├── README.md ├── myTest1.py ├── remoteApi.dll ├── sim.py ├── simConst.py └── test1.ttt /README.md: -------------------------------------------------------------------------------- 1 | # CoppeliaSim_python 2 | CoppeliaSim introduction 入门 3 | 4 | CoppeliaSim(原V-REP)新手上路 5 | 6 | CSDN网址： 7 | https://blog.csdn.net/qq_37051669/article/details/115324851?spm=1001.2014.3001.5501 8 | -------------------------------------------------------------------------------- /myTest1.py: -------------------------------------------------------------------------------- 1 | # Make sure to have the server side running in CoppeliaSim: 2 | # in a child script of a CoppeliaSim scene, add following command 3 | # to be executed just once, at simulation start: 4 | # 5 | # simRemoteApi.start(19999) 6 | # 7 | # then start simulation, and run this program. 8 | # 9 | # IMPORTANT: for each successful call to simxStart, there 10 | # should be a corresponding call to simxFinish at the end! 11 | 12 | try: 13 | import sim 14 | except: 15 | print ('--------------------------------------------------------------') 16 | print ('"sim.py" could not be imported. This means very probably that') 17 | print ('either "sim.py" or the remoteApi library could not be found.') 18 | print ('Make sure both are in the same folder as this file,') 19 | print ('or appropriately adjust the file "sim.py"') 20 | print ('--------------------------------------------------------------') 21 | print ('') 22 | 23 | import time 24 | import math 25 | 26 | print ('Program started') 27 | sim.simxFinish(-1) # just in case, close all opened connections 28 | clientID=sim.simxStart('127.0.0.1',19997,True,True,5000,5) # Connect to CoppeliaSim 29 | #print(clientID)#0 30 | 31 | stop = sim.simxStopSimulation( 32 | clientID, sim.simx_opmode_blocking) 33 | time.sleep(4) 34 | print("!!") 35 | start = sim.simxStartSimulation( 36 | clientID, sim.simx_opmode_blocking) 37 | print("Resetting Simulation. Stop Code: {} Start Code: {}".format(stop, start)) 38 | 39 | #sim.simxStopSimulation(clientID, sim.simx_opmode_oneshot) 40 | #sim.simxFinish(clientID) 41 | 42 | #ret, QuadObj = sim.simxGetObjectHandle(clientID, 'Quadricopter', sim.simx_opmode_blocking) 43 | #sim.simxSetObjectPosition(clientID, QuadObj,-1,(-24,-24, 1), sim.simx_opmode_blocking) 44 | #sim.simxSetObjectOrientation(clientID, QuadObj, -1, [0, 0, 0], sim.simx_opmode_blocking) 45 | #time.sleep(0.5) 46 | #sim.simxStartSimulation(clientID, sim.simx_opmode_oneshot) 47 | #time.sleep(0.5) 48 | #sim.simxStartSimulation(clientID, sim.simx_opmode_oneshot) 49 | #sim.simxStartSimulation(clientID, sim.simx_opmode_oneshot) 50 | 51 | if clientID != -1: 52 | print ('Connected to remote API server') 53 | 54 | 55 | # Now try to retrieve data in a blocking fashion (i.e. a service call): 56 | res,objs=sim.simxGetObjects(clientID,sim.sim_handle_all,sim.simx_opmode_blocking) 57 | #print(res)#0 58 | #print(objs)#0 59 | if res==sim.simx_return_ok: 60 | print ('Number of objects in the scene: ',len(objs)) 61 | else: 62 | print ('Remote API function call returned with error code: ',res) 63 | 64 | 65 | 66 | ret, targetObj = sim.simxGetObjectHandle(clientID, 'Quadricopter_target', sim.simx_opmode_blocking) 67 | if ret != sim.simx_return_ok: 68 | print("!!!") 69 | 70 | ret, arr = sim.simxGetObjectPosition(clientID, targetObj, -1, sim.simx_opmode_blocking) 71 | if ret==sim.simx_return_ok: 72 | print (arr) 73 | 74 | #sim.simxSetObjectPosition(clientID, targetObj,-1,(arr[0],arr[1] + 0.1,arr[2]), sim.simx_opmode_blocking) 75 | ''' 76 | propellerScripts=[-1,-1,-1,-1] 77 | for i in range(4): 78 | ret, propellerScripts[i]=sim.simxGetObjectHandle(clientID, 'Quadricopter_propeller_respondable' + str(i + 1), sim.simx_opmode_blocking) 79 | ''' 80 | ''' 81 | ret, targetObj2 = sim.simxGetObjectHandle(clientID, 'Quadricopter_target', sim.simx_opmode_blocking) 82 | if ret != sim.simx_return_ok: 83 | print("!!!") 84 | ''' 85 | 86 | time.sleep(1) 87 | 88 | # Now retrieve streaming data (i.e. in a non-blocking fashion): 89 | startTime=time.time() 90 | #sim.simxGetIntegerParameter(clientID,sim.sim_intparam_mouse_x,sim.simx_opmode_streaming) # Initialize streaming 91 | while time.time()-startTime < 5: 92 | 93 | #returnCode,data=sim.simxGetIntegerParameter(clientID,sim.sim_intparam_mouse_x,sim.simx_opmode_buffer) # Try to retrieve the streamed data 94 | ''' 95 | if returnCode==sim.simx_return_ok: # After initialization of streaming, it will take a few ms before the first value arrives, so check the return code 96 | print ('Mouse position x,y: ',data) # Mouse position x is actualized when the cursor is over CoppeliaSim's window 97 | ''' 98 | 99 | #sim.setObjectParent(targetObj,-1,true) 100 | 101 | #d=sim.getObjectHandle('Quadricopter_base') 102 | ''' 103 | ret, arr = sim.simxGetStringSignal(clientID, sim.sim_objfloatparam_abs_x_velocity, sim.simx_opmode_buffer) 104 | if ret==sim.simx_return_ok: 105 | print (arr) 106 | ''' 107 | #ret = sim.simxClearFloatSignal(clientID, 'propeller1Vel', sim.simx_opmode_blocking) 108 | #ret = sim.simxSetFloatSignal(clientID, 'propeller1Vel', 1, sim.simx_opmode_blocking) 109 | #ret = sim.simxSetFloatSignal(clientID, 'propeller2Vel', 1, sim.simx_opmode_blocking) 110 | #ret = sim.simxSetFloatSignal(clientID, 'propeller3Vel', 1, sim.simx_opmode_blocking) 111 | #ret = sim.simxSetFloatSignal(clientID, 'propeller4Vel', 1, sim.simx_opmode_blocking) 112 | 113 | 114 | ret, arr = sim.simxGetObjectPosition(clientID, targetObj, -1, sim.simx_opmode_blocking) 115 | if ret==sim.simx_return_ok: 116 | print (arr) 117 | 118 | 119 | sim.simxSetObjectPosition(clientID, targetObj,-1,(arr[0],arr[1] + 0.5,arr[2]), sim.simx_opmode_blocking) 120 | 121 | #成功的 122 | #t= time.time()-startTime 123 | #sim.simxSetObjectPosition(clientID, targetObj,-1,{ (math.cos(t*math.pi/2))/2, (math.sin(t*math.pi/2))/2, 1}, sim.simx_opmode_blocking) 124 | 125 | time.sleep(0.5) 126 | 127 | # Now send some data to CoppeliaSim in a non-blocking fashion: 128 | #sim.simxAddStatusbarMessage(clientID,'Hello CoppeliaSim!',sim.simx_opmode_oneshot) 129 | 130 | # Before closing the connection to CoppeliaSim, make sure that the last command sent out had time to arrive. You can guarantee this with (for example): 131 | sim.simxGetPingTime(clientID) 132 | 133 | sim.simxStopSimulation(clientID, sim.simx_opmode_oneshot) 134 | 135 | # Now close the connection to CoppeliaSim: 136 | sim.simxFinish(clientID) 137 | else: 138 | print ('Failed connecting to remote API server') 139 | print ('Program ended') 140 | -------------------------------------------------------------------------------- /remoteApi.dll: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/lzw0515/CoppeliaSim_python/0a16c13788a793512379201f3e12cc7baa2cb148/remoteApi.dll -------------------------------------------------------------------------------- /sim.py: -------------------------------------------------------------------------------- 1 | import platform 2 | import struct 3 | import sys 4 | import os 5 | import ctypes as ct 6 | from simConst import * 7 | 8 | #load library 9 | libsimx = None 10 | try: 11 | file_extension = '.so' 12 | if platform.system() =='cli': 13 | file_extension = '.dll' 14 | elif platform.system() =='Windows': 15 | file_extension = '.dll' 16 | elif platform.system() == 'Darwin': 17 | file_extension = '.dylib' 18 | else: 19 | file_extension = '.so' 20 | libfullpath = os.path.join(os.path.dirname(__file__), 'remoteApi' + file_extension) 21 | libsimx = ct.CDLL(libfullpath) 22 | except: 23 | print ('----------------------------------------------------') 24 | print ('The remoteApi library could not be loaded. Make sure') 25 | print ('it is located in the same folder as "sim.py", or') 26 | print ('appropriately adjust the file "sim.py"') 27 | print ('----------------------------------------------------') 28 | print ('') 29 | 30 | #ctypes wrapper prototypes 31 | c_GetJointPosition = ct.CFUNCTYPE(ct.c_int32,ct.c_int32, ct.c_int32, ct.POINTER(ct.c_float), ct.c_int32)(("simxGetJointPosition", libsimx)) 32 | c_SetJointPosition = ct.CFUNCTYPE(ct.c_int32,ct.c_int32, ct.c_int32, ct.c_float, ct.c_int32)(("simxSetJointPosition", libsimx)) 33 | c_GetJointMatrix = ct.CFUNCTYPE(ct.c_int32,ct.c_int32, ct.c_int32, ct.POINTER(ct.c_float), ct.c_int32)(("simxGetJointMatrix", libsimx)) 34 | c_SetSphericalJointMatrix = ct.CFUNCTYPE(ct.c_int32,ct.c_int32, ct.c_int32, ct.POINTER(ct.c_float), ct.c_int32)(("simxSetSphericalJointMatrix", libsimx)) 35 | c_SetJointTargetVelocity = ct.CFUNCTYPE(ct.c_int32,ct.c_int32, ct.c_int32, ct.c_float, ct.c_int32)(("simxSetJointTargetVelocity", libsimx)) 36 | c_SetJointTargetPosition = ct.CFUNCTYPE(ct.c_int32,ct.c_int32, ct.c_int32, ct.c_float, ct.c_int32)(("simxSetJointTargetPosition", libsimx)) 37 | c_GetJointForce = ct.CFUNCTYPE(ct.c_int32,ct.c_int32, ct.c_int32, ct.POINTER(ct.c_float), ct.c_int32)(("simxGetJointForce", libsimx)) 38 | c_GetJointMaxForce = ct.CFUNCTYPE(ct.c_int32,ct.c_int32, ct.c_int32, ct.POINTER(ct.c_float), ct.c_int32)(("simxGetJointMaxForce", libsimx)) 39 | c_SetJointForce = ct.CFUNCTYPE(ct.c_int32,ct.c_int32, ct.c_int32, ct.c_float, ct.c_int32)(("simxSetJointMaxForce", libsimx)) 40 | c_SetJointMaxForce = ct.CFUNCTYPE(ct.c_int32,ct.c_int32, ct.c_int32, ct.c_float, ct.c_int32)(("simxSetJointMaxForce", libsimx)) 41 | c_ReadForceSensor = ct.CFUNCTYPE(ct.c_int32,ct.c_int32, ct.c_int32, ct.POINTER(ct.c_ubyte), ct.POINTER(ct.c_float), ct.POINTER(ct.c_float), ct.c_int32)(("simxReadForceSensor", libsimx)) 42 | c_BreakForceSensor = ct.CFUNCTYPE(ct.c_int32,ct.c_int32, ct.c_int32, ct.c_int32)(("simxBreakForceSensor", libsimx)) 43 | c_ReadVisionSensor = ct.CFUNCTYPE(ct.c_int32,ct.c_int32, ct.c_int32, ct.POINTER(ct.c_ubyte), ct.POINTER(ct.POINTER(ct.c_float)), ct.POINTER(ct.POINTER(ct.c_int32)), ct.c_int32)(("simxReadVisionSensor", libsimx)) 44 | c_GetObjectHandle = ct.CFUNCTYPE(ct.c_int32,ct.c_int32, ct.POINTER(ct.c_char), ct.POINTER(ct.c_int32), ct.c_int32)(("simxGetObjectHandle", libsimx)) 45 | c_GetVisionSensorImage = ct.CFUNCTYPE(ct.c_int32,ct.c_int32, ct.c_int32, ct.POINTER(ct.c_int32), ct.POINTER(ct.POINTER(ct.c_byte)), ct.c_ubyte, ct.c_int32)(("simxGetVisionSensorImage", libsimx)) 46 | c_SetVisionSensorImage = ct.CFUNCTYPE(ct.c_int32,ct.c_int32, ct.c_int32, ct.POINTER(ct.c_byte), ct.c_int32, ct.c_ubyte, ct.c_int32)(("simxSetVisionSensorImage", libsimx)) 47 | c_GetVisionSensorDepthBuffer= ct.CFUNCTYPE(ct.c_int32,ct.c_int32, ct.c_int32, ct.POINTER(ct.c_int32), ct.POINTER(ct.POINTER(ct.c_float)), ct.c_int32)(("simxGetVisionSensorDepthBuffer", libsimx)) 48 | c_GetObjectChild = ct.CFUNCTYPE(ct.c_int32,ct.c_int32, ct.c_int32, ct.c_int32, ct.POINTER(ct.c_int32), ct.c_int32)(("simxGetObjectChild", libsimx)) 49 | c_GetObjectParent = ct.CFUNCTYPE(ct.c_int32,ct.c_int32, ct.c_int32, ct.POINTER(ct.c_int32), ct.c_int32)(("simxGetObjectParent", libsimx)) 50 | c_ReadProximitySensor = ct.CFUNCTYPE(ct.c_int32,ct.c_int32, ct.c_int32, ct.POINTER(ct.c_ubyte), ct.POINTER(ct.c_float), ct.POINTER(ct.c_int32), ct.POINTER(ct.c_float), ct.c_int32)(("simxReadProximitySensor", libsimx)) 51 | c_LoadModel = ct.CFUNCTYPE(ct.c_int32,ct.c_int32, ct.POINTER(ct.c_char), ct.c_ubyte, ct.POINTER(ct.c_int32), ct.c_int32)(("simxLoadModel", libsimx)) 52 | c_LoadUI = ct.CFUNCTYPE(ct.c_int32,ct.c_int32, ct.POINTER(ct.c_char), ct.c_ubyte, ct.POINTER(ct.c_int32), ct.POINTER(ct.POINTER(ct.c_int32)), ct.c_int32)(("simxLoadUI", libsimx)) 53 | c_LoadScene = ct.CFUNCTYPE(ct.c_int32,ct.c_int32, ct.POINTER(ct.c_char), ct.c_ubyte, ct.c_int32)(("simxLoadScene", libsimx)) 54 | c_StartSimulation = ct.CFUNCTYPE(ct.c_int32,ct.c_int32, ct.c_int32)(("simxStartSimulation", libsimx)) 55 | c_PauseSimulation = ct.CFUNCTYPE(ct.c_int32,ct.c_int32, ct.c_int32)(("simxPauseSimulation", libsimx)) 56 | c_StopSimulation = ct.CFUNCTYPE(ct.c_int32,ct.c_int32, ct.c_int32)(("simxStopSimulation", libsimx)) 57 | c_GetUIHandle = ct.CFUNCTYPE(ct.c_int32,ct.c_int32, ct.POINTER(ct.c_char), ct.POINTER(ct.c_int32), ct.c_int32)(("simxGetUIHandle", libsimx)) 58 | c_GetUISlider = ct.CFUNCTYPE(ct.c_int32,ct.c_int32, ct.c_int32, ct.c_int32, ct.POINTER(ct.c_int32), ct.c_int32)(("simxGetUISlider", libsimx)) 59 | c_SetUISlider = ct.CFUNCTYPE(ct.c_int32,ct.c_int32, ct.c_int32, ct.c_int32, ct.c_int32, ct.c_int32)(("simxSetUISlider", libsimx)) 60 | c_GetUIEventButton = ct.CFUNCTYPE(ct.c_int32,ct.c_int32, ct.c_int32, ct.POINTER(ct.c_int32), ct.POINTER(ct.c_int32), ct.c_int32)(("simxGetUIEventButton", libsimx)) 61 | c_GetUIButtonProperty = ct.CFUNCTYPE(ct.c_int32,ct.c_int32, ct.c_int32, ct.c_int32, ct.POINTER(ct.c_int32), ct.c_int32)(("simxGetUIButtonProperty", libsimx)) 62 | c_SetUIButtonProperty = ct.CFUNCTYPE(ct.c_int32,ct.c_int32, ct.c_int32, ct.c_int32, ct.c_int32, ct.c_int32)(("simxSetUIButtonProperty", libsimx)) 63 | c_AddStatusbarMessage = ct.CFUNCTYPE(ct.c_int32,ct.c_int32, ct.POINTER(ct.c_char), ct.c_int32)(("simxAddStatusbarMessage", libsimx)) 64 | c_AuxiliaryConsoleOpen = ct.CFUNCTYPE(ct.c_int32,ct.c_int32, ct.POINTER(ct.c_char), ct.c_int32, ct.c_int32, ct.POINTER(ct.c_int32), ct.POINTER(ct.c_int32), ct.POINTER(ct.c_float), ct.POINTER(ct.c_float), ct.POINTER(ct.c_int32), ct.c_int32)(("simxAuxiliaryConsoleOpen", libsimx)) 65 | c_AuxiliaryConsoleClose = ct.CFUNCTYPE(ct.c_int32,ct.c_int32, ct.c_int32, ct.c_int32)(("simxAuxiliaryConsoleClose", libsimx)) 66 | c_AuxiliaryConsolePrint = ct.CFUNCTYPE(ct.c_int32,ct.c_int32, ct.c_int32, ct.POINTER(ct.c_char), ct.c_int32)(("simxAuxiliaryConsolePrint", libsimx)) 67 | c_AuxiliaryConsoleShow = ct.CFUNCTYPE(ct.c_int32,ct.c_int32, ct.c_int32, ct.c_ubyte, ct.c_int32)(("simxAuxiliaryConsoleShow", libsimx)) 68 | c_GetObjectOrientation = ct.CFUNCTYPE(ct.c_int32,ct.c_int32, ct.c_int32, ct.c_int32, ct.POINTER(ct.c_float), ct.c_int32)(("simxGetObjectOrientation", libsimx)) 69 | c_GetObjectQuaternion = ct.CFUNCTYPE(ct.c_int32,ct.c_int32, ct.c_int32, ct.c_int32, ct.POINTER(ct.c_float), ct.c_int32)(("simxGetObjectQuaternion", libsimx)) 70 | c_GetObjectPosition = ct.CFUNCTYPE(ct.c_int32,ct.c_int32, ct.c_int32, ct.c_int32, ct.POINTER(ct.c_float), ct.c_int32)(("simxGetObjectPosition", libsimx)) 71 | c_SetObjectOrientation = ct.CFUNCTYPE(ct.c_int32,ct.c_int32, ct.c_int32, ct.c_int32, ct.POINTER(ct.c_float), ct.c_int32)(("simxSetObjectOrientation", libsimx)) 72 | c_SetObjectQuaternion = ct.CFUNCTYPE(ct.c_int32,ct.c_int32, ct.c_int32, ct.c_int32, ct.POINTER(ct.c_float), ct.c_int32)(("simxSetObjectQuaternion", libsimx)) 73 | c_SetObjectPosition = ct.CFUNCTYPE(ct.c_int32,ct.c_int32, ct.c_int32, ct.c_int32, ct.POINTER(ct.c_float), ct.c_int32)(("simxSetObjectPosition", libsimx)) 74 | c_SetObjectParent = ct.CFUNCTYPE(ct.c_int32,ct.c_int32, ct.c_int32, ct.c_int32, ct.c_ubyte, ct.c_int32)(("simxSetObjectParent", libsimx)) 75 | c_SetUIButtonLabel = ct.CFUNCTYPE(ct.c_int32,ct.c_int32, ct.c_int32, ct.c_int32, ct.POINTER(ct.c_char), ct.POINTER(ct.c_char), ct.c_int32)(("simxSetUIButtonLabel", libsimx)) 76 | c_GetLastErrors = ct.CFUNCTYPE(ct.c_int32,ct.c_int32, ct.POINTER(ct.c_int32), ct.POINTER(ct.POINTER(ct.c_char)), ct.c_int32)(("simxGetLastErrors", libsimx)) 77 | c_GetArrayParameter = ct.CFUNCTYPE(ct.c_int32,ct.c_int32, ct.c_int32, ct.POINTER(ct.c_float), ct.c_int32)(("simxGetArrayParameter", libsimx)) 78 | c_SetArrayParameter = ct.CFUNCTYPE(ct.c_int32,ct.c_int32, ct.c_int32, ct.POINTER(ct.c_float), ct.c_int32)(("simxSetArrayParameter", libsimx)) 79 | c_GetBooleanParameter = ct.CFUNCTYPE(ct.c_int32,ct.c_int32, ct.c_int32, ct.POINTER(ct.c_ubyte), ct.c_int32)(("simxGetBooleanParameter", libsimx)) 80 | c_SetBooleanParameter = ct.CFUNCTYPE(ct.c_int32,ct.c_int32, ct.c_int32, ct.c_ubyte, ct.c_int32)(("simxSetBooleanParameter", libsimx)) 81 | c_GetIntegerParameter = ct.CFUNCTYPE(ct.c_int32,ct.c_int32, ct.c_int32, ct.POINTER(ct.c_int32), ct.c_int32)(("simxGetIntegerParameter", libsimx)) 82 | c_SetIntegerParameter = ct.CFUNCTYPE(ct.c_int32,ct.c_int32, ct.c_int32, ct.c_int32, ct.c_int32)(("simxSetIntegerParameter", libsimx)) 83 | c_GetFloatingParameter = ct.CFUNCTYPE(ct.c_int32,ct.c_int32, ct.c_int32, ct.POINTER(ct.c_float), ct.c_int32)(("simxGetFloatingParameter", libsimx)) 84 | c_SetFloatingParameter = ct.CFUNCTYPE(ct.c_int32,ct.c_int32, ct.c_int32, ct.c_float, ct.c_int32)(("simxSetFloatingParameter", libsimx)) 85 | c_GetStringParameter = ct.CFUNCTYPE(ct.c_int32,ct.c_int32, ct.c_int32, ct.POINTER(ct.POINTER(ct.c_char)), ct.c_int32)(("simxGetStringParameter", libsimx)) 86 | c_GetCollisionHandle = ct.CFUNCTYPE(ct.c_int32,ct.c_int32, ct.POINTER(ct.c_char), ct.POINTER(ct.c_int32), ct.c_int32)(("simxGetCollisionHandle", libsimx)) 87 | c_GetDistanceHandle = ct.CFUNCTYPE(ct.c_int32,ct.c_int32, ct.POINTER(ct.c_char), ct.POINTER(ct.c_int32), ct.c_int32)(("simxGetDistanceHandle", libsimx)) 88 | c_GetCollectionHandle = ct.CFUNCTYPE(ct.c_int32,ct.c_int32, ct.POINTER(ct.c_char), ct.POINTER(ct.c_int32), ct.c_int32)(("simxGetCollectionHandle", libsimx)) 89 | c_ReadCollision = ct.CFUNCTYPE(ct.c_int32,ct.c_int32, ct.c_int32, ct.POINTER(ct.c_ubyte), ct.c_int32)(("simxReadCollision", libsimx)) 90 | c_ReadDistance = ct.CFUNCTYPE(ct.c_int32,ct.c_int32, ct.c_int32, ct.POINTER(ct.c_float), ct.c_int32)(("simxReadDistance", libsimx)) 91 | c_RemoveObject = ct.CFUNCTYPE(ct.c_int32,ct.c_int32, ct.c_int32, ct.c_int32)(("simxRemoveObject", libsimx)) 92 | c_RemoveModel = ct.CFUNCTYPE(ct.c_int32,ct.c_int32, ct.c_int32, ct.c_int32)(("simxRemoveModel", libsimx)) 93 | c_RemoveUI = ct.CFUNCTYPE(ct.c_int32,ct.c_int32, ct.c_int32, ct.c_int32)(("simxRemoveUI", libsimx)) 94 | c_CloseScene = ct.CFUNCTYPE(ct.c_int32,ct.c_int32, ct.c_int32)(("simxCloseScene", libsimx)) 95 | c_GetObjects = ct.CFUNCTYPE(ct.c_int32,ct.c_int32, ct.c_int32, ct.POINTER(ct.c_int32), ct.POINTER(ct.POINTER(ct.c_int32)), ct.c_int32)(("simxGetObjects", libsimx)) 96 | c_DisplayDialog = ct.CFUNCTYPE(ct.c_int32,ct.c_int32, ct.POINTER(ct.c_char), ct.POINTER(ct.c_char), ct.c_int32, ct.POINTER(ct.c_char), ct.POINTER(ct.c_float), ct.POINTER(ct.c_float), ct.POINTER(ct.c_int32), ct.POINTER(ct.c_int32), ct.c_int32)(("simxDisplayDialog", libsimx)) 97 | c_EndDialog = ct.CFUNCTYPE(ct.c_int32,ct.c_int32, ct.c_int32, ct.c_int32)(("simxEndDialog", libsimx)) 98 | c_GetDialogInput = ct.CFUNCTYPE(ct.c_int32,ct.c_int32, ct.c_int32, ct.POINTER(ct.POINTER(ct.c_char)), ct.c_int32)(("simxGetDialogInput", libsimx)) 99 | c_GetDialogResult = ct.CFUNCTYPE(ct.c_int32,ct.c_int32, ct.c_int32, ct.POINTER(ct.c_int32), ct.c_int32)(("simxGetDialogResult", libsimx)) 100 | c_CopyPasteObjects = ct.CFUNCTYPE(ct.c_int32,ct.c_int32, ct.POINTER(ct.c_int32), ct.c_int32, ct.POINTER(ct.POINTER(ct.c_int32)), ct.POINTER(ct.c_int32), ct.c_int32)(("simxCopyPasteObjects", libsimx)) 101 | c_GetObjectSelection = ct.CFUNCTYPE(ct.c_int32,ct.c_int32, ct.POINTER(ct.POINTER(ct.c_int32)), ct.POINTER(ct.c_int32), ct.c_int32)(("simxGetObjectSelection", libsimx)) 102 | c_SetObjectSelection = ct.CFUNCTYPE(ct.c_int32,ct.c_int32, ct.POINTER(ct.c_int32), ct.c_int32, ct.c_int32)(("simxSetObjectSelection", libsimx)) 103 | c_ClearFloatSignal = ct.CFUNCTYPE(ct.c_int32,ct.c_int32, ct.POINTER(ct.c_char), ct.c_int32)(("simxClearFloatSignal", libsimx)) 104 | c_ClearIntegerSignal = ct.CFUNCTYPE(ct.c_int32,ct.c_int32, ct.POINTER(ct.c_char), ct.c_int32)(("simxClearIntegerSignal", libsimx)) 105 | c_ClearStringSignal = ct.CFUNCTYPE(ct.c_int32,ct.c_int32, ct.POINTER(ct.c_char), ct.c_int32)(("simxClearStringSignal", libsimx)) 106 | c_GetFloatSignal = ct.CFUNCTYPE(ct.c_int32,ct.c_int32, ct.POINTER(ct.c_char), ct.POINTER(ct.c_float), ct.c_int32)(("simxGetFloatSignal", libsimx)) 107 | c_GetIntegerSignal = ct.CFUNCTYPE(ct.c_int32,ct.c_int32, ct.POINTER(ct.c_char), ct.POINTER(ct.c_int32), ct.c_int32)(("simxGetIntegerSignal", libsimx)) 108 | c_GetStringSignal = ct.CFUNCTYPE(ct.c_int32,ct.c_int32, ct.POINTER(ct.c_char), ct.POINTER(ct.POINTER(ct.c_ubyte)), ct.POINTER(ct.c_int32), ct.c_int32)(("simxGetStringSignal", libsimx)) 109 | c_SetFloatSignal = ct.CFUNCTYPE(ct.c_int32,ct.c_int32, ct.POINTER(ct.c_char), ct.c_float, ct.c_int32)(("simxSetFloatSignal", libsimx)) 110 | c_SetIntegerSignal = ct.CFUNCTYPE(ct.c_int32,ct.c_int32, ct.POINTER(ct.c_char), ct.c_int32, ct.c_int32)(("simxSetIntegerSignal", libsimx)) 111 | c_SetStringSignal = ct.CFUNCTYPE(ct.c_int32,ct.c_int32, ct.POINTER(ct.c_char), ct.POINTER(ct.c_ubyte), ct.c_int32, ct.c_int32)(("simxSetStringSignal", libsimx)) 112 | c_AppendStringSignal = ct.CFUNCTYPE(ct.c_int32,ct.c_int32, ct.POINTER(ct.c_char), ct.POINTER(ct.c_ubyte), ct.c_int32, ct.c_int32)(("simxAppendStringSignal", libsimx)) 113 | c_WriteStringStream = ct.CFUNCTYPE(ct.c_int32,ct.c_int32, ct.POINTER(ct.c_char), ct.POINTER(ct.c_ubyte), ct.c_int32, ct.c_int32)(("simxWriteStringStream", libsimx)) 114 | c_GetObjectFloatParameter = ct.CFUNCTYPE(ct.c_int32,ct.c_int32, ct.c_int32, ct.c_int32, ct.POINTER(ct.c_float), ct.c_int32)(("simxGetObjectFloatParameter", libsimx)) 115 | c_SetObjectFloatParameter = ct.CFUNCTYPE(ct.c_int32,ct.c_int32, ct.c_int32, ct.c_int32, ct.c_float, ct.c_int32)(("simxSetObjectFloatParameter", libsimx)) 116 | c_GetObjectIntParameter = ct.CFUNCTYPE(ct.c_int32,ct.c_int32, ct.c_int32, ct.c_int32, ct.POINTER(ct.c_int32), ct.c_int32)(("simxGetObjectIntParameter", libsimx)) 117 | c_SetObjectIntParameter = ct.CFUNCTYPE(ct.c_int32,ct.c_int32, ct.c_int32, ct.c_int32, ct.c_int32, ct.c_int32)(("simxSetObjectIntParameter", libsimx)) 118 | c_GetModelProperty = ct.CFUNCTYPE(ct.c_int32,ct.c_int32, ct.c_int32, ct.POINTER(ct.c_int32), ct.c_int32)(("simxGetModelProperty", libsimx)) 119 | c_SetModelProperty = ct.CFUNCTYPE(ct.c_int32,ct.c_int32, ct.c_int32, ct.c_int32, ct.c_int32)(("simxSetModelProperty", libsimx)) 120 | c_Start = ct.CFUNCTYPE(ct.c_int32,ct.POINTER(ct.c_char), ct.c_int32, ct.c_ubyte, ct.c_ubyte, ct.c_int32, ct.c_int32)(("simxStart", libsimx)) 121 | c_Finish = ct.CFUNCTYPE(None, ct.c_int32)(("simxFinish", libsimx)) 122 | c_GetPingTime = ct.CFUNCTYPE(ct.c_int32,ct.c_int32, ct.POINTER(ct.c_int32))(("simxGetPingTime", libsimx)) 123 | c_GetLastCmdTime = ct.CFUNCTYPE(ct.c_int32,ct.c_int32)(("simxGetLastCmdTime", libsimx)) 124 | c_SynchronousTrigger = ct.CFUNCTYPE(ct.c_int32,ct.c_int32)(("simxSynchronousTrigger", libsimx)) 125 | c_Synchronous = ct.CFUNCTYPE(ct.c_int32,ct.c_int32, ct.c_ubyte)(("simxSynchronous", libsimx)) 126 | c_PauseCommunication = ct.CFUNCTYPE(ct.c_int32,ct.c_int32, ct.c_ubyte)(("simxPauseCommunication", libsimx)) 127 | c_GetInMessageInfo = ct.CFUNCTYPE(ct.c_int32,ct.c_int32, ct.c_int32, ct.POINTER(ct.c_int32))(("simxGetInMessageInfo", libsimx)) 128 | c_GetOutMessageInfo = ct.CFUNCTYPE(ct.c_int32,ct.c_int32, ct.c_int32, ct.POINTER(ct.c_int32))(("simxGetOutMessageInfo", libsimx)) 129 | c_GetConnectionId = ct.CFUNCTYPE(ct.c_int32,ct.c_int32)(("simxGetConnectionId", libsimx)) 130 | c_CreateBuffer = ct.CFUNCTYPE(ct.POINTER(ct.c_ubyte), ct.c_int32)(("simxCreateBuffer", libsimx)) 131 | c_ReleaseBuffer = ct.CFUNCTYPE(None, ct.c_void_p)(("simxReleaseBuffer", libsimx)) 132 | c_TransferFile = ct.CFUNCTYPE(ct.c_int32,ct.c_int32, ct.POINTER(ct.c_char), ct.POINTER(ct.c_char), ct.c_int32, ct.c_int32)(("simxTransferFile", libsimx)) 133 | c_EraseFile = ct.CFUNCTYPE(ct.c_int32,ct.c_int32, ct.POINTER(ct.c_char), ct.c_int32)(("simxEraseFile", libsimx)) 134 | c_GetAndClearStringSignal = ct.CFUNCTYPE(ct.c_int32,ct.c_int32, ct.POINTER(ct.c_char), ct.POINTER(ct.POINTER(ct.c_ubyte)), ct.POINTER(ct.c_int32), ct.c_int32)(("simxGetAndClearStringSignal", libsimx)) 135 | c_ReadStringStream = ct.CFUNCTYPE(ct.c_int32,ct.c_int32, ct.POINTER(ct.c_char), ct.POINTER(ct.POINTER(ct.c_ubyte)), ct.POINTER(ct.c_int32), ct.c_int32)(("simxReadStringStream", libsimx)) 136 | c_CreateDummy = ct.CFUNCTYPE(ct.c_int32,ct.c_int32, ct.c_float, ct.POINTER(ct.c_ubyte), ct.POINTER(ct.c_int32), ct.c_int32)(("simxCreateDummy", libsimx)) 137 | c_Query = ct.CFUNCTYPE(ct.c_int32,ct.c_int32, ct.POINTER(ct.c_char), ct.POINTER(ct.c_ubyte), ct.c_int32, ct.POINTER(ct.c_char), ct.POINTER(ct.POINTER(ct.c_ubyte)), ct.POINTER(ct.c_int32), ct.c_int32)(("simxQuery", libsimx)) 138 | c_GetObjectGroupData = ct.CFUNCTYPE(ct.c_int32,ct.c_int32, ct.c_int32, ct.c_int32, ct.POINTER(ct.c_int32), ct.POINTER(ct.POINTER(ct.c_int32)), ct.POINTER(ct.c_int32), ct.POINTER(ct.POINTER(ct.c_int32)), ct.POINTER(ct.c_int32), ct.POINTER(ct.POINTER(ct.c_float)), ct.POINTER(ct.c_int32), ct.POINTER(ct.POINTER(ct.c_char)), ct.c_int32)(("simxGetObjectGroupData", libsimx)) 139 | c_GetObjectVelocity = ct.CFUNCTYPE(ct.c_int32,ct.c_int32, ct.c_int32, ct.POINTER(ct.c_float), ct.POINTER(ct.c_float), ct.c_int32)(("simxGetObjectVelocity", libsimx)) 140 | c_CallScriptFunction = ct.CFUNCTYPE(ct.c_int32,ct.c_int32,ct.POINTER(ct.c_char),ct.c_int32,ct.POINTER(ct.c_char),ct.c_int32,ct.POINTER(ct.c_int32),ct.c_int32,ct.POINTER(ct.c_float),ct.c_int32,ct.POINTER(ct.c_char),ct.c_int32,ct.POINTER(ct.c_ubyte),ct.POINTER(ct.c_int32), ct.POINTER(ct.POINTER(ct.c_int32)),ct.POINTER(ct.c_int32), ct.POINTER(ct.POINTER(ct.c_float)),ct.POINTER(ct.c_int32), ct.POINTER(ct.POINTER(ct.c_char)),ct.POINTER(ct.c_int32), ct.POINTER(ct.POINTER(ct.c_ubyte)),ct.c_int32)(("simxCallScriptFunction", libsimx)) 141 | 142 | #API functions 143 | def simxGetJointPosition(clientID, jointHandle, operationMode): 144 | ''' 145 | Please have a look at the function description/documentation in the CoppeliaSim user manual 146 | ''' 147 | position = ct.c_float() 148 | return c_GetJointPosition(clientID, jointHandle, ct.byref(position), operationMode), position.value 149 | 150 | def simxSetJointPosition(clientID, jointHandle, position, operationMode): 151 | ''' 152 | Please have a look at the function description/documentation in the CoppeliaSim user manual 153 | ''' 154 | 155 | return c_SetJointPosition(clientID, jointHandle, position, operationMode) 156 | 157 | def simxGetJointMatrix(clientID, jointHandle, operationMode): 158 | ''' 159 | Please have a look at the function description/documentation in the CoppeliaSim user manual 160 | ''' 161 | matrix = (ct.c_float*12)() 162 | ret = c_GetJointMatrix(clientID, jointHandle, matrix, operationMode) 163 | arr = [] 164 | for i in range(12): 165 | arr.append(matrix[i]) 166 | return ret, arr 167 | 168 | def simxSetSphericalJointMatrix(clientID, jointHandle, matrix, operationMode): 169 | ''' 170 | Please have a look at the function description/documentation in the CoppeliaSim user manual 171 | ''' 172 | matrix = (ct.c_float*12)(*matrix) 173 | return c_SetSphericalJointMatrix(clientID, jointHandle, matrix, operationMode) 174 | 175 | def simxSetJointTargetVelocity(clientID, jointHandle, targetVelocity, operationMode): 176 | ''' 177 | Please have a look at the function description/documentation in the CoppeliaSim user manual 178 | ''' 179 | 180 | return c_SetJointTargetVelocity(clientID, jointHandle, targetVelocity, operationMode) 181 | 182 | def simxSetJointTargetPosition(clientID, jointHandle, targetPosition, operationMode): 183 | ''' 184 | Please have a look at the function description/documentation in the CoppeliaSim user manual 185 | ''' 186 | 187 | return c_SetJointTargetPosition(clientID, jointHandle, targetPosition, operationMode) 