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Functions to allow C# control of purple robot in controlTypeExamples.ttt #1

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Functions to allow C# control of purple robot in controlTypeExamples.ttt #1

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30 changes: 30 additions & 0 deletions VREPWrapper.cs
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Original file line number Diff line number Diff line change
Expand Up @@ -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);
Expand All @@ -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);

Expand Down Expand Up @@ -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);
Expand All @@ -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);
Expand All @@ -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 );
}
}
}
2 changes: 1 addition & 1 deletion remoteApiNETWrapper.csproj
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Original file line number Diff line number Diff line change
Expand Up @@ -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>
Expand Down