->getMaxPacketSize();
bool triggerPreEnabled=s->getWaitForTriggerAuthorized();
// Kill the thread/connection:
allConnections.removeSocketConnection(s);
// Now create a similar thread/connection:
CSimxSocket* oneSocketConnection=new CSimxSocket(port,continuous,simulOnly,debug,maxPacketS,triggerPreEnabled);
oneSocketConnection->start();
allConnections.addSocketConnection(oneSocketConnection);
result=1;
}
else
simSetLastError(LUA_RESET_COMMAND,"Invalid port number."); // output an error
}
D.pushOutData(CLuaFunctionDataItem(result));
D.writeDataToLua(p);
}
// 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
// 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;
if (message==sim_message_eventcallback_instancepass)
{ // This message is sent each time the scene was rendered (well, shortly after) (very often)
allConnections.instancePass();
}
if (message==sim_message_eventcallback_mainscriptabouttobecalled)
{ // Main script is about to be run
if (allConnections.thereWasARequestToCallTheMainScript())
replyData[0]=0; // this tells V-REP that we don't wanna execute the main script
else
allConnections.mainScriptWillBeCalled(); // this simply tells all remote API server services to reactivate their triggers (if that function is enabled)
}
if (message==sim_message_eventcallback_simulationended)
{ // Simulation just ended
allConnections.simulationEnded();
}
simSetIntegerParameter(sim_intparam_error_report_mode,errorModeSaved); // restore previous settings
return(retVal);
}
void LUA_STOP_COMMAND_CALLBACK(SLuaCallBack* p)
{ // the callback function of the new Lua command
int result=-1; // error
if (p->inputArgCount>0)
{ // Ok, we have at least 1 input argument
if (p->inputArgTypeAndSize[0*2+0]==sim_lua_arg_int)
{ // Ok, we have (at least) 1 int as argument
CSimxSocket* s=allConnections.getConnectionFromPort(p->inputInt[0]);
if ( (s!=NULL)&&s->getActiveOnlyDuringSimulation() )
{
allConnections.removeSocketConnection(s);
result=1;
}
else
simSetLastError(LUA_STOP_COMMAND,"Invalid port number."); // output an error
}
else
simSetLastError(LUA_STOP_COMMAND,"Wrong argument type/size."); // output an error
}
else
simSetLastError(LUA_STOP_COMMAND,"Not enough arguments."); // output an error
// Now we prepare the return value:
p->outputArgCount=1; // 1 return value
p->outputArgTypeAndSize=(simInt*)simCreateBuffer(p->outputArgCount*2*sizeof(simInt)); // x return values takes x*2 simInt for the type and size buffer
p->outputArgTypeAndSize[2*0+0]=sim_lua_arg_int; // The return value is an int
p->outputArgTypeAndSize[2*0+1]=1; // Not used (table size if the return value was a table)
p->outputInt=(simInt*)simCreateBuffer(1*sizeof(result)); // 1 int return value
p->outputInt[0]=result; // This is the int value we want to return
}
void LUA_STOP_CALLBACK(SLuaCallBack* p)
{
p->outputArgCount=0;
CLuaFunctionData D;
int result=-1;
if (D.readDataFromLua(p,inArgs_STOP,inArgs_STOP[0],LUA_STOP_COMMAND))
{
std::vector<CLuaFunctionDataItem>* inData=D.getInDataPtr();
int port=inData->at(0).intData[0];
CSimxSocket* s=allConnections.getConnectionFromPort(port);
if (s!=NULL)
{
if (!s->getContinuousService())
{
allConnections.removeSocketConnection(s);
result=1;
}
else
simSetLastError(LUA_STOP_COMMAND,"Can't stop a continuous remote API server service."); // output an error
}
else
simSetLastError(LUA_STOP_COMMAND,"Invalid port number."); // output an error
}
D.pushOutData(CLuaFunctionDataItem(result));
