CoppeliaSIm.rar

// Copyright SJTU // author Li Wang 05liwang@sjtu.edu.cn 935342669@qq.com // this file is used to wrap the legacy remote API of CoppeliaSim #include "pch.h" #include "Coppelia.h" Coppelia::Coppelia() {} Coppelia::~Coppelia() {} /*************************************************************************************** Starts a communication thread with the server (i.e. CoppeliaSim). A same client may start several communication threads (but only one communication thread for a given IP and port). This should be the very first remote API function called on the client side. Make sure to start an appropriate remote API server service on the server side, that will wait for a connection. port_number: the port number where to connect. Specify a negative port number in order to use shared memory, instead of socket communication. wait_until_connected: if different from zero, then the function blocks until connected (or timed out). doNotReconnectOnceDisconnected: if different from zero, then the communication thread will not attempt a second connection if a connection was lost. timeOutInMs: if positive: the connection time-out in milliseconds for the first connection attempt. In that case, the time-out for blocking function calls is 5000 milliseconds. if negative: its positive value is the time-out for blocking function calls. In that case, the connection time-out for the first connection attempt is 5000 milliseconds. commThreadCycleInMs: indicates how often data packets are sent back and forth. Reducing this number improves responsiveness, and a default value of 5 is recommended. return value the client ID, or -1 if the connection to the server was not possible (i.e. a timeout was reached). A call to simxStart should always be followed at the end with a call to simxFinish if simxStart didn't return -1 ****************************************************************************************/ int Coppelia::ConnectCoppeliaSim(int port_number, bool wait_until_connected, bool do_not_reconnect_once_disconnected, int time_out_in_ms, int commthread_cycle_in_ms) { this->client_ID_ = simxStart("127.0.0.1", port_number, wait_until_connected, do_not_reconnect_once_disconnected, time_out_in_ms, commthread_cycle_in_ms); return this->client_ID_; } /*************************************************************************************** Ends the communication thread. This should be the very last remote API function called on the client side. simxFinish should only be called after a successfull call to simxStart. ****************************************************************************************/ void Coppelia::DisconnectCoppeliasSim() { simxFinish(this->client_ID_); } /*************************************************************************************** Requests a start of a simulation (or a resume of a paused simulation). This function is only executed by continuous remote API server services. See also simxPauseSimulation and simxStopSimulation. Parameters operationMode: a remote API function operation mode. Recommended operation mode for this function is simx_opmode_oneshot (Non-blocking mode). return value a remote API function ****************************************************************************************/ int Coppelia::StartSimulation(int operation_mode) { if (this->client_ID_ == -1) { return -1; } return simxStartSimulation(client_ID_, operation_mode); } int Coppelia::StopSimulation(int operation_mode) { if (this->client_ID_ == -1) { return -1; } return simxStartSimulation(client_ID_, operation_mode); } /*************************************************************************************** Retrieves an object handle based on its name. If the client application is launched from a child script, then you could also let the child script figure out what handle correspond to what objects, and send the handles as additional arguments to the client application during its launch. See also simxGetObjectGroupData. objectName: name of the object. If possibe, don't rely on the automatic name adjustment mechanism, and always specify the full object name handle: pointer to a value that will receive the handle operationMode: a remote API function operation mode. Recommended operation mode for this function is simx_opmode_blocking ****************************************************************************************/ int Coppelia::GetObjectHandle(const char *object_name, int operation_mode, int *handle) { return simxGetObjectHandle(this->client_ID_, object_name, handle, operation_mode); } /*************************************************************************************** Retrieves the intrinsic position of a joint. This function cannot be used with spherical joints (use simxGetJointMatrix instead). See also simxSetJointPosition and simxGetObjectGroupData. C parameters jointHandle: handle of the joint operationMode: a remote API function operation mode. Recommended operation modes for this function are simx_opmode_streaming (the first call) and simx_opmode_buffer (the following calls) ****************************************************************************************/ int Coppelia::GetJointPosition(int joint_handle, int operation_mode, float *position) { return simxGetJointPosition(this->client_ID_, joint_handle, position, operation_mode); } /*************************************************************************************** Retrieves the position of an object. See also simxSetObjectPosition, simxGetObjectOrientation, simxGetObjectQuaternion and simxGetObjectGroupData. relativeToObjectHandle: indicates relative to which reference frame we want the position. Specify -1 to retrieve the absolute position, sim_handle_parent to retrieve the position relative to the object's parent, or an object handle relative to whose reference frame you want the position position: pointer to 3 values receiving the position operationMode: a remote API function operation mode. Recommended operation modes for this function are simx_opmode_streaming (the first call) and simx_opmode_buffer (the following calls) ****************************************************************************************/ int Coppelia::GetObjectPosition(int object_handle, int relative_to_object_handle, int operation_mode, float *position) { return simxGetObjectPosition(this->client_ID_, object_handle, relative_to_object_handle, position, operation_mode); } /*************************************************************************************** Retrieves the orientation (Euler angles) of an object. bjectHandle: handle of the object relativeToObjectHandle: indicates relative to which reference frame we want the orientation. Specify -1 to retrieve the absolute orientation, sim_handle_parent to retrieve the orientation relative to the object's parent, or an object handle relative to whose reference frame you want the orientation eulerAngles: pointer to 3 values receiving the Euler angles (alpha, beta and gamma) operationMode: a remote API function operation mode. Recommended operation modes for this function are simx_opmode_streaming (the first call) and simx_opmode_buffer (the following calls) ****************************************************************************************/ int Coppelia::GetObjectOrientation(int object_handle, int relative_to_obj