188 | 189 | def simxJointGetForce(clientID, jointHandle, operationMode): 190 | ''' 191 | Please have a look at the function description/documentation in the CoppeliaSim user manual 192 | ''' 193 | force = ct.c_float() 194 | return c_GetJointForce(clientID, jointHandle, ct.byref(force), operationMode), force.value 195 | 196 | def simxGetJointForce(clientID, jointHandle, operationMode): 197 | ''' 198 | Please have a look at the function description/documentation in the CoppeliaSim user manual 199 | ''' 200 | force = ct.c_float() 201 | return c_GetJointForce(clientID, jointHandle, ct.byref(force), operationMode), force.value 202 | 203 | def simxGetJointMaxForce(clientID, jointHandle, operationMode): 204 | ''' 205 | Please have a look at the function description/documentation in the CoppeliaSim user manual 206 | ''' 207 | force = ct.c_float() 208 | return c_GetJointMaxForce(clientID, jointHandle, ct.byref(force), operationMode), force.value 209 | 210 | def simxSetJointForce(clientID, jointHandle, force, operationMode): 211 | ''' 212 | Please have a look at the function description/documentation in the CoppeliaSim user manual 213 | ''' 214 | return c_SetJointMaxForce(clientID, jointHandle, force, operationMode) 215 | 216 | def simxSetJointMaxForce(clientID, jointHandle, force, operationMode): 217 | ''' 218 | Please have a look at the function description/documentation in the CoppeliaSim user manual 219 | ''' 220 | return c_SetJointMaxForce(clientID, jointHandle, force, operationMode) 221 | 222 | def simxReadForceSensor(clientID, forceSensorHandle, operationMode): 223 | ''' 224 | Please have a look at the function description/documentation in the CoppeliaSim user manual 225 | ''' 226 | state = ct.c_ubyte() 227 | forceVector = (ct.c_float*3)() 228 | torqueVector = (ct.c_float*3)() 229 | ret = c_ReadForceSensor(clientID, forceSensorHandle, ct.byref(state), forceVector, torqueVector, operationMode) 230 | arr1 = [] 231 | for i in range(3): 232 | arr1.append(forceVector[i]) 233 | arr2 = [] 234 | for i in range(3): 235 | arr2.append(torqueVector[i]) 236 | #if sys.version_info[0] == 3: 237 | # state=state.value 238 | #else: 239 | # state=ord(state.value) 240 | return ret, state.value, arr1, arr2 241 | 242 | def simxBreakForceSensor(clientID, forceSensorHandle, operationMode): 243 | ''' 244 | Please have a look at the function description/documentation in the CoppeliaSim user manual 245 | ''' 246 | return c_BreakForceSensor(clientID, forceSensorHandle, operationMode) 247 | 248 | def simxReadVisionSensor(clientID, sensorHandle, operationMode): 249 | ''' 250 | Please have a look at the function description/documentation in the CoppeliaSim user manual 251 | ''' 252 | 253 | detectionState = ct.c_ubyte() 254 | auxValues = ct.POINTER(ct.c_float)() 255 | auxValuesCount = ct.POINTER(ct.c_int)() 256 | ret = c_ReadVisionSensor(clientID, sensorHandle, ct.byref(detectionState), ct.byref(auxValues), ct.byref(auxValuesCount), operationMode) 257 | 258 | auxValues2 = [] 259 | if ret == 0: 260 | s = 0 261 | for i in range(auxValuesCount[0]): 262 | auxValues2.append(auxValues[s:s+auxValuesCount[i+1]]) 263 | s += auxValuesCount[i+1] 264 | 265 | #free C buffers 266 | c_ReleaseBuffer(auxValues) 267 | c_ReleaseBuffer(auxValuesCount) 268 | 269 | return ret, bool(detectionState.value!=0), auxValues2 270 | 271 | def simxGetObjectHandle(clientID, objectName, operationMode): 272 | ''' 273 | Please have a look at the function description/documentation in the CoppeliaSim user manual 274 | ''' 275 | handle = ct.c_int() 276 | if (sys.version_info[0] == 3) and (type(objectName) is str): 277 | objectName=objectName.encode('utf-8') 278 | return c_GetObjectHandle(clientID, objectName, ct.byref(handle), operationMode), handle.value 279 | 280 | def simxGetVisionSensorImage(clientID, sensorHandle, options, operationMode): 281 | ''' 282 | Please have a look at the function description/documentation in the CoppeliaSim user manual 283 | ''' 284 | 285 | resolution = (ct.c_int*2)() 286 | c_image = ct.POINTER(ct.c_byte)() 287 | bytesPerPixel = 3 288 | if (options and 1) != 0: 289 | bytesPerPixel = 1 290 | ret = c_GetVisionSensorImage(clientID, sensorHandle, resolution, ct.byref(c_image), options, operationMode) 291 | 292 | reso = [] 293 | image = [] 294 | if (ret == 0): 295 | image = [None]*resolution[0]*resolution[1]*bytesPerPixel 296 | for i in range(resolution[0] * resolution[1] * bytesPerPixel): 297 | image[i] = c_image[i] 298 | for i in range(2): 299 | reso.append(resolution[i]) 300 | return ret, reso, image 301 | 302 | def simxSetVisionSensorImage(clientID, sensorHandle, image, options, operationMode): 303 | ''' 304 | Please have a look at the function description/documentation in the CoppeliaSim user manual 305 | ''' 306 | size = len(image) 307 | image_bytes = (ct.c_byte*size)(*image) 308 | return c_SetVisionSensorImage(clientID, sensorHandle, image_bytes, size, options, operationMode) 309 | 310 | def simxGetVisionSensorDepthBuffer(clientID, sensorHandle, operationMode): 311 | ''' 312 | Please have a look at the function description/documentation in the CoppeliaSim user manual 313 | ''' 314 | c_buffer = ct.POINTER(ct.c_float)() 315 | resolution = (ct.c_int*2)() 316 | ret = c_GetVisionSensorDepthBuffer(clientID, sensorHandle, resolution, ct.byref(c_buffer), operationMode) 317 | reso = [] 318 | buffer = [] 319 | if (ret == 0): 320 | buffer = [None]*resolution[0]*resolution[1] 321 | for i in range(resolution[0] * resolution[1]): 322 | buffer[i] = c_buffer[i] 323 | for i in range(2): 324 | reso.append(resolution[i]) 325 | return ret, reso, buffer 326 | 327 | def simxGetObjectChild(clientID, parentObjectHandle, childIndex, operationMode): 328 | ''' 329 | Please have a look at the function description/documentation in the CoppeliaSim user manual 330 | ''' 331 | childObjectHandle = ct.c_int() 332 | return c_GetObjectChild(clientID, parentObjectHandle, childIndex, ct.byref(childObjectHandle), operationMode), childObjectHandle.value 333 | 334 | def simxGetObjectParent(clientID, childObjectHandle, operationMode): 335 | ''' 336 | Please have a look at the function description/documentation in the CoppeliaSim user manual 337 | ''' 338 | 339 | parentObjectHandle = ct.c_int() 340 | return c_GetObjectParent(clientID, childObjectHandle, ct.byref(parentObjectHandle), operationMode), parentObjectHandle.value 341 | 342 | def simxReadProximitySensor(clientID, sensorHandle, operationMode): 343 | ''' 344 | Please have a look at the function description/documentation in the CoppeliaSim user manual 345 | ''' 346 | 347 | detectionState = ct.c_ubyte() 348 | detectedObjectHandle = ct.c_int() 349 | detectedPoint = (ct.c_float*3)() 350 | detectedSurfaceNormalVector = (ct.c_float*3)() 351 | ret = c_ReadProximitySensor(clientID, sensorHandle, ct.byref(detectionState), detectedPoint, ct.byref(detectedObjectHandle), detectedSurfaceNormalVector, operationMode) 352 | arr1 = [] 353 | for i in range(3): 354 | arr1.append(detectedPoint[i]) 355 | arr2 = [] 356 | for i in range(3): 357 | arr2.append(detectedSurfaceNormalVector[i]) 358 | return ret, bool(detectionState.value!=0), arr1, detectedObjectHandle.value, arr2 359 | 360 | def simxLoadModel(clientID, modelPathAndName, options, operationMode): 361 | ''' 362 | Please have a look at the function description/documentation in the CoppeliaSim user manual 363 | ''' 364 | baseHandle = ct.c_int() 365 | if (sys.version_info[0] == 3) and (type(modelPathAndName) is str): 366 | modelPathAndName=modelPathAndName.encode('utf-8') 367 | return c_LoadModel(clientID, modelPathAndName, options, ct.byref(baseHandle), operationMode), baseHandle.value 368 | 369 | def simxLoadUI(clientID, uiPathAndName, options, operationMode): 370 | ''' 371 | Please have a look at the function description/documentation in the CoppeliaSim user manual 372 | ''' 373 | 374 | count = ct.c_int() 375 | uiHandles = ct.POINTER(ct.c_int)() 376 | if (sys.version_info[0] == 3) and (type(uiPathAndName) is str): 377 | uiPathAndName=uiPathAndName.encode('utf-8') 378 | ret = c_LoadUI(clientID, uiPathAndName, options, ct.byref(count), ct.byref(uiHandles), operationMode) 379 | 380 | handles = [] 381 | if ret == 0: 382 | for i in range(count.value): 383 | handles.append(uiHandles[i]) 384 | #free C buffers 385 | c_ReleaseBuffer(uiHandles) 386 | 387 | return ret, handles 388 | 389 | def simxLoadScene(clientID, scenePathAndName, options, operationMode): 390 | ''' 391 | Please have a look at the function description/documentation in the CoppeliaSim user manual 392 | ''' 393 | 394 | if (sys.version_info[0] == 3) and (type(scenePathAndName) is str): 395 | scenePathAndName=scenePathAndName.encode('utf-8') 396 | return c_LoadScene(clientID, scenePathAndName, options, operationMode) 397 | 398 | def simxStartSimulation(clientID, operationMode): 399 | ''' 400 | Please have a look at the function description/documentation in the CoppeliaSim user manual 401 | ''' 402 | 403 | return c_StartSimulation(clientID, operationMode) 404 | 405 | def simxPauseSimulation(clientID, operationMode): 406 | ''' 407 | Please have a look at the function description/documentation in the CoppeliaSim user manual 408 | ''' 409 | 410 | return c_PauseSimulation(clientID, operationMode) 411 | 412 | def simxStopSimulation(clientID, operationMode): 413 | ''' 414 | Please have a look at the function description/documentation in the CoppeliaSim user manual 415 | ''' 416 | 417 | return c_StopSimulation(clientID, operationMode) 418 | 419 | def simxGetUIHandle(clientID, uiName, operationMode): 420 | ''' 421 | Please have a look at the function description/documentation in the CoppeliaSim user manual 422 | ''' 423 | 424 | handle = ct.c_int() 425 | if (sys.version_info[0] == 3) and (type(uiName) is str): 426 | uiName=uiName.encode('utf-8') 427 | return c_GetUIHandle(clientID, uiName, ct.byref(handle), operationMode), handle.value 428 | 429 | def simxGetUISlider(clientID, uiHandle, uiButtonID, operationMode): 430 | ''' 431 | Please have a look at the function description/documentation in the CoppeliaSim user manual 432 | ''' 433 | 434 | position = ct.c_int() 435 | return c_GetUISlider(clientID, uiHandle, uiButtonID, ct.byref(position), operationMode), position.value 436 | 437 | def simxSetUISlider(clientID, uiHandle, uiButtonID, position, operationMode): 438 | ''' 439 | Please have a look at the function description/documentation in the CoppeliaSim user manual 440 | ''' 441 | 442 | return c_SetUISlider(clientID, uiHandle, uiButtonID, position, operationMode) 443 | 444 | def simxGetUIEventButton(clientID, uiHandle, operationMode): 445 | ''' 446 | Please have a look at the function description/documentation in the CoppeliaSim user manual 447 | ''' 448 | 449 | uiEventButtonID = ct.c_int() 450 | auxValues = (ct.c_int*2)() 451 | ret = c_GetUIEventButton(clientID, uiHandle, ct.byref(uiEventButtonID), auxValues, operationMode) 452 | arr = [] 453 | for i in range(2): 454 | arr.append(auxValues[i]) 455 | return ret, uiEventButtonID.value, arr 456 | 457 | def simxGetUIButtonProperty(clientID, uiHandle, uiButtonID, operationMode): 458 | ''' 459 | Please have a look at the function description/documentation in the CoppeliaSim user manual 460 | ''' 461 | 462 | prop = ct.c_int() 463 | return c_GetUIButtonProperty(clientID, uiHandle, uiButtonID, ct.byref(prop), operationMode), prop.value 464 | 465 | def simxSetUIButtonProperty(clientID, uiHandle, uiButtonID, prop, operationMode): 466 | ''' 467 | Please have a look at the function description/documentation in the CoppeliaSim user manual 468 | ''' 469 | 470 | return c_SetUIButtonProperty(clientID, uiHandle, uiButtonID, prop, operationMode) 471 | 472 | def simxAddStatusbarMessage(clientID, message, operationMode): 473 | ''' 474 | Please have a look at the function description/documentation in the CoppeliaSim user manual 475 | ''' 476 | 477 | if (sys.version_info[0] == 3) and (type(message) is str): 478 | message=message.encode('utf-8') 479 | return c_AddStatusbarMessage(clientID, message, operationMode) 480 | 481 | def simxAuxiliaryConsoleOpen(clientID, title, maxLines, mode, position, size, textColor, backgroundColor, operationMode): 482 | ''' 483 | Please have a look at the function description/documentation in the CoppeliaSim user manual 484 | ''' 485 | 486 | consoleHandle = ct.c_int() 487 | if (sys.version_info[0] == 3) and (type(title) is str): 488 | title=title.encode('utf-8') 489 | if position != None: 490 | c_position = (ct.c_int*2)(*position) 491 | else: 492 | c_position = None 493 | if size != None: 494 | c_size = (ct.c_int*2)(*size) 495 | else: 496 | c_size = None 497 | if textColor != None: 498 | c_textColor = (ct.c_float*3)(*textColor) 499 | else: 500 | c_textColor = None 501 | if backgroundColor != None: 502 | c_backgroundColor = (ct.c_float*3)(*backgroundColor) 503 | else: 504 | c_backgroundColor = None 505 | return c_AuxiliaryConsoleOpen(clientID, title, maxLines, mode, c_position, c_size, c_textColor, c_backgroundColor, ct.byref(consoleHandle), operationMode), consoleHandle.value 506 | 507 | def simxAuxiliaryConsoleClose(clientID, consoleHandle, operationMode): 508 | ''' 509 | Please have a look at the function description/documentation in the CoppeliaSim user manual 510 | ''' 511 | 512 | return c_AuxiliaryConsoleClose(clientID, consoleHandle, operationMode) 513 | 514 | def simxAuxiliaryConsolePrint(clientID, consoleHandle, txt, operationMode): 515 | ''' 516 | Please have a look at the function description/documentation in the CoppeliaSim user manual 517 | ''' 518 | 519 | if (sys.version_info[0] == 3) and (type(txt) is str): 520 | txt=txt.encode('utf-8') 521 | return c_AuxiliaryConsolePrint(clientID, consoleHandle, txt, operationMode) 522 | 523 | def simxAuxiliaryConsoleShow(clientID, consoleHandle, showState, operationMode): 524 | ''' 525 | Please have a look at the function description/documentation in the CoppeliaSim user manual 526 | ''' 527 | 528 | return c_AuxiliaryConsoleShow(clientID, consoleHandle, showState, operationMode) 529 | 530 | def simxGetObjectOrientation(clientID, objectHandle, relativeToObjectHandle, operationMode): 531 | ''' 532 | Please have a look at the function description/documentation in the CoppeliaSim user manual 533 | ''' 534 | eulerAngles = (ct.c_float*3)() 535 | ret = c_GetObjectOrientation(clientID, objectHandle, relativeToObjectHandle, eulerAngles, operationMode) 536 | arr = [] 537 | for i in range(3): 538 | arr.append(eulerAngles[i]) 539 | return ret, arr 540 | 541 | def simxGetObjectQuaternion(clientID, objectHandle, relativeToObjectHandle, operationMode): 542 | ''' 543 | Please have a look at the function description/documentation in the CoppeliaSim user manual 544 | ''' 545 | quaternion = (ct.c_float*4)() 546 | ret = c_GetObjectQuaternion(clientID, objectHandle, relativeToObjectHandle, quaternion, operationMode) 547 | arr = [] 548 | for i in range(4): 549 | arr.append(quaternion[i]) 550 | return ret, arr 551 | 552 | def simxGetObjectPosition(clientID, objectHandle, relativeToObjectHandle, operationMode): 553 | ''' 554 | Please have a look at the function description/documentation in the CoppeliaSim user manual 555 | ''' 556 | position = (ct.c_float*3)() 557 | ret = c_GetObjectPosition(clientID, objectHandle, relativeToObjectHandle, position, operationMode) 558 | arr = [] 559 | for i in range(3): 560 | arr.append(position[i]) 561 | return ret, arr 562 | 563 | def simxSetObjectOrientation(clientID, objectHandle, relativeToObjectHandle, eulerAngles, operationMode): 564 | ''' 565 | Please have a look at the function description/documentation in the CoppeliaSim user manual 566 | ''' 567 | 568 | angles = (ct.c_float*3)(*eulerAngles) 569 | return c_SetObjectOrientation(clientID, objectHandle, relativeToObjectHandle, angles, operationMode) 570 | 571 | def simxSetObjectQuaternion(clientID, objectHandle, relativeToObjectHandle, quaternion, operationMode): 572 | ''' 573 | Please have a look at the function description/documentation in the CoppeliaSim user manual 574 | ''' 575 | 576 | quat = (ct.c_float*4)(*quaternion) 577 | return c_SetObjectQuaternion(clientID, objectHandle, relativeToObjectHandle, quat, operationMode) 578 | 579 | def simxSetObjectPosition(clientID, objectHandle, relativeToObjectHandle, position, operationMode): 580 | ''' 581 | Please have a look at the function description/documentation in the CoppeliaSim user manual 582 | ''' 583 | 584 | c_position = (ct.c_float*3)(*position) 585 | return c_SetObjectPosition(clientID, objectHandle, relativeToObjectHandle, c_position, operationMode) 586 | 587 | def simxSetObjectParent(clientID, objectHandle, parentObject, keepInPlace, operationMode): 588 | ''' 589 | Please have a look at the function description/documentation in the CoppeliaSim user manual 590 | ''' 591 | 592 | return c_SetObjectParent(clientID, objectHandle, parentObject, keepInPlace, operationMode) 593 | 594 | def simxSetUIButtonLabel(clientID, uiHandle, uiButtonID, upStateLabel, downStateLabel, operationMode): 595 | ''' 596 | Please have a look at the function description/documentation in the CoppeliaSim user manual 597 | ''' 598 | 599 | if sys.version_info[0] == 3: 600 | if type(upStateLabel) is str: 601 | upStateLabel=upStateLabel.encode('utf-8') 602 | if type(downStateLabel) is str: 603 | downStateLabel=downStateLabel.encode('utf-8') 604 | return c_SetUIButtonLabel(clientID, uiHandle, uiButtonID, upStateLabel, downStateLabel, operationMode) 605 | 606 | def simxGetLastErrors(clientID, operationMode): 607 | ''' 608 | Please have a look at the function description/documentation in the CoppeliaSim user manual 609 | ''' 610 | errors =[] 611 | errorCnt = ct.c_int() 612 | errorStrings = ct.POINTER(ct.c_char)() 613 | ret = c_GetLastErrors(clientID, ct.byref(errorCnt), ct.byref(errorStrings), operationMode) 614 | if ret == 0: 615 | s = 0 616 | for i in range(errorCnt.value): 617 | a = bytearray() 618 | while errorStrings[s] != b'\0': 619 | if sys.version_info[0] == 3: 620 | a.append(int.from_bytes(errorStrings[s],'big')) 621 | else: 622 | a.append(errorStrings[s]) 623 | s += 1 624 | s += 1 #skip null 625 | if sys.version_info[0] == 3: 626 | errors.append(str(a,'utf-8')) 627 | else: 628 | errors.append(str(a)) 629 | 630 | return ret, errors 631 | 632 | def simxGetArrayParameter(clientID, paramIdentifier, operationMode): 633 | ''' 634 | Please have a look at the function description/documentation in the CoppeliaSim user manual 635 | ''' 636 | paramValues = (ct.c_float*3)() 637 | ret = c_GetArrayParameter(clientID, paramIdentifier, paramValues, operationMode) 638 | arr = [] 639 | for i in range(3): 640 | arr.append(paramValues[i]) 641 | return ret, arr 642 | 643 | def simxSetArrayParameter(clientID, paramIdentifier, paramValues, operationMode): 644 | ''' 645 | Please have a look at the function description/documentation in the CoppeliaSim user manual 646 | ''' 647 | 648 | c_paramValues = (ct.c_float*3)(*paramValues) 649 | return c_SetArrayParameter(clientID, paramIdentifier, c_paramValues, operationMode) 650 | 651 | def simxGetBooleanParameter(clientID, paramIdentifier, operationMode): 652 | ''' 653 | Please have a look at the function description/documentation in the CoppeliaSim user manual 654 | ''' 655 | 656 | paramValue = ct.c_ubyte() 657 | return c_GetBooleanParameter(clientID, paramIdentifier, ct.byref(paramValue), operationMode), bool(paramValue.value!=0) 658 | 659 | def simxSetBooleanParameter(clientID, paramIdentifier, paramValue, operationMode): 660 | ''' 661 | Please have a look at the function description/documentation in the CoppeliaSim user manual 662 | ''' 663 | 664 | return c_SetBooleanParameter(clientID, paramIdentifier, paramValue, operationMode) 665 | 666 | def simxGetIntegerParameter(clientID, paramIdentifier, operationMode): 667 | ''' 668 | Please have a look at the function description/documentation in the CoppeliaSim user manual 669 | ''' 670 | 671 | paramValue = ct.c_int() 672 | return c_GetIntegerParameter(clientID, paramIdentifier, ct.byref(paramValue), operationMode), paramValue.value 673 | 674 | def simxSetIntegerParameter(clientID, paramIdentifier, paramValue, operationMode): 675 | ''' 676 | Please have a look at the function description/documentation in the CoppeliaSim user manual 677 | ''' 678 | 679 | return c_SetIntegerParameter(clientID, paramIdentifier, paramValue, operationMode) 680 | 681 | def simxGetFloatingParameter(clientID, paramIdentifier, operationMode): 682 | ''' 683 | Please have a look at the function description/documentation in the CoppeliaSim user manual 684 | ''' 685 | 686 | paramValue = ct.c_float() 687 | return c_GetFloatingParameter(clientID, paramIdentifier, ct.byref(paramValue), operationMode), paramValue.value 688 | 689 | def simxSetFloatingParameter(clientID, paramIdentifier, paramValue, operationMode): 690 | ''' 691 | Please have a look at the function description/documentation in the CoppeliaSim user manual 692 | ''' 693 | 694 | return c_SetFloatingParameter(clientID, paramIdentifier, paramValue, operationMode) 695 | 696 | def simxGetStringParameter(clientID, paramIdentifier, operationMode): 697 | ''' 698 | Please have a look at the function description/documentation in the CoppeliaSim user manual 699 | ''' 700 | paramValue = ct.POINTER(ct.c_char)() 701 | ret = c_GetStringParameter(clientID, paramIdentifier, ct.byref(paramValue), operationMode) 702 | 703 | a = bytearray() 704 | if ret == 0: 705 | i = 0 706 | while paramValue[i] != b'\0': 707 | if sys.version_info[0] == 3: 708 | a.append(int.from_bytes(paramValue[i],'big')) 709 | else: 710 | a.append(paramValue[i]) 711 | i=i+1 712 | if sys.version_info[0] == 3: 713 | a=str(a,'utf-8') 714 | else: 715 | a=str(a) 716 | return ret, a 717 | 718 | def simxGetCollisionHandle(clientID, collisionObjectName, operationMode): 719 | ''' 720 | Please have a look at the function description/documentation in the CoppeliaSim user manual 721 | ''' 722 | 723 | handle = ct.c_int() 724 | if (sys.version_info[0] == 3) and (type(collisionObjectName) is str): 725 | collisionObjectName=collisionObjectName.encode('utf-8') 726 | return c_GetCollisionHandle(clientID, collisionObjectName, ct.byref(handle), operationMode), handle.value 727 | 728 | def simxGetCollectionHandle(clientID, collectionName, operationMode): 729 | ''' 730 | Please have a look at the function description/documentation in the CoppeliaSim user manual 731 | ''' 732 | 733 | handle = ct.c_int() 734 | if (sys.version_info[0] == 3) and (type(collectionName) is str): 735 | collectionName=collectionName.encode('utf-8') 736 | return c_GetCollectionHandle(clientID, collectionName, ct.byref(handle), operationMode), handle.value 737 | 738 | def simxGetDistanceHandle(clientID, distanceObjectName, operationMode): 739 | ''' 740 | Please have a look at the function description/documentation in the CoppeliaSim user manual 741 | ''' 742 | 743 | handle = ct.c_int() 744 | if (sys.version_info[0] == 3) and (type(distanceObjectName) is str): 745 | distanceObjectName=distanceObjectName.encode('utf-8') 746 | return c_GetDistanceHandle(clientID, distanceObjectName, ct.byref(handle), operationMode), handle.value 747 | 748 | def simxReadCollision(clientID, collisionObjectHandle, operationMode): 749 | ''' 750 | Please have a look at the function description/documentation in the CoppeliaSim user manual 751 | ''' 752 | collisionState = ct.c_ubyte() 753 | return c_ReadCollision(clientID, collisionObjectHandle, ct.byref(collisionState), operationMode), bool(collisionState.value!=0) 754 | 755 | def simxReadDistance(clientID, distanceObjectHandle, operationMode): 756 | ''' 757 | Please have a look at the function description/documentation in the CoppeliaSim user manual 758 | ''' 759 | 760 | minimumDistance = ct.c_float() 761 | return c_ReadDistance(clientID, distanceObjectHandle, ct.byref(minimumDistance), operationMode), minimumDistance.value 762 | 763 | def simxRemoveObject(clientID, objectHandle, operationMode): 764 | ''' 765 | Please have a look at the function description/documentation in the CoppeliaSim user manual 766 | ''' 767 | 768 | return c_RemoveObject(clientID, objectHandle, operationMode) 769 | 770 | def simxRemoveModel(clientID, objectHandle, operationMode): 771 | ''' 772 | Please have a look at the function description/documentation in the CoppeliaSim user manual 773 | ''' 774 | 775 | return c_RemoveModel(clientID, objectHandle, operationMode) 776 | 777 | def simxRemoveUI(clientID, uiHandle, operationMode): 778 | ''' 779 | Please have a look at the function description/documentation in the CoppeliaSim user manual 780 | ''' 781 | 782 | return c_RemoveUI(clientID, uiHandle, operationMode) 783 | 784 | def simxCloseScene(clientID, operationMode): 785 | ''' 786 | Please have a look at the function description/documentation in the CoppeliaSim user manual 787 | ''' 788 | 789 | return c_CloseScene(clientID, operationMode) 790 | 791 | def simxGetObjects(clientID, objectType, operationMode): 792 | ''' 793 | Please have a look at the function description/documentation in the CoppeliaSim user manual 794 | ''' 795 | 796 | objectCount = ct.c_int() 797 | objectHandles = ct.POINTER(ct.c_int)() 798 | 799 | ret = c_GetObjects(clientID, objectType, ct.byref(objectCount), ct.byref(objectHandles), operationMode) 800 | handles = [] 801 | if ret == 0: 802 | for i in range(objectCount.value): 803 | handles.append(objectHandles[i]) 804 | 805 | return ret, handles 806 | 807 | 808 | def simxDisplayDialog(clientID, titleText, mainText, dialogType, initialText, titleColors, dialogColors, operationMode): 809 | ''' 810 | Please have a look at the function description/documentation in the CoppeliaSim user manual 811 | ''' 812 | if titleColors != None: 813 | c_titleColors = (ct.c_float*6)(*titleColors) 814 | else: 815 | c_titleColors = None 816 | if dialogColors != None: 817 | c_dialogColors = (ct.c_float*6)(*dialogColors) 818 | else: 819 | c_dialogColors = None 820 | 821 | c_dialogHandle = ct.c_int() 822 | c_uiHandle = ct.c_int() 823 | if sys.version_info[0] == 3: 824 | if type(titleText) is str: 825 | titleText=titleText.encode('utf-8') 826 | if type(mainText) is str: 827 | mainText=mainText.encode('utf-8') 828 | if type(initialText) is str: 829 | initialText=initialText.encode('utf-8') 830 | return c_DisplayDialog(clientID, titleText, mainText, dialogType, initialText, c_titleColors, c_dialogColors, ct.byref(c_dialogHandle), ct.byref(c_uiHandle), operationMode), c_dialogHandle.value, c_uiHandle.value 831 | 832 | def simxEndDialog(clientID, dialogHandle, operationMode): 833 | ''' 834 | Please have a look at the function description/documentation in the CoppeliaSim user manual 835 | ''' 836 | 837 | return c_EndDialog(clientID, dialogHandle, operationMode) 838 | 839 | def simxGetDialogInput(clientID, dialogHandle, operationMode): 840 | ''' 841 | Please have a look at the function description/documentation in the CoppeliaSim user manual 842 | ''' 843 | inputText = ct.POINTER(ct.c_char)() 844 | ret = c_GetDialogInput(clientID, dialogHandle, ct.byref(inputText), operationMode) 845 | 846 | a = bytearray() 847 | if ret == 0: 848 | i = 0 849 | while inputText[i] != b'\0': 850 | if sys.version_info[0] == 3: 851 | a.append(int.from_bytes(inputText[i],'big')) 852 | else: 853 | a.append(inputText[i]) 854 | i = i+1 855 | 856 | if sys.version_info[0] == 3: 857 | a=str(a,'utf-8') 858 | else: 859 | a=str(a) 860 | return ret, a 861 | 862 | 863 | def simxGetDialogResult(clientID, dialogHandle, operationMode): 864 | ''' 865 | Please have a look at the function description/documentation in the CoppeliaSim user manual 866 | ''' 867 | result = ct.c_int() 868 | return c_GetDialogResult(clientID, dialogHandle, ct.byref(result), operationMode), result.value 869 | 870 | def simxCopyPasteObjects(clientID, objectHandles, operationMode): 871 | ''' 872 | Please have a look at the function description/documentation in the CoppeliaSim user manual 873 | ''' 874 | c_objectHandles = (ct.c_int*len(objectHandles))(*objectHandles) 875 | c_objectHandles = ct.cast(c_objectHandles,ct.POINTER(ct.c_int)) # IronPython needs this 876 | newObjectCount = ct.c_int() 877 | newObjectHandles = ct.POINTER(ct.c_int)() 878 | ret = c_CopyPasteObjects(clientID, c_objectHandles, len(objectHandles), ct.byref(newObjectHandles), ct.byref(newObjectCount), operationMode) 879 | 880 | newobj = [] 881 | if ret == 0: 882 | for i in range(newObjectCount.value): 883 | newobj.append(newObjectHandles[i]) 884 | 885 | return ret, newobj 886 | 887 | 888 | def simxGetObjectSelection(clientID, operationMode): 889 | ''' 890 | Please have a look at the function description/documentation in the CoppeliaSim user manual 891 | ''' 892 | objectCount = ct.c_int() 893 | objectHandles = ct.POINTER(ct.c_int)() 894 | ret = c_GetObjectSelection(clientID, ct.byref(objectHandles), ct.byref(objectCount), operationMode) 895 | 896 | newobj = [] 897 | if ret == 0: 898 | for i in range(objectCount.value): 899 | newobj.append(objectHandles[i]) 900 | 901 | return ret, newobj 902 | 903 | 904 | 905 | def simxSetObjectSelection(clientID, objectHandles, operationMode): 906 | ''' 907 | Please have a look at the function description/documentation in the CoppeliaSim user manual 908 | ''' 909 | 910 | c_objectHandles = (ct.c_int*len(objectHandles))(*objectHandles) 911 | return c_SetObjectSelection(clientID, c_objectHandles, len(objectHandles), operationMode) 912 | 913 | def simxClearFloatSignal(clientID, signalName, operationMode): 914 | ''' 915 | Please have a look at the function description/documentation in the CoppeliaSim user manual 916 | ''' 917 | 918 | if (sys.version_info[0] == 3) and (type(signalName) is str): 919 | signalName=signalName.encode('utf-8') 920 | return c_ClearFloatSignal(clientID, signalName, operationMode) 921 | 922 | def simxClearIntegerSignal(clientID, signalName, operationMode): 923 | ''' 924 | Please have a look at the function description/documentation in the CoppeliaSim user manual 925 | ''' 926 | 927 | if (sys.version_info[0] == 3) and (type(signalName) is str): 928 | signalName=signalName.encode('utf-8') 929 | return c_ClearIntegerSignal(clientID, signalName, operationMode) 930 | 931 | def simxClearStringSignal(clientID, signalName, operationMode): 932 | ''' 933 | Please have a look at the function description/documentation in the CoppeliaSim user manual 934 | ''' 935 | 936 | if (sys.version_info[0] == 3) and (type(signalName) is str): 937 | signalName=signalName.encode('utf-8') 938 | return c_ClearStringSignal(clientID, signalName, operationMode) 939 | 940 | def simxGetFloatSignal(clientID, signalName, operationMode): 941 | ''' 942 | Please have a look at the function description/documentation in the CoppeliaSim user manual 943 | ''' 944 | 945 | signalValue = ct.c_float() 946 | if (sys.version_info[0] == 3) and (type(signalName) is str): 947 | signalName=signalName.encode('utf-8') 948 | return c_GetFloatSignal(clientID, signalName, ct.byref(signalValue), operationMode), signalValue.value 949 | 950 | def simxGetIntegerSignal(clientID, signalName, operationMode): 951 | ''' 952 | Please have a look at the function description/documentation in the CoppeliaSim user manual 953 | ''' 954 | 955 | signalValue = ct.c_int() 956 | if (sys.version_info[0] == 3) and (type(signalName) is str): 957 | signalName=signalName.encode('utf-8') 958 | return c_GetIntegerSignal(clientID, signalName, ct.byref(signalValue), operationMode), signalValue.value 959 | 960 | def simxGetStringSignal(clientID, signalName, operationMode): 961 | ''' 962 | Please have a look at the function description/documentation in the CoppeliaSim user manual 963 | ''' 964 | 965 | signalLength = ct.c_int(); 966 | signalValue = ct.POINTER(ct.c_ubyte)() 967 | if (sys.version_info[0] == 3) and (type(signalName) is str): 968 | signalName=signalName.encode('utf-8') 969 | ret = c_GetStringSignal(clientID, signalName, ct.byref(signalValue), ct.byref(signalLength), operationMode) 970 | 971 | a = bytearray() 972 | if ret == 0: 973 | for i in range(signalLength.value): 974 | a.append(signalValue[i]) 975 | if sys.version_info[0] != 3: 976 | a=str(a) 977 | 978 | return ret, a 979 | 980 | def simxGetAndClearStringSignal(clientID, signalName, operationMode): 981 | ''' 982 | Please have a look at the function description/documentation in the CoppeliaSim user manual 983 | ''' 984 | 985 | signalLength = ct.c_int(); 986 | signalValue = ct.POINTER(ct.c_ubyte)() 987 | if (sys.version_info[0] == 3) and (type(signalName) is str): 988 | signalName=signalName.encode('utf-8') 989 | ret = c_GetAndClearStringSignal(clientID, signalName, ct.byref(signalValue), ct.byref(signalLength), operationMode) 990 | 991 | a = bytearray() 992 | if ret == 0: 993 | for i in range(signalLength.value): 994 | a.append(signalValue[i]) 995 | if sys.version_info[0] != 3: 996 | a=str(a) 997 | 998 | return ret, a 999 | 1000 | def simxReadStringStream(clientID, signalName, operationMode): 1001 | ''' 1002 | Please have a look at the function description/documentation in the CoppeliaSim user manual 1003 | ''' 1004 | 1005 | signalLength = ct.c_int(); 1006 | signalValue = ct.POINTER(ct.c_ubyte)() 1007 | if (sys.version_info[0] == 3) and (type(signalName) is str): 1008 | signalName=signalName.encode('utf-8') 1009 | ret = c_ReadStringStream(clientID, signalName, ct.byref(signalValue), ct.byref(signalLength), operationMode) 1010 | 1011 | a = bytearray() 1012 | if ret == 0: 1013 | for i in range(signalLength.value): 1014 | a.append(signalValue[i]) 1015 | if sys.version_info[0] != 3: 1016 | a=str(a) 1017 | 1018 | return ret, a 1019 | 1020 | def simxSetFloatSignal(clientID, signalName, signalValue, operationMode): 1021 | ''' 1022 | Please have a look at the function description/documentation in the CoppeliaSim user manual 1023 | ''' 1024 | 1025 | if (sys.version_info[0] == 3) and (type(signalName) is str): 1026 | signalName=signalName.encode('utf-8') 1027 | return c_SetFloatSignal(clientID, signalName, signalValue, operationMode) 1028 | 1029 | def simxSetIntegerSignal(clientID, signalName, signalValue, operationMode): 1030 | ''' 1031 | Please have a look at the function description/documentation in the CoppeliaSim user manual 1032 | ''' 1033 | 1034 | if (sys.version_info[0] == 3) and (type(signalName) is str): 1035 | signalName=signalName.encode('utf-8') 1036 | return c_SetIntegerSignal(clientID, signalName, signalValue, operationMode) 1037 | 1038 | def simxSetStringSignal(clientID, signalName, signalValue, operationMode): 1039 | ''' 1040 | Please have a look at the function description/documentation in the CoppeliaSim user manual 1041 | ''' 1042 | 1043 | sigV=signalValue 1044 | if sys.version_info[0] == 3: 1045 | if type(signalName) is str: 1046 | signalName=signalName.encode('utf-8') 1047 | if type(signalValue) is bytearray: 1048 | sigV = (ct.c_ubyte*len(signalValue))(*signalValue) 1049 | if type(signalValue) is str: 1050 | signalValue=signalValue.encode('utf-8') 1051 | sigV = (ct.c_ubyte*len(signalValue))(*signalValue) 1052 | else: 1053 | if type(signalValue) is bytearray: 1054 | sigV = (ct.c_ubyte*len(signalValue))(*signalValue) 1055 | if type(signalValue) is str: 1056 | signalValue=bytearray(signalValue) 1057 | sigV = (ct.c_ubyte*len(signalValue))(*signalValue) 1058 | sigV=ct.cast(sigV,ct.POINTER(ct.c_ubyte)) # IronPython needs this 1059 | return c_SetStringSignal(clientID, signalName, sigV, len(signalValue), operationMode) 1060 | 1061 | def simxAppendStringSignal(clientID, signalName, signalValue, operationMode): 1062 | ''' 1063 | Please have a look at the function description/documentation in the CoppeliaSim user manual 1064 | ''' 1065 | 1066 | sigV=signalValue 1067 | if sys.version_info[0] == 3: 1068 | if type(signalName) is str: 1069 | signalName=signalName.encode('utf-8') 1070 | if type(signalValue) is bytearray: 1071 | sigV = (ct.c_ubyte*len(signalValue))(*signalValue) 1072 | if type(signalValue) is str: 1073 | signalValue=signalValue.encode('utf-8') 1074 | sigV = (ct.c_ubyte*len(signalValue))(*signalValue) 1075 | else: 1076 | if type(signalValue) is bytearray: 1077 | sigV = (ct.c_ubyte*len(signalValue))(*signalValue) 1078 | if type(signalValue) is str: 1079 | signalValue=bytearray(signalValue) 1080 | sigV = (ct.c_ubyte*len(signalValue))(*signalValue) 1081 | sigV=ct.cast(sigV,ct.POINTER(ct.c_ubyte)) # IronPython needs this 1082 | return c_AppendStringSignal(clientID, signalName, sigV, len(signalValue), operationMode) 1083 | 1084 | def simxWriteStringStream(clientID, signalName, signalValue, operationMode): 1085 | ''' 1086 | Please have a look at the function description/documentation in the CoppeliaSim user manual 1087 | ''' 1088 | 1089 | sigV=signalValue 1090 | if sys.version_info[0] == 3: 1091 | if type(signalName) is str: 1092 | signalName=signalName.encode('utf-8') 1093 | if type(signalValue) is bytearray: 1094 | sigV = (ct.c_ubyte*len(signalValue))(*signalValue) 1095 | if type(signalValue) is str: 1096 | signalValue=signalValue.encode('utf-8') 1097 | sigV = (ct.c_ubyte*len(signalValue))(*signalValue) 1098 | else: 1099 | if type(signalValue) is bytearray: 1100 | sigV = (ct.c_ubyte*len(signalValue))(*signalValue) 1101 | if type(signalValue) is str: 1102 | signalValue=bytearray(signalValue) 1103 | sigV = (ct.c_ubyte*len(signalValue))(*signalValue) 1104 | sigV=ct.cast(sigV,ct.POINTER(ct.c_ubyte)) # IronPython needs this 1105 | return c_WriteStringStream(clientID, signalName, sigV, len(signalValue), operationMode) 1106 | 1107 | def simxGetObjectFloatParameter(clientID, objectHandle, parameterID, operationMode): 1108 | ''' 1109 | Please have a look at the function description/documentation in the CoppeliaSim user manual 1110 | ''' 1111 | 1112 | parameterValue = ct.c_float() 1113 | return c_GetObjectFloatParameter(clientID, objectHandle, parameterID, ct.byref(parameterValue), operationMode), parameterValue.value 1114 | 1115 | def simxSetObjectFloatParameter(clientID, objectHandle, parameterID, parameterValue, operationMode): 1116 | ''' 1117 | Please have a look at the function description/documentation in the CoppeliaSim user manual 1118 | ''' 1119 | 1120 | return c_SetObjectFloatParameter(clientID, objectHandle, parameterID, parameterValue, operationMode) 1121 | 1122 | def simxGetObjectIntParameter(clientID, objectHandle, parameterID, operationMode): 1123 | ''' 1124 | Please have a look at the function description/documentation in the CoppeliaSim user manual 1125 | ''' 1126 | 1127 | parameterValue = ct.c_int() 1128 | return c_GetObjectIntParameter(clientID, objectHandle, parameterID, ct.byref(parameterValue), operationMode), parameterValue.value 1129 | 1130 | def simxSetObjectIntParameter(clientID, objectHandle, parameterID, parameterValue, operationMode): 1131 | ''' 1132 | Please have a look at the function description/documentation in the CoppeliaSim user manual 1133 | ''' 1134 | 1135 | return c_SetObjectIntParameter(clientID, objectHandle, parameterID, parameterValue, operationMode) 1136 | 1137 | def simxGetModelProperty(clientID, objectHandle, operationMode): 1138 | ''' 1139 | Please have a look at the function description/documentation in the CoppeliaSim user manual 1140 | ''' 1141 | prop = ct.c_int() 1142 | return c_GetModelProperty(clientID, objectHandle, ct.byref(prop), operationMode), prop.value 1143 | 1144 | def simxSetModelProperty(clientID, objectHandle, prop, operationMode): 1145 | ''' 1146 | Please have a look at the function description/documentation in the CoppeliaSim user manual 1147 | ''' 1148 | 1149 | return c_SetModelProperty(clientID, objectHandle, prop, operationMode) 1150 | 1151 | def simxStart(connectionAddress, connectionPort, waitUntilConnected, doNotReconnectOnceDisconnected, timeOutInMs, commThreadCycleInMs): 1152 | ''' 1153 | Please have a look at the function description/documentation in the CoppeliaSim user manual 1154 | ''' 1155 | 1156 | if (sys.version_info[0] == 3) and (type(connectionAddress) is str): 1157 | connectionAddress=connectionAddress.encode('utf-8') 1158 | return c_Start(connectionAddress, connectionPort, waitUntilConnected, doNotReconnectOnceDisconnected, timeOutInMs, commThreadCycleInMs) 1159 | 1160 | def simxFinish(clientID): 1161 | ''' 1162 | Please have a look at the function description/documentation in the CoppeliaSim user manual 1163 | ''' 1164 | 1165 | return c_Finish(clientID) 1166 | 1167 | def simxGetPingTime(clientID): 1168 | ''' 1169 | Please have a look at the function description/documentation in the CoppeliaSim user manual 1170 | ''' 1171 | pingTime = ct.c_int() 1172 | return c_GetPingTime(clientID, ct.byref(pingTime)), pingTime.value 1173 | 1174 | def