D.writeDataToLua(p);
}
void LUA_START_CALLBACK(SLuaCallBack* p)
{
p->outputArgCount=0;
CLuaFunctionData D;
int result=-1;
if (D.readDataFromLua(p,inArgs_START,inArgs_START[0]-3,LUA_START_COMMAND)) // -3 because the last 3 args are optional
{
std::vector<CLuaFunctionDataItem>* inData=D.getInDataPtr();
int port=inData->at(0).intData[0];
int maxPacketSize=1300;
if (port<0)
maxPacketSize=3200000; // when using shared memory
bool debug=false;
bool triggerPreEnabled=false; // 3/3/2014
if (inData->size()>1)
maxPacketSize=inData->at(1).intData[0];
if (inData->size()>2)
debug=inData->at(2).boolData[0];
if (inData->size()>3)
triggerPreEnabled=inData->at(3).boolData[0];
if (port<0)
{ // when using shared memory
if (maxPacketSize<1000)
maxPacketSize=1000;
if (maxPacketSize>32000000)
maxPacketSize=32000000;
}
else
{ // when using sockets
if (maxPacketSize<200)
maxPacketSize=200;
if (maxPacketSize>30000)
maxPacketSize=30000;
}
CSimxSocket* s=allConnections.getConnectionFromPort(port);
if (s==NULL)
{
int prop,obj;
if (-1!=simGetScriptProperty(p->scriptID,&prop,&obj))
{
int scriptType=((prop|sim_scripttype_threaded)-sim_scripttype_threaded);
bool destroyAtSimulationEnd=( (scriptType==sim_scripttype_mainscript)||(scriptType==sim_scripttype_childscript)||(scriptType==sim_scripttype_jointctrlcallback)||(scriptType==sim_scripttype_contactcallback)||(scriptType==sim_scripttype_generalcallback) );
CSimxSocket* oneSocketConnection=new CSimxSocket(port,false,destroyAtSimulationEnd,debug,maxPacketSize,triggerPreEnabled); // 3/3/2014
oneSocketConnection->start();
allConnections.addSocketConnection(oneSocketConnection);
result=1;
}
else
simSetLastError(LUA_START_COMMAND,"Unknown error."); // output an error
}
else
simSetLastError(LUA_START_COMMAND,"Invalid port number."); // output an error
}
D.pushOutData(CLuaFunctionDataItem(result));
D.writeDataToLua(p);
}
void LUA_STATUS_CALLBACK(SLuaCallBack* p)
{
p->outputArgCount=0;
CLuaFunctionData D;
int result=-1;
std::vector<int> info(5,0);
int clientVersion=-1;
char connectedMachineIP[200]="";
if (D.readDataFromLua(p,inArgs_STATUS,inArgs_STATUS[0],LUA_STATUS_COMMAND))
{
std::vector<CLuaFunctionDataItem>* inData=D.getInDataPtr();
int port=inData->at(0).intData[0];
CSimxSocket* s=allConnections.getConnectionFromPort(port);
if (s!=NULL)
{
result=s->getStatus();
s->getInfo(&info[0]);
clientVersion=s->getClientVersion();
strcpy(connectedMachineIP,s->getConnectedMachineIP().c_str());
}
}
D.pushOutData(CLuaFunctionDataItem(result));
if (result>-1)
D.pushOutData(CLuaFunctionDataItem(info));
else
D.pushOutData(CLuaFunctionDataItem());
D.pushOutData(CLuaFunctionDataItem(SIMX_VERSION));
D.pushOutData(CLuaFunctionDataItem(clientVersion));
if (result>-1)
D.pushOutData(CLuaFunctionDataItem(std::string(connectedMachineIP)));
D.writeDataToLua(p);
}
void LUA_RESET_COMMAND_CALLBACK(SLuaCallBack* p)
{ // the callback function of the new Lua command
int result=-1; // error
if (p->inputArgCount>0)
{ // Ok, we have at least 1 input argument
if (p->inputArgTypeAndSize[0*2+0]==sim_lua_arg_int)
{ // Ok, we have (at least) 1 int as argument
CSimxSocket* s=allConnections.getConnectionFromPort(p->inputInt[0]);
if (s!=NULL)
{
bool simulOnly=s->getActiveOnlyDuringSimulation();
bool debug=s->getDebug();
int maxPacketS=s->getMaxPacketSize();
bool triggerPreEnabled=s->getWaitForTriggerAuthorized();
// Kill the thread/connection:
allConnections.removeSocketConnection(s);
