From 2362773b6972440f0a12a52c7e6ada43dc2f5c84 Mon Sep 17 00:00:00 2001
From: Bruce Bayley <neuronz@ozemail.com.au>
Date: Wed, 20 Nov 2013 21:38:11 +1100
Subject: [PATCH] Implemented several functions to allow C# control of purple
 robot in controlTypeExamples.ttt

---
 VREPWrapper.cs             | 30 ++++++++++++++++++++++++++++++
 remoteApiNETWrapper.csproj |  2 +-
 2 files changed, 31 insertions(+), 1 deletion(-)

diff --git a/VREPWrapper.cs b/VREPWrapper.cs
index 09389ec..e1957ee 100644
--- a/VREPWrapper.cs
+++ b/VREPWrapper.cs
@@ -12,9 +12,17 @@ public static class VREPWrapper
     {
         [DllImport("remoteApi.dll")]
         public static extern void simxFinish(int clientID);
+        public static void simwFinish( int clientID )
+        {
+            simxFinish( clientID );
+        }
 
         [DllImport("remoteApi.dll")]
         public static extern int simxGetConnectionId(int clientID);
+        public static int simwGetConnectionId( int clientID )
+        {
+            return simxGetConnectionId( clientID );
+        }
 
         [DllImport("remoteApi.dll")]
         public static extern simx_error simxGetFloatSignal(int clientID, string signalName, ref float value, simx_opmode opmode);
@@ -31,6 +39,9 @@ public static int simwGetIntegerSignal(int clientID, string signalName)
             return v;
         }
 
+        [DllImport("remoteApi.dll")]
+        public static extern simx_error simxSetStringSignal(int clientID, string signalName, string value, int length, simx_opmode opmode);
+
         [DllImport("remoteApi.dll")]
         public static extern simx_error simxGetStringSignal(int clientID, string signalName, ref IntPtr pointerToValue, ref int signalLength, simx_opmode opmode);
 
@@ -76,12 +87,20 @@ public static string simwGetStringSignal(int clientID, string signalName)
         [DllImport("remoteApi.dll")]
         public extern static simx_error simxReadProximitySensor(int clientID, int sensorHandle,
                                                          ref char detectionState, float[] detectionPoint, ref int objectHandle, float[] normalVector, simx_opmode opmode);
+        public static simx_error simwReadProximitySensor( int clientID, int sensorHandle, ref char detectionState, float[ ] detectionPoint, ref int objectHandle, float[ ] normalVector, simx_opmode opmode )
+        {
+            return simxReadProximitySensor( clientID, sensorHandle, ref detectionState, detectionPoint, ref objectHandle, normalVector, opmode );
+        }
 
         [DllImport("remoteApi.dll")]
         public static extern simx_error simxSetJointTargetPosition(int clientID, int jointHandle, float targetPosition, simx_opmode opmode);
 
         [DllImport("remoteApi.dll")]
         public static extern simx_error simxSetJointTargetVelocity(int clientID, int jointHandle, float velocity, simx_opmode opmode);
+        public static simx_error simwSetJointTargetVelocity( int clientID, int jointHandle, float velocity, simx_opmode opmode )
+        {
+            return simxSetJointTargetVelocity( clientID, jointHandle, velocity, opmode );
+        }
 
         [DllImport("remoteApi.dll")]
         public static extern simx_error simxSetObjectFloatParameter(int clientID, int objectHandle, int parameterID, float parameterValue, simx_opmode opmode);
@@ -91,6 +110,10 @@ public extern static simx_error simxReadProximitySensor(int clientID, int sensor
 
         [DllImport("remoteApi.dll")]
         public static extern int simxStart(string ip, int port, bool waitForConnection, bool reconnectOnDisconnect, int timeoutMS, int cycleTimeMS);
+        public static int simwStart( string ip, int port, bool waitForConnection, bool reconnectOnDisconnect, int timeoutMS, int cycleTimeMS )
+        {
+            return simxStart( ip, port, waitForConnection, reconnectOnDisconnect, timeoutMS, cycleTimeMS );
+        }
 
         [DllImport("remoteApi.dll")]
         public static extern simx_error simxGetUIEventButton(int clientID, int uiHandle, ref int uiEventButtonID, IntPtr aux, simx_opmode opmode);
@@ -101,5 +124,12 @@ public extern static simx_error simxReadProximitySensor(int clientID, int sensor
 
         [DllImport("remoteApi.dll")]
         public static extern simx_error simxGetObjectHandle(int clientID, string objectName, out int handle, simx_opmode opmode);
+        [DllImport( "remoteApi.dll" )]
+        public static extern int simxGetLastCmdTime( int clientID );
+
+        public static int simwGetLastCmdTime( int clientID )
+        {
+            return simxGetLastCmdTime( clientID );
+        }
     }
 }
\ No newline at end of file
diff --git a/remoteApiNETWrapper.csproj b/remoteApiNETWrapper.csproj
index d156531..bf39ca4 100644
--- a/remoteApiNETWrapper.csproj
+++ b/remoteApiNETWrapper.csproj
@@ -16,7 +16,7 @@
     <DebugSymbols>true</DebugSymbols>
     <DebugType>full</DebugType>
     <Optimize>false</Optimize>
-    <OutputPath>..\..\..\..\..\..\..\Program Files %28x86%29\V-REP3\V-REP_PRO_EDU\programming\remoteApiSharedLib\</OutputPath>
+    <OutputPath>C:\Program Files %28x86%29\V-REP3\V-REP_PRO_EDU\programming\remoteApiSharedLib\</OutputPath>
     <DefineConstants>DEBUG;TRACE</DefineConstants>
     <ErrorReport>prompt</ErrorReport>
     <WarningLevel>4</WarningLevel>