* Cancel'd Mono support for now. Maybe it'll return in a later version.

* Added: ** simxGetFloatSignal ** simxGetUIEventButton ** simxGetUIHandle ** simxGetObjectHandle
HWiese1980 · Oct 24, 2013 · 463eda4 · 463eda4
1 parent b1f3645
commit 463eda4
Show file tree

Hide file tree

Showing 2 changed files with 47 additions and 67 deletions.
diff --git a/VREPSetBlock.cs b/VREPSetBlock.cs
@@ -8,15 +8,15 @@ public class VREPSetBlock : IDisposable
 
         public VREPSetBlock(int cID)
         {
-            Console.WriteLine("--- Opening Set Block -----");
+            // Console.WriteLine("--- Opening Set Block -----");
             clientID = cID;
             if (VREPWrapper.simxPauseCommunication(cID, 1) != 0) throw new VREPException(simx_error.remote_error_flag, "Pausing communication failed");
         }
 
         public void Dispose()
         {
             if (VREPWrapper.simxPauseCommunication(clientID, 0) != 0) throw new VREPException(simx_error.remote_error_flag, "Restarting communication failed");
-            Console.WriteLine("--- Set Block closed ------");
+            // Console.WriteLine("--- Set Block closed ------");
         }
     }
 }
diff --git a/VREPWrapper.cs b/VREPWrapper.cs
@@ -3,123 +3,103 @@
 using System.Linq;
 using System.Runtime.InteropServices;
 using System.Text;
+using System.Threading;
 using System.Threading.Tasks;
 
 namespace remoteApiNETWrapper
 {
     public static class VREPWrapper
     {
-#if MONO
-        [DllImport("remoteApi.so")]
-#else
         [DllImport("remoteApi.dll")]
-#endif
         public static extern void simxFinish(int clientID);
 
-#if MONO
-        [DllImport("remoteApi.so")]
-#else
         [DllImport("remoteApi.dll")]
-#endif
         public static extern int simxGetConnectionId(int clientID);
 
-#if MONO
-        [DllImport("remoteApi.so")]
-#else
         [DllImport("remoteApi.dll")]
-#endif
+        public static extern simx_error simxGetFloatSignal(int clientID, string signalName, ref float value, simx_opmode opmode);
+
+        [DllImport("remoteApi.dll")]
+        public static extern simx_error simxGetIntegerSignal(int clientID, string signalName, ref int value, simx_opmode opmode);
+
+        public static int simwGetIntegerSignal(int clientID, string signalName)
+        {
+            int v = -1;
+            simxGetIntegerSignal(clientID, signalName, ref v, simx_opmode.streaming);
+            Thread.Sleep(150);
+            simxGetIntegerSignal(clientID, signalName, ref v, simx_opmode.buffer);
+            return v;
+        }
+
+        [DllImport("remoteApi.dll")]
         public static extern simx_error simxGetStringSignal(int clientID, string signalName, ref IntPtr pointerToValue, ref int signalLength, simx_opmode opmode);
-
-#if MONO
-        [DllImport("remoteApi.so")]
-#else
+
+        public static string simwGetStringSignal(int clientID, string signalName)
+        {
+            IntPtr p = IntPtr.Zero;
+            var l1 = 0;
+            var l2 = 0;
+            var e = simxGetStringSignal(clientID, signalName, ref p, ref l1, simx_opmode.streaming);
+            Thread.Sleep(150);
+            e = simxGetStringSignal(clientID, signalName, ref p, ref l2, simx_opmode.buffer);
+            Console.WriteLine("Signal {0} -> {1}/{2}", signalName, l1, l2);
+            if (e == simx_error.noerror && p != IntPtr.Zero)
+            {
+                var s = Marshal.PtrToStringAnsi(p, l2);
+                Marshal.Release(p);
+                return s;
+            }
+            return "";
+        }
+
         [DllImport("remoteApi.dll")]
-#endif
         public static extern simx_error simxGetAndClearStringSignal(int clientID, string signalName, ref IntPtr pointerToValue, ref int signalLength, simx_opmode opmode);
 