// Now create a similar thread/connection:
CSimxSocket* oneSocketConnection=new CSimxSocket(p->inputInt[0],simulOnly,debug,maxPacketS,triggerPreEnabled);
oneSocketConnection->start();
allConnections.addSocketConnection(oneSocketConnection);
result=1;
}
else
simSetLastError(LUA_RESET_COMMAND,"Invalid port number."); // output an error
}
else
simSetLastError(LUA_RESET_COMMAND,"Wrong argument type/size."); // output an error
}
else
simSetLastError(LUA_RESET_COMMAND,"Not enough arguments."); // output an error
// Now we prepare the return value:
p->outputArgCount=1; // 1 return value
p->outputArgTypeAndSize=(simInt*)simCreateBuffer(p->outputArgCount*2*sizeof(simInt)); // x return values takes x*2 simInt for the type and size buffer
p->outputArgTypeAndSize[2*0+0]=sim_lua_arg_int; // The return value is an int
p->outputArgTypeAndSize[2*0+1]=1; // Not used (table size if the return value was a table)
p->outputInt=(simInt*)simCreateBuffer(1*sizeof(result)); // 1 int return value
p->outputInt[0]=result; // This is the int value we want to return
}
void LUA_STATUS_COMMAND_CALLBACK(SLuaCallBack* p)
{ // the callback function of the new Lua command
int result=-1; // error or no connection at given index
int info[5];
int clientVersion=-1;
if (p->inputArgCount>0)
{ // Ok, we have at least 1 input argument
if (p->inputArgTypeAndSize[0*2+0]==sim_lua_arg_int)
{ // Ok, we have (at least) 1 int as argument
CSimxSocket* s=allConnections.getConnectionFromPort(p->inputInt[0]);
// CSimxSocket* s=allConnections.getConnectionAtIndex(p->inputInt[0]);
if (s!=NULL)
{
result=s->getStatus();
s->getInfo(info);
clientVersion=s->getClientVersion();
}
}
else
simSetLastError(LUA_STATUS_COMMAND,"Wrong argument type/size."); // output an error
}
else
simSetLastError(LUA_STATUS_COMMAND,"Not enough arguments."); // output an error
// Now we prepare the return value:
if (result>-1)
{
p->outputArgCount=4; // 4 return values
p->outputArgTypeAndSize=(simInt*)simCreateBuffer(p->outputArgCount*2*sizeof(simInt)); // x return values takes x*2 simInt for the type and size buffer
p->outputArgTypeAndSize[2*0+0]=sim_lua_arg_int; // The return value is an int
p->outputArgTypeAndSize[2*0+1]=1; // Not used (table size if the return value was a table)
p->outputArgTypeAndSize[2*1+0]=sim_lua_arg_int|sim_lua_arg_table; // The return value is an int table
p->outputArgTypeAndSize[2*1+1]=5; // Table size
p->outputArgTypeAndSize[2*2+0]=sim_lua_arg_int; // The return value is an int
p->outputArgTypeAndSize[2*2+1]=1; // Not used (table size if the return value was a table)
p->outputArgTypeAndSize[2*3+0]=sim_lua_arg_int; // The return value is an int
p->outputArgTypeAndSize[2*3+1]=1; // Not used (table size if the return value was a table)
p->outputInt=(simInt*)simCreateBuffer(8*sizeof(result)); // total of 8 ints
p->outputInt[0]=result; // This is the int value we want to return (arg 1)
// Now the table values:
for (int i=0;i<5;i++)
p->outputInt[1+i]=info[i];
p->outputInt[6]=SIMX_VERSION; // This is the server version info (arg 3)
p->outputInt[7]=clientVersion; // This is the client version info (arg 4)
}
else
{
p->outputArgCount=4; // 4 return values
p->outputArgTypeAndSize=(simInt*)simCreateBuffer(p->outputArgCount*2*sizeof(simInt)); // x return values takes x*2 simInt for the type and size buffer
p->outputArgTypeAndSize[2*0+0]=sim_lua_arg_int; // The return value is an int