simxGetLastCmdTime(clientID): 1175 | ''' 1176 | Please have a look at the function description/documentation in the CoppeliaSim user manual 1177 | ''' 1178 | 1179 | return c_GetLastCmdTime(clientID) 1180 | 1181 | def simxSynchronousTrigger(clientID): 1182 | ''' 1183 | Please have a look at the function description/documentation in the CoppeliaSim user manual 1184 | ''' 1185 | 1186 | return c_SynchronousTrigger(clientID) 1187 | 1188 | def simxSynchronous(clientID, enable): 1189 | ''' 1190 | Please have a look at the function description/documentation in the CoppeliaSim user manual 1191 | ''' 1192 | 1193 | return c_Synchronous(clientID, enable) 1194 | 1195 | def simxPauseCommunication(clientID, enable): 1196 | ''' 1197 | Please have a look at the function description/documentation in the CoppeliaSim user manual 1198 | ''' 1199 | 1200 | return c_PauseCommunication(clientID, enable) 1201 | 1202 | def simxGetInMessageInfo(clientID, infoType): 1203 | ''' 1204 | Please have a look at the function description/documentation in the CoppeliaSim user manual 1205 | ''' 1206 | info = ct.c_int() 1207 | return c_GetInMessageInfo(clientID, infoType, ct.byref(info)), info.value 1208 | 1209 | def simxGetOutMessageInfo(clientID, infoType): 1210 | ''' 1211 | Please have a look at the function description/documentation in the CoppeliaSim user manual 1212 | ''' 1213 | info = ct.c_int() 1214 | return c_GetOutMessageInfo(clientID, infoType, ct.byref(info)), info.value 1215 | 1216 | def simxGetConnectionId(clientID): 1217 | ''' 1218 | Please have a look at the function description/documentation in the CoppeliaSim user manual 1219 | ''' 1220 | 1221 | return c_GetConnectionId(clientID) 1222 | 1223 | def simxCreateBuffer(bufferSize): 1224 | ''' 1225 | Please have a look at the function description/documentation in the CoppeliaSim user manual 1226 | ''' 1227 | 1228 | return c_CreateBuffer(bufferSize) 1229 | 1230 | def simxReleaseBuffer(buffer): 1231 | ''' 1232 | Please have a look at the function description/documentation in the CoppeliaSim user manual 1233 | ''' 1234 | 1235 | return c_ReleaseBuffer(buffer) 1236 | 1237 | def simxTransferFile(clientID, filePathAndName, fileName_serverSide, timeOut, operationMode): 1238 | ''' 1239 | Please have a look at the function description/documentation in the CoppeliaSim user manual 1240 | ''' 1241 | 1242 | if (sys.version_info[0] == 3) and (type(filePathAndName) is str): 1243 | filePathAndName=filePathAndName.encode('utf-8') 1244 | return c_TransferFile(clientID, filePathAndName, fileName_serverSide, timeOut, operationMode) 1245 | 1246 | def simxEraseFile(clientID, fileName_serverSide, operationMode): 1247 | ''' 1248 | Please have a look at the function description/documentation in the CoppeliaSim user manual 1249 | ''' 1250 | 1251 | if (sys.version_info[0] == 3) and (type(fileName_serverSide) is str): 1252 | fileName_serverSide=fileName_serverSide.encode('utf-8') 1253 | return c_EraseFile(clientID, fileName_serverSide, operationMode) 1254 | 1255 | def simxCreateDummy(clientID, size, color, operationMode): 1256 | ''' 1257 | Please have a look at the function description/documentation in the CoppeliaSim user manual 1258 | ''' 1259 | 1260 | handle = ct.c_int() 1261 | if color != None: 1262 | c_color = (ct.c_ubyte*12)(*color) 1263 | else: 1264 | c_color = None 1265 | return c_CreateDummy(clientID, size, c_color, ct.byref(handle), operationMode), handle.value 1266 | 1267 | def simxQuery(clientID, signalName, signalValue, retSignalName, timeOutInMs): 1268 | ''' 1269 | Please have a look at the function description/documentation in the CoppeliaSim user manual 1270 | ''' 1271 | 1272 | retSignalLength = ct.c_int(); 1273 | retSignalValue = ct.POINTER(ct.c_ubyte)() 1274 | 1275 | sigV=signalValue 1276 | if sys.version_info[0] == 3: 1277 | if type(signalName) is str: 1278 | signalName=signalName.encode('utf-8') 1279 | if type(retSignalName) is str: 1280 | retSignalName=retSignalName.encode('utf-8') 1281 | if type(signalValue) is bytearray: 1282 | sigV = (ct.c_ubyte*len(signalValue))(*signalValue) 1283 | if type(signalValue) is str: 1284 | signalValue=signalValue.encode('utf-8') 1285 | sigV = (ct.c_ubyte*len(signalValue))(*signalValue) 1286 | else: 1287 | if type(signalValue) is bytearray: 1288 | sigV = (ct.c_ubyte*len(signalValue))(*signalValue) 1289 | if type(signalValue) is str: 1290 | signalValue=bytearray(signalValue) 1291 | sigV = (ct.c_ubyte*len(signalValue))(*signalValue) 1292 | sigV=ct.cast(sigV,ct.POINTER(ct.c_ubyte)) # IronPython needs this 1293 | 1294 | ret = c_Query(clientID, signalName, sigV, len(signalValue), retSignalName, ct.byref(retSignalValue), ct.byref(retSignalLength), timeOutInMs) 1295 | 1296 | a = bytearray() 1297 | if ret == 0: 1298 | for i in range(retSignalLength.value): 1299 | a.append(retSignalValue[i]) 1300 | if sys.version_info[0] != 3: 1301 | a=str(a) 1302 | 1303 | return ret, a 1304 | 1305 | def simxGetObjectGroupData(clientID, objectType, dataType, operationMode): 1306 | ''' 1307 | Please have a look at the function description/documentation in the CoppeliaSim user manual 1308 | ''' 1309 | 1310 | handles =[] 1311 | intData =[] 1312 | floatData =[] 1313 | stringData =[] 1314 | handlesC = ct.c_int() 1315 | handlesP = ct.POINTER(ct.c_int)() 1316 | intDataC = ct.c_int() 1317 | intDataP = ct.POINTER(ct.c_int)() 1318 | floatDataC = ct.c_int() 1319 | floatDataP = ct.POINTER(ct.c_float)() 1320 | stringDataC = ct.c_int() 1321 | stringDataP = ct.POINTER(ct.c_char)() 1322 | ret = c_GetObjectGroupData(clientID, objectType, dataType, ct.byref(handlesC), ct.byref(handlesP), ct.byref(intDataC), ct.byref(intDataP), ct.byref(floatDataC), ct.byref(floatDataP), ct.byref(stringDataC), ct.byref(stringDataP), operationMode) 1323 | 1324 | if ret == 0: 1325 | for i in range(handlesC.value): 1326 | handles.append(handlesP[i]) 1327 | for i in range(intDataC.value): 1328 | intData.append(intDataP[i]) 1329 | for i in range(floatDataC.value): 1330 | floatData.append(floatDataP[i]) 1331 | s = 0 1332 | for i in range(stringDataC.value): 1333 | a = bytearray() 1334 | while stringDataP[s] != b'\0': 1335 | if sys.version_info[0] == 3: 1336 | a.append(int.from_bytes(stringDataP[s],'big')) 1337 | else: 1338 | a.append(stringDataP[s]) 1339 | s += 1 1340 | s += 1 #skip null 1341 | if sys.version_info[0] == 3: 1342 | a=str(a,'utf-8') 1343 | else: 1344 | a=str(a) 1345 | stringData.append(a) 1346 | 1347 | return ret, handles, intData, floatData, stringData 1348 | 1349 | def simxCallScriptFunction(clientID, scriptDescription, options, functionName, inputInts, inputFloats, inputStrings, inputBuffer, operationMode): 1350 | ''' 1351 | Please have a look at the function description/documentation in the CoppeliaSim user manual 1352 | ''' 1353 | 1354 | inputBufferV=inputBuffer 1355 | if sys.version_info[0] == 3: 1356 | if type(scriptDescription) is str: 1357 | scriptDescription=scriptDescription.encode('utf-8') 1358 | if type(functionName) is str: 1359 | functionName=functionName.encode('utf-8') 1360 | if type(inputBuffer) is bytearray: 1361 | inputBufferV = (ct.c_ubyte*len(inputBuffer))(*inputBuffer) 1362 | if type(inputBuffer) is str: 1363 | inputBuffer=inputBuffer.encode('utf-8') 1364 | inputBufferV = (ct.c_ubyte*len(inputBuffer))(*inputBuffer) 1365 | else: 1366 | if type(inputBuffer) is bytearray: 1367 | inputBufferV = (ct.c_ubyte*len(inputBuffer))(*inputBuffer) 1368 | if type(inputBuffer) is str: 1369 | inputBuffer=bytearray(inputBuffer) 1370 | inputBufferV = (ct.c_ubyte*len(inputBuffer))(*inputBuffer) 1371 | inputBufferV=ct.cast(inputBufferV,ct.POINTER(ct.c_ubyte)) # IronPython needs this 1372 | 1373 | c_inInts = (ct.c_int*len(inputInts))(*inputInts) 1374 | c_inInts = ct.cast(c_inInts,ct.POINTER(ct.c_int)) # IronPython needs this 1375 | c_inFloats = (ct.c_float*len(inputFloats))(*inputFloats) 1376 | c_inFloats = ct.cast(c_inFloats,ct.POINTER(ct.c_float)) # IronPython needs this 1377 | 1378 | concatStr=''.encode('utf-8') 1379 | for i in range(len(inputStrings)): 1380 | a=inputStrings[i] 1381 | a=a+'\0' 1382 | if type(a) is str: 1383 | a=a.encode('utf-8') 1384 | concatStr=concatStr+a 1385 | c_inStrings = (ct.c_char*len(concatStr))(*concatStr) 1386 | 1387 | intDataOut =[] 1388 | floatDataOut =[] 1389 | stringDataOut =[] 1390 | bufferOut =bytearray() 1391 | 1392 | intDataC = ct.c_int() 1393 | intDataP = ct.POINTER(ct.c_int)() 1394 | floatDataC = ct.c_int() 1395 | floatDataP = ct.POINTER(ct.c_float)() 1396 | stringDataC = ct.c_int() 1397 | stringDataP = ct.POINTER(ct.c_char)() 1398 | bufferS = ct.c_int() 1399 | bufferP = ct.POINTER(ct.c_ubyte)() 1400 | 1401 | ret = c_CallScriptFunction(clientID,scriptDescription,options,functionName,len(inputInts),c_inInts,len(inputFloats),c_inFloats,len(inputStrings),c_inStrings,len(inputBuffer),inputBufferV,ct.byref(intDataC),ct.byref(intDataP),ct.byref(floatDataC),ct.byref(floatDataP),ct.byref(stringDataC),ct.byref(stringDataP),ct.byref(bufferS),ct.byref(bufferP),operationMode) 1402 | 1403 | if ret == 0: 1404 | for i in range(intDataC.value): 1405 | intDataOut.append(intDataP[i]) 1406 | for i in range(floatDataC.value): 1407 | floatDataOut.append(floatDataP[i]) 1408 | s = 0 1409 | for i in range(stringDataC.value): 1410 | a = bytearray() 1411 | while stringDataP[s] != b'\0': 1412 | if sys.version_info[0] == 3: 1413 | a.append(int.from_bytes(stringDataP[s],'big')) 1414 | else: 1415 | a.append(stringDataP[s]) 1416 | s += 1 1417 | s += 1 #skip null 1418 | if sys.version_info[0] == 3: 1419 | a=str(a,'utf-8') 1420 | else: 1421 | a=str(a) 1422 | stringDataOut.append(a) 1423 | for i in range(bufferS.value): 1424 | bufferOut.append(bufferP[i]) 1425 | if sys.version_info[0] != 3: 1426 | bufferOut=str(bufferOut) 1427 | 1428 | return ret, intDataOut, floatDataOut, stringDataOut, bufferOut 1429 | 1430 | def simxGetObjectVelocity(clientID, objectHandle, operationMode): 1431 | ''' 1432 | Please have a look at the function description/documentation in the CoppeliaSim user manual 1433 | ''' 1434 | linearVel = (ct.c_float*3)() 1435 | angularVel = (ct.c_float*3)() 1436 | ret = c_GetObjectVelocity(clientID, objectHandle, linearVel, angularVel, operationMode) 1437 | arr1 = [] 1438 | for i in range(3): 1439 | arr1.append(linearVel[i]) 1440 | arr2 = [] 1441 | for i in range(3): 1442 | arr2.append(angularVel[i]) 1443 | return ret, arr1, arr2 1444 | 1445 | def simxPackInts(intList): 1446 | ''' 1447 | Please have a look at the function description/documentation in the CoppeliaSim user manual 1448 | ''' 1449 | 1450 | if sys.version_info[0] == 3: 1451 | s=bytes() 1452 | for i in range(len(intList)): 1453 | s=s+struct.pack('=1x) 234 | # reserved =sim_simulation_advancing|0x02 235 | sim_simulation_advancing_lastbeforepause =sim_simulation_advancing|0x03 # Last simulation pass before pause (1x) 236 | sim_simulation_advancing_firstafterpause =sim_simulation_advancing|0x04 # First simulation pass after pause (1x) 237 | sim_simulation_advancing_abouttostop =sim_simulation_advancing|0x05 # "Trying to stop" simulation pass (>=1x) 238 | sim_simulation_advancing_lastbeforestop =sim_simulation_advancing|0x06 # Last simulation pass (1x) 239 | 240 | 241 | # Script execution result (first return value) 242 | sim_script_no_error =0 243 | sim_script_main_script_nonexistent =1 244 | sim_script_main_script_not_called =2 245 | sim_script_reentrance_error =4 246 | sim_script_lua_error =8 247 | sim_script_call_error =16 248 | 249 | 250 | # Script types (serialized!) 251 | sim_scripttype_mainscript =0 252 | sim_scripttype_childscript =1 253 | sim_scripttype_jointctrlcallback =4 254 | sim_scripttype_contactcallback =5 255 | sim_scripttype_customizationscript =6 256 | sim_scripttype_generalcallback =7 257 | 258 | # API call error messages 259 | sim_api_errormessage_ignore =0 # does not memorize nor output errors 260 | sim_api_errormessage_report =1 # memorizes errors (default for C-API calls) 261 | sim_api_errormessage_output =2 # memorizes and outputs errors (default for Lua-API calls) 262 | 263 | 264 | # special argument of some functions 265 | sim_handle_all =-2 266 | sim_handle_all_except_explicit =-3 267 | sim_handle_self =-4 268 | sim_handle_main_script =-5 269 | sim_handle_tree =-6 270 | sim_handle_chain =-7 271 | sim_handle_single =-8 272 | sim_handle_default =-9 273 | sim_handle_all_except_self =-10 274 | sim_handle_parent =-11 275 | 276 | 277 | # special handle flags 278 | sim_handleflag_assembly =0x400000 279 | sim_handleflag_model =0x800000 280 | 281 | 282 | # distance calculation methods (serialized) 283 | sim_distcalcmethod_dl =0 284 | sim_distcalcmethod_dac =1 285 | sim_distcalcmethod_max_dl_dac =2 286 | sim_distcalcmethod_dl_and_dac =3 287 | sim_distcalcmethod_sqrt_dl2_and_dac2=4 288 | sim_distcalcmethod_dl_if_nonzero =5 289 | sim_distcalcmethod_dac_if_nonzero =6 290 | 291 | 292 | # Generic dialog styles 293 | sim_dlgstyle_message =0 294 | sim_dlgstyle_input =1 295 | sim_dlgstyle_ok =2 296 | sim_dlgstyle_ok_cancel =3 297 | sim_dlgstyle_yes_no =4 298 | sim_dlgstyle_dont_center =32# can be combined with one of above values. Only with this flag can the position of the related UI be set just after dialog creation 299 | 300 | # Generic dialog return values 301 | sim_dlgret_still_open =0 302 | sim_dlgret_ok =1 303 | sim_dlgret_cancel =2 304 | sim_dlgret_yes =3 305 | sim_dlgret_no =4 306 | 307 | 308 | # Path properties 309 | sim_pathproperty_show_line =0x0001 310 | sim_pathproperty_show_orientation =0x0002 311 | sim_pathproperty_closed_path =0x0004 312 | sim_pathproperty_automatic_orientation =0x0008 313 | sim_pathproperty_invert_velocity =0x0010 314 | sim_pathproperty_infinite_acceleration =0x0020 315 | sim_pathproperty_flat_path =0x0040 316 | sim_pathproperty_show_position =0x0080 317 | sim_pathproperty_auto_velocity_profile_translation =0x0100 318 | sim_pathproperty_auto_velocity_profile_rotation =0x0200 319 | sim_pathproperty_endpoints_at_zero =0x0400 320 | sim_pathproperty_keep_x_up =0x0800 321 | 322 | 323 | # drawing objects 324 | # following are mutually exclusive 325 | sim_drawing_points =0 # 3 values per point (point size in pixels) 326 | sim_drawing_lines =1 # 6 values per line (line size in pixels) 327 | sim_drawing_triangles =2 # 9 values per triangle 328 | sim_drawing_trianglepoints =3 # 6 values per point (3 for triangle position 3 for triangle normal vector) (triangle size in meters) 329 | sim_drawing_quadpoints =4 # 6 values per point (3 for quad position 3 for quad normal vector) (quad size in meters) 330 | sim_drawing_discpoints =5 # 6 values per point (3 for disc position 3 for disc normal vector) (disc size in meters) 331 | sim_drawing_cubepoints =6 # 6 values per point (3 for cube position 3 for cube normal vector) (cube size in meters) 332 | sim_drawing_spherepoints =7 # 3 values per point (sphere size in meters) 333 | 334 | # following can be or-combined 335 | sim_drawing_itemcolors =0x00020 # +3 values per item (each item has its own ambient color (rgb values)). 