-#if MONO
-        [DllImport("remoteApi.so")]
-#else
         [DllImport("remoteApi.dll")]
-#endif
         public static extern simx_error simxGetJointPosition(int clientID, int jointHandle, ref float targetPosition, simx_opmode opmode);
 
-#if MONO
-        [DllImport("remoteApi.so")]
-#else
         [DllImport("remoteApi.dll")]
-#endif
         public static extern simx_error simxGetObjectIntParameter(int clientID, int objectHandle, int parameterID, ref int parameterValue, simx_opmode opmode);
 
-#if MONO
-        [DllImport("remoteApi.so")]
-#else
         [DllImport("remoteApi.dll")]
-#endif
         public static extern simx_error simxGetObjectFloatParameter(int clientID, int objectHandle, int parameterID, ref float parameterValue, simx_opmode opmode);
 
-#if MONO
-        [DllImport("remoteApi.so")]
-#else
         [DllImport("remoteApi.dll")]
-#endif
         public static extern simx_error simxGetObjectOrientation(int clientID, int jointHandle, int relativeToHandle, float[] orientations, simx_opmode opmode);
 
-#if MONO
-        [DllImport("remoteApi.so")]
-#else
         [DllImport("remoteApi.dll")]
-#endif
         public static extern simx_error simxGetObjectPosition(int clientID, int jointHandle, int relativeToHandle, float[] positions, simx_opmode opmode);
 
-#if MONO
-        [DllImport("remoteApi.so")]
-#else
         [DllImport("remoteApi.dll")]
-#endif
         public static extern simx_error simxPauseCommunication(int cliendID, int pause);
 
-#if MONO
-        [DllImport("remoteApi.so")]
-#else
         [DllImport("remoteApi.dll")]
-#endif
         public extern static simx_error simxReadProximitySensor(int clientID, int sensorHandle,
                                                          ref char detectionState, float[] detectionPoint, ref int objectHandle, float[] normalVector, simx_opmode opmode);
 
-#if MONO
-        [DllImport("remoteApi.so")]
-#else
         [DllImport("remoteApi.dll")]
-#endif
         public static extern simx_error simxSetJointTargetPosition(int clientID, int jointHandle, float targetPosition, simx_opmode opmode);
 
-#if MONO
-        [DllImport("remoteApi.so")]
-#else
         [DllImport("remoteApi.dll")]
-#endif
         public static extern simx_error simxSetJointTargetVelocity(int clientID, int jointHandle, float velocity, simx_opmode opmode);
 
-#if MONO
-        [DllImport("remoteApi.so")]
-#else
         [DllImport("remoteApi.dll")]
-#endif
         public static extern simx_error simxSetObjectFloatParameter(int clientID, int objectHandle, int parameterID, float parameterValue, simx_opmode opmode);
 
-#if MONO
-        [DllImport("remoteApi.so")]
-#else
         [DllImport("remoteApi.dll")]
-#endif
         public static extern simx_error simxSetObjectIntParameter(int clientID, int objectHandle, int parameterID, int parameterValue, simx_opmode opmode);
 
-#if MONO
-        [DllImport("remoteApi.so")]
-#else
         [DllImport("remoteApi.dll")]
-#endif
         public static extern int simxStart(string ip, int port, bool waitForConnection, bool reconnectOnDisconnect, int timeoutMS, int cycleTimeMS);
+
+        [DllImport("remoteApi.dll")]
+        public static extern simx_error simxGetUIEventButton(int clientID, int uiHandle, ref int uiEventButtonID, IntPtr aux, simx_opmode opmode);
+
+        [DllImport("remoteApi.dll")]
+        // public static extern simx_error simxGetUIHandle(int clientID, string uiName, out int handle, simx_opmode opmode);
+        public static extern simx_error simxGetUIHandle(int clientID, string uiName, IntPtr p, simx_opmode opmode);
+
+        [DllImport("remoteApi.dll")]
+        public static extern simx_error simxGetObjectHandle(int clientID, string objectName, out int handle, simx_opmode opmode);
     }
 }