p->outputArgTypeAndSize[2*0+1]=1; // Not used (table size if the return value was a table)
p->outputArgTypeAndSize[2*1+0]=sim_lua_arg_nil; // The return value is nil
p->outputArgTypeAndSize[2*1+1]=1; // Not used (table size if the return value was a table)
p->outputArgTypeAndSize[2*2+0]=sim_lua_arg_int; // The return value is an int
p->outputArgTypeAndSize[2*2+1]=1; // Not used (table size if the return value was a table)
p->outputArgTypeAndSize[2*3+0]=sim_lua_arg_int; // The return value is an int
p->outputArgTypeAndSize[2*3+1]=1; // Not used (table size if the return value was a table)
p->outputInt=(simInt*)simCreateBuffer(3*sizeof(result)); // 3 int return value
p->outputInt[0]=result; // This is the int value we want to return
p->outputInt[1]=SIMX_VERSION; // This is the second int value we want to return
p->outputInt[2]=clientVersion; // This is the third int value we want to return
}
}
// This is the plugin end routine:
VREP_DLLEXPORT void v_repEnd()
{ // This is called just once, at the end of V-REP
allConnections.removeAllConnections();
unloadVrepLibrary(vrepLib); // release the library
}
// This is the plugin start routine:
VREP_DLLEXPORT unsigned char v_repStart(void* reservedPointer,int reservedInt)
{ // This is called just once, at the start of V-REP
// Dynamically load and bind V-REP functions:
char curDirAndFile[1024];
#ifdef _WIN32
#ifdef QT_COMPIL
_getcwd(curDirAndFile, sizeof(curDirAndFile));
#else
GetModuleFileName(NULL,curDirAndFile,1023);
PathRemoveFileSpec(curDirAndFile);
#endif
#elif defined (__linux) || defined (__APPLE__)
getcwd(curDirAndFile, sizeof(curDirAndFile));
#endif
std::string currentDirAndPath(curDirAndFile);
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 /* __linux || __APPLE__ */
vrepLib=loadVrepLibrary(temp.c_str());
if (vrepLib==NULL)
{
std::cout << "Error, could not find or correctly load the V-REP library. Cannot start 'RemoteApi' 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 'RemoteApi' plugin.\n";
unloadVrepLibrary(vrepLib);
return(0); // Means error, V-REP will unload this plugin
}
int vrepVer;
simGetIntegerParameter(sim_intparam_program_version,&vrepVer);
if (vrepVer<20604) // if V-REP version is smaller than 2.06.04
{
std::cout << "Sorry, your V-REP copy is somewhat old. Cannot start 'RemoteApi' plugin.\n";
unloadVrepLibrary(vrepLib);
return(0); // Means error, V-REP will unload this plugin
}
// Register 3 new Lua commands:
int inArgs1[]={1,sim_lua_arg_int};
simRegisterCustomLuaFunction(LUA_STATUS_COMMAND,strConCat("number status,table_5 info=",LUA_STATUS_COMMAND,"(number socketPort)"),inArgs1,LUA_STATUS_COMMAND_CALLBACK);
int inArgs2[]={4,sim_lua_arg_int,sim_lua_arg_int,sim_lua_arg_bool,sim_lua_arg_bool}; // 3/3/2014
simRegisterCustomLuaFunction(LUA_START_COMMAND,strConCat("number result=",LUA_START_COMMAND,"(number socketPort,number maxPacketSize=1300,boolean debug=false,boolean preEnableTrigger=false)"),inArgs2,LUA_START_COMMAND_CALLBACK); // 3/3/2014
simRegisterCustomLuaFunction(LUA_STOP_COMMAND,strConCat("number result=",LUA_STOP_COMMAND,"(number socketPort)"),inArgs1,LUA_STOP_COMMAND_CALLBACK);
simRegisterCustomLuaFunction(LUA_RESET_COMMAND,strConCat("number result=",LUA_RESET_COMMAND,"(number socketPort)"),inArgs1,LUA_RESET_COMMAND_CALLBACK);
// Read the configuration file to prepare socket connections:
CConfReader conf;
temp=currentDirAndPath;
#ifdef _WIN32
temp+="\\remoteApiConnections.txt";
#endif /* _WIN32 */