336 | # Mutually exclusive with sim_drawing_vertexcolors 337 | sim_drawing_vertexcolors =0x00040 # +3 values per vertex (each vertex has its own ambient color (rgb values). Only for sim_drawing_lines (+6) and for sim_drawing_triangles(+9)). Mutually exclusive with sim_drawing_itemcolors 338 | sim_drawing_itemsizes =0x00080 # +1 value per item (each item has its own size). Not for sim_drawing_triangles 339 | sim_drawing_backfaceculling =0x00100 # back faces are not displayed for all items 340 | sim_drawing_wireframe =0x00200 # all items displayed in wireframe 341 | sim_drawing_painttag =0x00400 # all items are tagged as paint (for additinal processing at a later stage) 342 | sim_drawing_followparentvisibility =0x00800 # if the object is associated with a scene object then it follows that visibility otherwise it is always visible 343 | sim_drawing_cyclic =0x01000 # if the max item count was reached then the first items are overwritten. 344 | sim_drawing_50percenttransparency =0x02000 # the drawing object will be 50% transparent 345 | sim_drawing_25percenttransparency =0x04000 # the drawing object will be 25% transparent 346 | sim_drawing_12percenttransparency =0x08000 # the drawing object will be 12.5% transparent 347 | sim_drawing_emissioncolor =0x10000 # When used in combination with sim_drawing_itemcolors or sim_drawing_vertexcolors then the specified colors will be for the emissive component 348 | sim_drawing_facingcamera =0x20000 # Only for trianglepoints quadpoints discpoints and cubepoints. If specified the normal verctor is calculated to face the camera (each item data requires 3 values less) 349 | sim_drawing_overlay =0x40000 # When specified objects are always drawn on top of "regular objects" 350 | sim_drawing_itemtransparency =0x80000 # +1 value per item (each item has its own transparency value (0-1)). Not compatible with sim_drawing_vertexcolors 351 | 352 | # banner values 353 | # following can be or-combined 354 | sim_banner_left =0x00001 # Banners display on the left of the specified point 355 | sim_banner_right =0x00002 # Banners display on the right of the specified point 356 | sim_banner_nobackground =0x00004 # Banners have no background rectangle 357 | sim_banner_overlay =0x00008 # When specified banners are always drawn on top of "regular objects" 358 | sim_banner_followparentvisibility =0x00010 # if the object is associated with a scene object then it follows that visibility otherwise it is always visible 359 | sim_banner_clickselectsparent =0x00020 # if the object is associated with a scene object then clicking the banner will select the scene object 360 | sim_banner_clicktriggersevent =0x00040 # if the banner is clicked an event is triggered (sim_message_eventcallback_bannerclicked and sim_message_bannerclicked are generated) 361 | sim_banner_facingcamera =0x00080 # If specified the banner will always face the camera by rotating around the banner's vertical axis (y-axis) 362 | sim_banner_fullyfacingcamera =0x00100 # If specified the banner will always fully face the camera (the banner's orientation is same as the camera looking at it) 363 | sim_banner_backfaceculling =0x00200 # If specified the banner will only be visible from one side 364 | sim_banner_keepsamesize =0x00400 # If specified the banner will always appear in the same size. In that case size represents the character height in pixels 365 | sim_banner_bitmapfont =0x00800 # If specified a fixed-size bitmap font is used. The text will also always fully face the camera and be right 366 | # to the specified position. Bitmap fonts are not clickable 367 | 368 | 369 | # particle objects following are mutually exclusive 370 | sim_particle_points1 =0 # 6 values per point (pt1 and pt2. Pt1 is start position pt2-pt1 is the initial velocity vector). i 371 | #Point is 1 pixel big. Only appearance is a point internally handled as a perfect sphere 372 | sim_particle_points2 =1 # 6 values per point. Point is 2 pixel big. Only appearance is a point internally handled as a perfect sphere 373 | sim_particle_points4 =2 # 6 values per point. Point is 4 pixel big. Only appearance is a point internally handled as a perfect sphere 374 | sim_particle_roughspheres =3 # 6 values per sphere. Only appearance is rough. Internally a perfect sphere 375 | sim_particle_spheres =4 # 6 values per sphere. Internally a perfect sphere 376 | 377 | 378 | 379 | 380 | # following can be or-combined 381 | sim_particle_respondable1to4 =0x0020 # the particles are respondable against shapes (against all objects that have at least one bit 1-4 activated in the global respondable mask) 382 | sim_particle_respondable5to8 =0x0040 # the particles are respondable against shapes (against all objects that have at least one bit 5-8 activated in the global respondable mask) 383 | sim_particle_particlerespondable =0x0080 # the particles are respondable against each other 384 | sim_particle_ignoresgravity =0x0100 # the particles ignore the effect of gravity. Not compatible with sim_particle_water 385 | sim_particle_invisible =0x0200 # the particles are invisible 386 | sim_particle_itemsizes =0x0400 # +1 value per particle (each particle can have a different size) 387 | sim_particle_itemdensities =0x0800 # +1 value per particle (each particle can have a different density) 388 | sim_particle_itemcolors =0x1000 # +3 values per particle (each particle can have a different color) 389 | sim_particle_cyclic =0x2000 # if the max item count was reached then the first items are overwritten. 390 | sim_particle_emissioncolor =0x4000 # When used in combination with sim_particle_itemcolors then the specified colors will be for the emissive component 391 | sim_particle_water =0x8000 # the particles are water particles (no weight in the water (i.e. when z<0)). Not compatible with sim_particle_ignoresgravity 392 | sim_particle_painttag =0x10000 # The particles can be seen by vision sensors (sim_particle_invisible must not be set) 393 | 394 | 395 | 396 | 397 | # custom user interface menu attributes 398 | sim_ui_menu_title =1 399 | sim_ui_menu_minimize =2 400 | sim_ui_menu_close =4 401 | sim_ui_menu_systemblock =8 402 | 403 | 404 | 405 | # Boolean parameters 406 | sim_boolparam_hierarchy_visible =0 407 | sim_boolparam_console_visible =1 408 | sim_boolparam_collision_handling_enabled =2 409 | sim_boolparam_distance_handling_enabled =3 410 | sim_boolparam_ik_handling_enabled =4 411 | sim_boolparam_gcs_handling_enabled =5 412 | sim_boolparam_dynamics_handling_enabled =6 413 | sim_boolparam_joint_motion_handling_enabled =7 414 | sim_boolparam_path_motion_handling_enabled =8 415 | sim_boolparam_proximity_sensor_handling_enabled =9 416 | sim_boolparam_vision_sensor_handling_enabled =10 417 | sim_boolparam_mill_handling_enabled =11 418 | sim_boolparam_browser_visible =12 419 | sim_boolparam_scene_and_model_load_messages =13 420 | sim_reserved0 =14 421 | sim_boolparam_shape_textures_are_visible =15 422 | sim_boolparam_display_enabled =16 423 | sim_boolparam_infotext_visible =17 424 | sim_boolparam_statustext_open =18 425 | sim_boolparam_fog_enabled =19 426 | sim_boolparam_rml2_available =20 427 | sim_boolparam_rml4_available =21 428 | sim_boolparam_mirrors_enabled =22 429 | sim_boolparam_aux_clip_planes_enabled =23 430 | sim_boolparam_full_model_copy_from_api =24 431 | sim_boolparam_realtime_simulation =25 432 | sim_boolparam_force_show_wireless_emission =27 433 | sim_boolparam_force_show_wireless_reception =28 434 | sim_boolparam_video_recording_triggered =29 435 | sim_boolparam_threaded_rendering_enabled =32 436 | sim_boolparam_fullscreen =33 437 | sim_boolparam_headless =34 438 | sim_boolparam_hierarchy_toolbarbutton_enabled =35 439 | sim_boolparam_browser_toolbarbutton_enabled =36 440 | sim_boolparam_objectshift_toolbarbutton_enabled =37 441 | sim_boolparam_objectrotate_toolbarbutton_enabled=38 442 | sim_boolparam_force_calcstruct_all_visible =39 443 | sim_boolparam_force_calcstruct_all =40 444 | sim_boolparam_exit_request =41 445 | sim_boolparam_play_toolbarbutton_enabled =42 446 | sim_boolparam_pause_toolbarbutton_enabled =43 447 | sim_boolparam_stop_toolbarbutton_enabled =44 448 | sim_boolparam_waiting_for_trigger =45 449 | 450 | 451 | # Integer parameters 452 | sim_intparam_error_report_mode =0 # Check sim_api_errormessage_... constants above for valid values 453 | sim_intparam_program_version =1 # e.g Version 2.1.4 --> 20104. Can only be read 454 | sim_intparam_instance_count =2 # do not use anymore (always returns 1 since CoppeliaSim 2.5.11) 455 | sim_intparam_custom_cmd_start_id =3 # can only be read 456 | sim_intparam_compilation_version =4 # 0=evaluation version 1=full version 2=player version. Can only be read 457 | sim_intparam_current_page =5 458 | sim_intparam_flymode_camera_handle =6 # can only be read 459 | sim_intparam_dynamic_step_divider =7 # can only be read 460 | sim_intparam_dynamic_engine =8 # 0=Bullet 1=ODE. 2=Vortex. 461 | sim_intparam_server_port_start =9 # can only be read 462 | sim_intparam_server_port_range =10 # can only be read 463 | sim_intparam_visible_layers =11 464 | sim_intparam_infotext_style =12 465 | sim_intparam_settings =13 466 | sim_intparam_edit_mode_type =14 # can only be read 467 | sim_intparam_server_port_next =15 # is initialized at sim_intparam_server_port_start 468 | sim_intparam_qt_version =16 # version of the used Qt framework 469 | sim_intparam_event_flags_read =17 # can only be read 470 | sim_intparam_event_flags_read_clear =18 # can only be read 471 | sim_intparam_platform =19 # can only be read 472 | sim_intparam_scene_unique_id =20 # can only be read 473 | sim_intparam_work_thread_count =21 474 | sim_intparam_mouse_x =22 475 | sim_intparam_mouse_y =23 476 | sim_intparam_core_count =24 477 | sim_intparam_work_thread_calc_time_ms =25 478 | sim_intparam_idle_fps =26 479 | sim_intparam_prox_sensor_select_down =27 480 | sim_intparam_prox_sensor_select_up =28 481 | sim_intparam_stop_request_counter =29 482 | sim_intparam_program_revision =30 483 | sim_intparam_mouse_buttons =31 484 | sim_intparam_dynamic_warning_disabled_mask =32 485 | sim_intparam_simulation_warning_disabled_mask =33 486 | sim_intparam_scene_index =34 487 | sim_intparam_motionplanning_seed =35 488 | sim_intparam_speedmodifier =36 489 | 490 | # Float parameters 491 | sim_floatparam_rand=0 # random value (0.0-1.0) 492 | sim_floatparam_simulation_time_step =1 493 | sim_floatparam_stereo_distance =2 494 | 495 | # String parameters 496 | sim_stringparam_application_path=0 # path of CoppeliaSim's executable 497 | sim_stringparam_video_filename=1 498 | sim_stringparam_app_arg1 =2 499 | sim_stringparam_app_arg2 =3 500 | sim_stringparam_app_arg3 =4 501 | sim_stringparam_app_arg4 =5 502 | sim_stringparam_app_arg5 =6 503 | sim_stringparam_app_arg6 =7 504 | sim_stringparam_app_arg7 =8 505 | sim_stringparam_app_arg8 =9 506 | sim_stringparam_app_arg9 =10 507 | sim_stringparam_scene_path_and_name =13 508 | 509 | # Array parameters 510 | sim_arrayparam_gravity =0 511 | sim_arrayparam_fog =1 512 | sim_arrayparam_fog_color =2 513 | sim_arrayparam_background_color1=3 514 | sim_arrayparam_background_color2=4 515 | sim_arrayparam_ambient_light =5 516 | sim_arrayparam_random_euler =6 517 | 518 | sim_objintparam_visibility_layer= 10 519 | sim_objfloatparam_abs_x_velocity= 11 520 | sim_objfloatparam_abs_y_velocity= 12 521 | sim_objfloatparam_abs_z_velocity= 13 522 | sim_objfloatparam_abs_rot_velocity= 14 523 | sim_objfloatparam_objbbox_min_x= 15 524 | sim_objfloatparam_objbbox_min_y= 16 525 | sim_objfloatparam_objbbox_min_z= 17 526 | sim_objfloatparam_objbbox_max_x= 18 527 | sim_objfloatparam_objbbox_max_y= 19 528 | sim_objfloatparam_objbbox_max_z= 20 529 | sim_objfloatparam_modelbbox_min_x= 21 530 | sim_objfloatparam_modelbbox_min_y= 22 531 | sim_objfloatparam_modelbbox_min_z= 23 532 | sim_objfloatparam_modelbbox_max_x= 24 533 | sim_objfloatparam_modelbbox_max_y= 25 534 | sim_objfloatparam_modelbbox_max_z= 26 535 | sim_objintparam_collection_self_collision_indicator= 27 536 | sim_objfloatparam_transparency_offset= 28 537 | sim_objintparam_child_role= 29 538 | sim_objintparam_parent_role= 30 539 | sim_objintparam_manipulation_permissions= 31 540 | sim_objintparam_illumination_handle= 32 541 | 542 | sim_visionfloatparam_near_clipping= 1000 543 | sim_visionfloatparam_far_clipping= 1001 544 | sim_visionintparam_resolution_x= 1002 545 | sim_visionintparam_resolution_y= 1003 546 | sim_visionfloatparam_perspective_angle= 1004 547 | sim_visionfloatparam_ortho_size= 1005 548 | sim_visionintparam_disabled_light_components= 1006 549 | sim_visionintparam_rendering_attributes= 1007 550 | sim_visionintparam_entity_to_render= 1008 551 | sim_visionintparam_windowed_size_x= 1009 552 | sim_visionintparam_windowed_size_y= 1010 553 | sim_visionintparam_windowed_pos_x= 1011 554 | sim_visionintparam_windowed_pos_y= 1012 555 | sim_visionintparam_pov_focal_blur= 1013 556 | sim_visionfloatparam_pov_blur_distance= 1014 557 | sim_visionfloatparam_pov_aperture= 1015 558 | sim_visionintparam_pov_blur_sampled= 1016 559 | sim_visionintparam_render_mode= 1017 560 | 561 | sim_jointintparam_motor_enabled= 2000 562 | sim_jointintparam_ctrl_enabled= 2001 563 | sim_jointfloatparam_pid_p= 2002 564 | sim_jointfloatparam_pid_i= 2003 565 | sim_jointfloatparam_pid_d= 2004 566 | sim_jointfloatparam_intrinsic_x= 2005 567 | sim_jointfloatparam_intrinsic_y= 2006 568 | sim_jointfloatparam_intrinsic_z= 2007 569 | sim_jointfloatparam_intrinsic_qx= 2008 570 | sim_jointfloatparam_intrinsic_qy= 2009 571 | sim_jointfloatparam_intrinsic_qz= 2010 572 | sim_jointfloatparam_intrinsic_qw= 2011 573 | sim_jointfloatparam_velocity= 2012 574 | sim_jointfloatparam_spherical_qx= 2013 575 | sim_jointfloatparam_spherical_qy= 2014 576 | sim_jointfloatparam_spherical_qz= 2015 577 | sim_jointfloatparam_spherical_qw= 2016 578 | sim_jointfloatparam_upper_limit= 2017 579 | sim_jointfloatparam_kc_k= 2018 580 | sim_jointfloatparam_kc_c= 2019 581 | sim_jointfloatparam_ik_weight= 2021 582 | sim_jointfloatparam_error_x= 2022 583 | sim_jointfloatparam_error_y= 2023 584 | sim_jointfloatparam_error_z= 2024 585 | sim_jointfloatparam_error_a= 2025 586 | sim_jointfloatparam_error_b= 2026 587 | sim_jointfloatparam_error_g= 2027 588 | sim_jointfloatparam_error_pos= 2028 589 | sim_jointfloatparam_error_angle= 2029 590 | sim_jointintparam_velocity_lock= 2030 591 | sim_jointintparam_vortex_dep_handle= 2031 592 | sim_jointfloatparam_vortex_dep_multiplication= 2032 593 | sim_jointfloatparam_vortex_dep_offset= 2033 594 | 595 | sim_shapefloatparam_init_velocity_x= 3000 596 | sim_shapefloatparam_init_velocity_y= 3001 597 | sim_shapefloatparam_init_velocity_z= 3002 598 | sim_shapeintparam_static= 3003 599 | sim_shapeintparam_respondable= 3004 600 | sim_shapefloatparam_mass= 3005 601 | sim_shapefloatparam_texture_x= 3006 602 | sim_shapefloatparam_texture_y= 3007 603 | sim_shapefloatparam_texture_z= 3008 604 | sim_shapefloatparam_texture_a= 3009 605 | sim_shapefloatparam_texture_b= 3010 606 | sim_shapefloatparam_texture_g= 3011 607 | sim_shapefloatparam_texture_scaling_x= 3012 608 | sim_shapefloatparam_texture_scaling_y= 3013 609 | sim_shapeintparam_culling= 3014 610 | sim_shapeintparam_wireframe= 3015 611 | sim_shapeintparam_compound= 3016 612 | sim_shapeintparam_convex= 3017 613 | sim_shapeintparam_convex_check= 3018 614 | sim_shapeintparam_respondable_mask= 3019 615 | sim_shapefloatparam_init_velocity_a= 3020 616 | sim_shapefloatparam_init_velocity_b= 3021 617 | sim_shapefloatparam_init_velocity_g= 3022 618 | sim_shapestringparam_color_name= 3023 619 | sim_shapeintparam_edge_visibility= 3024 620 | sim_shapefloatparam_shading_angle= 3025 621 | sim_shapefloatparam_edge_angle= 3026 622 | sim_shapeintparam_edge_borders_hidden= 3027 623 | 624 | sim_proxintparam_ray_invisibility= 4000 625 | 626 | sim_forcefloatparam_error_x= 5000 627 | sim_forcefloatparam_error_y= 5001 628 | sim_forcefloatparam_error_z= 5002 629 | sim_forcefloatparam_error_a= 5003 630 | sim_forcefloatparam_error_b= 5004 631 | sim_forcefloatparam_error_g= 5005 632 | sim_forcefloatparam_error_pos= 5006 633 | sim_forcefloatparam_error_angle= 5007 634 | 635 | sim_lightintparam_pov_casts_shadows= 8000 636 | 637 | sim_cameraintparam_disabled_light_components= 9000 638 | sim_camerafloatparam_perspective_angle= 9001 639 | sim_camerafloatparam_ortho_size= 9002 640 | sim_cameraintparam_rendering_attributes= 9003 641 | sim_cameraintparam_pov_focal_blur= 9004 642 | sim_camerafloatparam_pov_blur_distance= 9005 643 | sim_camerafloatparam_pov_aperture= 9006 644 | sim_cameraintparam_pov_blur_samples= 9007 645 | 646 | sim_dummyintparam_link_type= 10000 647 | 648 | sim_mirrorfloatparam_width= 12000 649 | sim_mirrorfloatparam_height= 12001 650 | sim_mirrorfloatparam_reflectance= 12002 651 | sim_mirrorintparam_enable= 12003 652 | 653 | sim_pplanfloatparam_x_min= 20000 654 | sim_pplanfloatparam_x_range= 20001 655 | sim_pplanfloatparam_y_min= 20002 656 | sim_pplanfloatparam_y_range= 20003 657 | sim_pplanfloatparam_z_min= 20004 658 | sim_pplanfloatparam_z_range= 20005 659 | sim_pplanfloatparam_delta_min= 20006 660 | sim_pplanfloatparam_delta_range= 20007 661 | 662 | sim_mplanintparam_nodes_computed= 25000 663 | sim_mplanintparam_prepare_nodes= 25001 664 | sim_mplanintparam_clear_nodes= 25002 665 | 666 | # User interface elements 667 | sim_gui_menubar =0x0001 668 | sim_gui_popups =0x0002 669 | sim_gui_toolbar1 =0x0004 670 | sim_gui_toolbar2 =0x0008 671 | sim_gui_hierarchy =0x0010 672 | sim_gui_infobar =0x0020 673 | sim_gui_statusbar =0x0040 674 | sim_gui_scripteditor =0x0080 675 | sim_gui_scriptsimulationparameters =0x0100 676 | sim_gui_dialogs =0x0200 677 | sim_gui_browser =0x0400 678 | sim_gui_all =0xffff 679 | 680 | 681 | # Joint modes 682 | sim_jointmode_passive =0 683 | sim_jointmode_motion =1 684 | sim_jointmode_ik =2 685 | sim_jointmode_ikdependent =3 686 | sim_jointmode_dependent =4 687 | sim_jointmode_force =5 688 | 689 | 690 | # Navigation and selection modes with the mouse. Lower byte values are mutually exclusive upper byte bits can be combined 691 | sim_navigation_passive =0x0000 692 | sim_navigation_camerashift =0x0001 693 | sim_navigation_camerarotate =0x0002 694 | sim_navigation_camerazoom =0x0003 695 | sim_navigation_cameratilt =0x0004 696 | sim_navigation_cameraangle =0x0005 697 | sim_navigation_camerafly =0x0006 698 | sim_navigation_objectshift =0x0007 699 | sim_navigation_objectrotate =0x0008 700 | sim_navigation_reserved2 =0x0009 701 | sim_navigation_reserved3 =0x000A 702 | sim_navigation_jointpathtest =0x000B 703 | sim_navigation_ikmanip =0x000C 704 | sim_navigation_objectmultipleselection =0x000D 705 | # Bit-combine following values and add them to one of above's values for a valid navigation mode 706 | sim_navigation_reserved4 =0x0100 707 | sim_navigation_clickselection =0x0200 708 | sim_navigation_ctrlselection =0x0400 709 | sim_navigation_shiftselection =0x0800 710 | sim_navigation_camerazoomwheel =0x1000 711 | sim_navigation_camerarotaterightbutton =0x2000 712 | 713 | 714 | 715 | #Remote API constants 716 | SIMX_VERSION =0 717 | # Remote API message header structure 718 | SIMX_HEADER_SIZE =18 719 | simx_headeroffset_crc =0 # 1 simxUShort. Generated by the client or server. The CRC for the message 720 | simx_headeroffset_version =2 # 1 byte. Generated by the client or server. The version of the remote API software 721 | simx_headeroffset_message_id =3 # 1 simxInt. Generated by the client (and used in a reply by the server) 722 | simx_headeroffset_client_time =7 # 1 simxInt. Client time stamp generated by the client (and sent back by the server) 723 | simx_headeroffset_server_time =11 # 1 simxInt. Generated by the server when a reply is generated. The server timestamp 724 | simx_headeroffset_scene_id =15 # 1 simxUShort. Generated by the server. A unique ID identifying the scene currently displayed 725 | simx_headeroffset_server_state =17 # 1 byte. Generated by the server. Bit coded 0 set --> simulation not stopped 1 set --> simulation paused 2 set --> real-time switch on 3-5 edit mode type (0=no edit mode 1=triangle 2=vertex 3=edge 4=path 5=UI) 726 | 727 | # Remote API command header 728 | SIMX_SUBHEADER_SIZE =26 729 | simx_cmdheaderoffset_mem_size =0 # 1 simxInt. Generated by the client or server. The buffer size of the command. 730 | simx_cmdheaderoffset_full_mem_size =4 # 1 simxInt. Generated by the client or server. The full buffer size of the command (applies to split chunks). 731 | simx_cmdheaderoffset_pdata_offset0 =8 # 1 simxUShort. Generated by the client or server. The amount of data that is part of the command identification. 732 | simx_cmdheaderoffset_pdata_offset1 =10 # 1 simxInt. Generated by the client or server. The amount of shift of the pure data buffer (applies to split chunks). 733 | simx_cmdheaderoffset_cmd=14 # 1 simxInt. Generated by the client (and used in a reply by the server). The command combined with the operation mode of the command. 734 | simx_cmdheaderoffset_delay_or_split =18 # 1 simxUShort. Generated by the client or server. The amount of delay in ms of a continuous command or the max. pure data size to send at once (applies to split commands). 735 | simx_cmdheaderoffset_sim_time =20 # 1 simxInt. Generated by the server. The simulation time (in ms) when the command was executed (or 0 if simulation is not running) 736 | simx_cmdheaderoffset_status =24 # 1 byte. Generated by the server. (1 bit 0 is set --> error in function execution on server side). The client writes bit 1 if command cannot be overwritten 737 | simx_cmdheaderoffset_reserved =25 # 1 byte. Not yet used 738 | 739 | 740 | 741 | 742 | 743 | # Regular operation modes 744 | simx_opmode_oneshot =0x000000 # sends command as one chunk. Reply will also come as one chunk. Doesn't wait for the reply. 745 | simx_opmode_blocking =0x010000 # sends command as one chunk. Reply will also come as one chunk. Waits for the reply (_REPLY_WAIT_TIMEOUT_IN_MS is the timeout). 746 | simx_opmode_oneshot_wait =0x010000 # sends command as one chunk. Reply will also come as one chunk. Waits for the reply (_REPLY_WAIT_TIMEOUT_IN_MS is the timeout). 747 | simx_opmode_continuous =0x020000 748 | simx_opmode_streaming =0x020000 # sends command as one chunk. Command will be stored on the server and always executed 749 | #(every x ms (as far as possible) where x can be 0-65535. just add x to opmode_continuous). 750 | # A reply will be sent continuously each time as one chunk. Doesn't wait for the reply. 751 | 752 | # Operation modes for heavy data 753 | simx_opmode_oneshot_split =0x030000 # sends command as several chunks (max chunk size is x bytes where x can be _MIN_SPLIT_AMOUNT_IN_BYTES-65535. Just add x to opmode_oneshot_split). Reply will also come as several chunks. Doesn't wait for the reply. 754 | simx_opmode_continuous_split =0x040000 755 | simx_opmode_streaming_split =0x040000 # sends command as several chunks (max chunk size is x bytes where x can be _MIN_SPLIT_AMOUNT_IN_BYTES-65535. Just add x to opmode_continuous_split). Command will be stored on the server and always executed. A reply will be sent continuously each time as several chunks. Doesn't wait for the reply. 756 | 757 | # Special operation modes 758 | simx_opmode_discontinue =0x050000 # removes and cancels all commands stored on the client or server side (also continuous commands) 759 | simx_opmode_buffer =0x060000 # doesn't send anything but checks if a reply for the given command is available in the input buffer (i.e. previously received from the server) 760 | simx_opmode_remove =0x070000 # doesn't send anything and doesn't return any specific value. It just erases a similar command reply in the inbox (to free some memory) 761 | 762 | 763 | # Command return codes 764 | simx_return_ok =0x000000 765 | simx_return_novalue_flag =0x000001 # input buffer doesn't contain the specified command 766 | simx_return_timeout_flag =0x000002 # command reply not received in time for opmode_oneshot_wait operation mode 767 | simx_return_illegal_opmode_flag =0x000004 # command doesn't support the specified operation mode 768 | simx_return_remote_error_flag =0x000008 # command caused an error on the server side 769 | simx_return_split_progress_flag =0x000010 # previous similar command not yet fully processed (applies to opmode_oneshot_split operation modes) 770 | simx_return_local_error_flag =0x000020 # command caused an error on the client side 771 | simx_return_initialize_error_flag =0x000040 # simxStart was not yet called 772 | 773 | # Following for backward compatibility (same as above) 774 | simx_error_noerror =0x000000 775 | simx_error_novalue_flag =0x000001 # input buffer doesn't contain the specified command 776 | simx_error_timeout_flag =0x000002 # command reply not received in time for opmode_oneshot_wait operation mode 777 | simx_error_illegal_opmode_flag =0x000004 # command doesn't support the specified operation mode 778 | simx_error_remote_error_flag =0x000008 # command caused an error on the server side 779 | simx_error_split_progress_flag =0x000010 # previous similar command not yet fully processed (applies to opmode_oneshot_split operation modes) 780 | simx_error_local_error_flag =0x000020 # command caused an error on the client side 781 | simx_error_initialize_error_flag =0x000040 # simxStart was not yet called 782 | 783 | 784 | -------------------------------------------------------------------------------- /test1.ttt: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/lzw0515/CoppeliaSim_python/0a16c13788a793512379201f3e12cc7baa2cb148/test1.ttt --------------------------------------------------------------------------------