#if defined (__linux) || defined (__APPLE__)
temp+="/remoteApiConnections.txt";
#endif /* __linux || __APPLE__ */
conf.readConfiguration(temp.c_str());
conf.getBoolean("useAlternateSocketRoutines",CSimxSocket::useAlternateSocketRoutines);
int index=1;
while (true)
{
std::stringstream strStream;
strStream << index;
std::string variableNameBase("portIndex");
variableNameBase+=strStream.str();
std::string variableName=variableNameBase+"_port";
int portNb;
if (conf.getInteger(variableName.c_str(),portNb))
{
bool debug=false;
int maxPacketSize=1300;
if (portNb<0)
maxPacketSize=3200000;
bool synchronousTrigger=false;
variableName=variableNameBase+"_maxPacketSize";
conf.getInteger(variableName.c_str(),maxPacketSize);
variableName=variableNameBase+"_debug";
conf.getBoolean(variableName.c_str(),debug);
variableName=variableNameBase+"_syncSimTrigger";
conf.getBoolean(variableName.c_str(),synchronousTrigger);
if (portNb<0)
{ // when using shared memory
if (maxPacketSize<1000)
maxPacketSize=1000;
if (maxPacketSize>32000000)
maxPacketSize=32000000;
}
else
{ // when using sockets
if (maxPacketSize<200)
maxPacketSize=200;
if (maxPacketSize>30000)
maxPacketSize=30000;
}
if (allConnections.getConnectionFromPort(portNb)==NULL)
{
// 3/3/2014 synchronousTrigger&=(allConnections.getSynchronousSimulationTriggerConnection()==NULL);
CSimxSocket* oneSocketConnection=new CSimxSocket(portNb,false,debug,maxPacketSize,synchronousTrigger);
oneSocketConnection->start();
allConnections.addSocketConnection(oneSocketConnection);
// 3/3/2014 if (synchronousTrigger)
// 3/3/2014 allConnections.setSynchronousSimulationTriggerConnection(oneSocketConnection); // only one connection can act as trigger!
std::cout << "Starting a remote API server on port " << portNb << std::endl;
}
else
std::cout << "Failed starting a remote API server on port " << portNb << std::endl;
index++;
}
else
break;
}
return(SIMX_VERSION); // initialization went fine, we return the version number of this extension module (can be queried with simGetModuleName)
}
void LUA_START_COMMAND_CALLBACK(SLuaCallBack* p)
{ // the callback function of the new Lua command
int result=-1; // error
if (p->inputArgCount>0)
{ // Ok, we have at least 1 input argument
if (p->inputArgTypeAndSize[0*2+0]==sim_lua_arg_int)
{ // Ok, we have (at least) 1 int as argument
bool err=false;
int maxPacketSize=1300;
if (p->inputInt[0]<0)
maxPacketSize=3200000; // when using shared memory
bool debug=false;
bool triggerPreEnabled=false; // 3/3/2014
if (p->inputArgCount>1)
{
if (p->inputArgTypeAndSize[1*2+0]==sim_lua_arg_int)
{
maxPacketSize=p->inputInt[1];
if (p->inputInt[0]<0)
{ // when using shared memory
if (maxPacketSize<1000)
maxPacketSize=1000;
if (maxPacketSize>32000000)
maxPacketSize=32000000;
}
else
{ // when using sockets
if (maxPacketSize<200)
maxPacketSize=200;
if (maxPacketSize>30000)
maxPacketSize=30000;
}
}
else
err=true;
if (p->inputArgCount>2)
{
if (p->inputArgTypeAndSize[2*2+0]==sim_lua_arg_bool)
debug=(p->inputBool[0]!=0);
else
err=true;
// 3/3/2014
if (p->inputArgCount>3)
{
if (p->inputArgTypeAndSize[3*2+0]==sim_lua_arg_bool)
triggerPreEnabled=(p->inputBool[1]!=0);
else
err=true;
}
}
}
if (!err)
{
CSimxSocket* s=allConnections.getConnectionFromPort(p->inputInt[0]);
if (s==NULL)
{
CSimxSocket* oneSocketConnection=new CSimxSocket(p->inputInt[0],true,debug,maxPacketSize,triggerPreEnabled); // 3/3/2014
oneSocketConnection->start();
allConnections.addSocketConnection(oneSocketConnection);
result=1;
}
else
simSetLastError(LUA_START_COMMAND,"Invalid port number."); // output an error
}
else
simSetLastError(LUA_START_COMMAND,"Wrong argument type/size."); // output an error
}
else
simSetLastError(LUA_START_COMMAND,"Wrong argument type/size."); // output an error
}
else
simSetLastError(LUA_START_COMMAND,"Not enough arguments."); // output an error
// Now we prepare the return value:
p->outputArgCount=1; // 1 return value
p->outputArgTypeAndSize=(simInt*)simCreateBuffer(p->outputArgCount*2*sizeof(simInt)); // x return values takes x*2 simInt for the type and size buffer
p->outputArgTypeAndSize[2*0+0]=sim_lua_arg_int; // The return value is an int
p->outputArgTypeAndSize[2*0+1]=1; // Not used (table size if the return value was a table)
p->outputInt=(simInt*)simCreateBuffer(1*sizeof(result)); // 1 int return value
p->outputInt[0]=result; // This is the int value we want to return
}
// This is the plugin start routine:
VREP_DLLEXPORT unsigned char v_repStart(void* reservedPointer,int reservedInt)
{ // This is called just once, at the start of V-REP
// Dynamically load and bind V-REP functions:
char curDirAndFile[1024];
#ifdef _WIN32
#ifdef QT_COMPIL
_getcwd(curDirAndFile, sizeof(curDirAndFile));
#else
GetModuleFileName(NULL,curDirAndFile,1023);
PathRemoveFileSpec(curDirAndFile);
#endif
#elif defined (__linux) || defined (__APPLE__)
getcwd(curDirAndFile, sizeof(curDirAndFile));
#endif
std::string currentDirAndPath(curDirAndFile);
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 /* __linux || __APPLE__ */
vrepLib=loadVrepLibrary(temp.c_str());
if (vrepLib==NULL)
{
std::cout << "Error, could not find or correctly load the V-REP library. Cannot start 'RemoteApi' 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 'RemoteApi' plugin.\n";
unloadVrepLibrary(vrepLib);
return(0); // Means error, V-REP will unload this plugin
}
int vrepVer;
simGetIntegerParameter(sim_intparam_program_version,&vrepVer);
if (vrepVer<30200) // if V-REP version is smaller than 3.02.00
{
std::cout << "Sorry, your V-REP copy is somewhat old. Cannot start 'RemoteApi' plugin.\n";
unloadVrepLibrary(vrepLib);
return(0); // Means error, V-REP will unload this plugin
}
std::vector<int> inArgs;
// Register the new Lua commands:
CLuaFunctionData::getInputDataForFunctionRegistration(inArgs_START,inArgs);
simRegisterCustomLuaFunction(LUA_START_COMMAND,strConCat("number result=",LUA_START_COMMAND,"(number socketPort,number maxPacketSize=1300,boolean debug=false,boolean preEnableTrigger=false)"),&inArgs[0],LUA_START_CALLBACK);
CLuaFunctionData::getInputDataForFunctionRegistration(inArgs_STOP,inArgs);
simRegisterCustomLuaFunction(LUA_STOP_COMMAND,strConCat("number result=",LUA_STOP_COMMAND,"(number socketPort)"),&inArgs[0],LUA_STOP_CALLBACK);
CLuaFunctionData::getInputDataForFunctionRegistration(inArgs_RESET,inArgs);
simRegisterCustomLuaFunction(LUA_RESET_COMMAND,strConCat("number result=",LUA_RESET_COMMAND,"(number socketPort)"),&inArgs[0],LUA_RESET_CALLBACK);
CLuaFunctionData::getInputDataForFunctionRegistration(inArgs_STATUS,inArgs);
simRegisterCustomLuaFunction(LUA_STATUS_COMMAND,strConCat("number status,table_5 info,number version,number clientVersion,string connectedIp=",LUA_STATUS_COMMAND,"(number socketPort)"),&inArgs[0],LUA_STATUS_CALLBACK);
// Read the configuration file to prepare socket connections:
CConfReader conf;
temp=currentDirAndPath;
#ifdef _WIN32
temp+="\\remoteApiConnections.txt";
#endif /* _WIN32 */
#if defined (__linux) || defined (__APPLE__)
temp+="/remoteApiConnections.txt";
#endif /* __linux || __APPLE__ */
// Read the configuration file and start remote API server services accordingly:
conf.readConfiguration(temp.c_str());
conf.getBoolean("useAlternateSocketRoutines",CSimxSocket::useAlternateSocketRoutines);
int index=1;
while (true)
{
std::stringstream strStream;
strStream << index;
std::string variableNameBase("portIndex");
variableNameBase+=strStream.str();
std::string variableName=variableNameBase+"_port";
int portNb;
if (conf.getInteger(variableName.c_str(),portNb))
{
bool debug=false;
int maxPacketSize=1300;
if (portNb<0)
maxPacketSize=3200000;
bool synchronousTrigger=false;
variableName=variableNameBase+"_maxPacketSize";
conf.getInteger(variableName.c_str(),maxPacketSize);
variableName=variableNameBase+"_debug";
conf.getBoolean(variableName.c_str(),debug);
variableName=variableNameBase+"_syncSimTrigger";
conf.getBoolean(variableName.c_str(),synchronousTrigger);
if (portNb<0)
{ // when using shared memory
if (maxPacketSize<1000)
maxPacketSize=1000;
if (maxPacketSize>32000000)
maxPacketSize=32000000;
}
else
{ // when using sockets
if (maxPacketSize<200)
maxPacketSize=200;
if (maxPacketSize>30000)
maxPacketSize=30000;
}
if (allConnections.getConnectionFromPort(portNb)==NULL)
{
CSimxSocket* oneSocketConnection=new CSimxSocket(portNb,true,false,debug,maxPacketSize,synchronousTrigger);
oneSocketConnection->start();
allConnections.addSocketConnection(oneSocketConnection);
std::cout << "Starting a remote API server on port " << portNb << std::endl;
}
else
std::cout << "Failed starting a remote API server on port " << portNb << std::endl;
index++;
}
else
break;
}
// Check if we need to start additional remote API server services:
for (int iarg=0;iarg<9;iarg++)
{
char* str=simGetStringParameter(sim_stringparam_app_arg1+iarg);
if (str!=NULL)
{
std::string arg(str);
simReleaseBuffer(str);
if ( (arg.compare(0,23,"REMOTEAPISERVERSERVICE_")==0)&&(arg.length()>23) )
{
size_t pos1=arg.find('_',24);
size_t pos2=std::string::npos;
size_t pos3=std::string::npos;
if (pos1!=std::string::npos)
pos2=arg.find('_',pos1+1);
if (pos2!=std::string::npos)
pos3=arg.find('_',pos2+1);
int portNb=-1;
bool debug=false;
bool syncTrigger=true;
int maxPacketSize=1300;
std::string portStr;
if (pos1!=std::string::npos)
{
portStr=arg.substr(23,pos1-23);
if (pos2!=std::string::npos)
{
debug=(arg.compare(pos1+1,pos2-pos1-1,"TRUE")==0);
if (pos3!=std::string::npos)
syncTrigger=(arg.compare(pos2+1,pos3-pos2-1,"TRUE")==0);
else
syncTrigger=(arg.compare(pos2+1,std::string::npos,"TRUE")==0);
}
else
debug=(arg.compare(pos1+1,std::string::npos,"TRUE")==0);
}
else
portStr=arg.substr(23,std::string::npos);
if (portStr.length()!=0)
{
portNb=atoi(portStr.c_str());
if (allConnections.getConnectionFromPort(portNb)==NULL)
{
CSimxSocket* oneSocketConnection=new CSimxSocket(portNb,true,false,debug,maxPacketSize,syncTrigger);
oneSocketConnection->start();
allConnections.addSocketConnection(oneSocketConnection);
std::cout << "Starting a remote API server on port " << portNb << std::endl;
}
else
std::cout << "Failed starting a remote API server on port " << portNb << std::endl;
}
}
}
}
return(SIMX_VERSION); // initialization went fine, we return the version number of this extension module (can be queried with simGetModuleName)
}
