%?This?example?illustrates?how?to?execute?complex?commands?from
%?a?remote?API?client.?You?can?also?use?a?similar?construct?for
%?commands?that?are?not?directly?supported?by?the?remote?API.
%
%?Load?the?demo?scene?‘remoteApiCommandServerExample.ttt‘?in?V-REP?then?
%?start?the?simulation?and?run?this?program.
%
%?IMPORTANT:?for?each?successful?call?to?simxStart?there
%?should?be?a?corresponding?call?to?simxFinish?at?the?end!

function?complexCommandTest（）

????disp（‘Program?started‘）;
????%?vrep=remApi（‘remoteApi‘‘extApi.h‘）;?%?using?the?header?（requires?a?compiler）
????vrep=remApi（‘remoteApi‘）;?%?using?the?prototype?file?（remoteApiProto.m）
????vrep.simxFinish（-1）;?%?just?in?case?close?all?opened?connections
????clientID=vrep.simxStart（‘127.0.0.1‘19999truetrue50005）;

????if?（clientID>-1）
????????disp（‘Connected?to?remote?API?server‘）;
????????
????????%?1.?First?send?a?command?to?display?a?specific?message?in?a?dialog?box:
????????[res?retInts?retFloats?retStrings?retBuffer]=vrep.simxCallscriptFunction（clientID‘remoteApiCommandServer‘vrep.sim_scripttype_childscript‘displayText_function‘[][]‘Hello?world!‘[]vrep.simx_opmode_blocking）;
????????if?（res==vrep.simx_return_ok）
????????????fprintf（‘Returned?message:?%s\n‘retStrings）;
????????else
????????????fprintf（‘Remote?function?call?failed\n‘）;
????????end

????????%?2.?Now?create?a?dummy?object?at?coordinate?0.10.20.3?with?name?‘MyDummyName‘:
????????[res?retInts?retFloats?retStrings?retBuffer]=vrep.simxCallscriptFunction（clientID‘remoteApiCommandServer‘vrep.sim_scripttype_childscript‘createDummy_function‘[][0.1?0.2?0.3]‘MyDummyName‘[]vrep.simx_opmode_blocking）;
????????if?（res==vrep.simx_return_ok）
????????????fprintf（‘Dummy?handle:?%d\n‘retInts（1））;
????????else
????????????fprintf（‘Remote?function?call?failed\n‘）;
????????end

????????%?3.?Now?send?a?code?string?to?execute?some?random?functions:
????????code=[‘local?octreeHandle=simCreateOctree（0.501）‘?char（10）?...
????????????‘simInsertVoxelsIntoOctree（octreeHandle0{0.10.10.1}{2550255}）‘?char（10）?...
????????????‘return?‘‘done‘‘‘];
????????[res?retInts?retFloats?retStrings?retBuffer]=vrep.simxCallscriptFunction（clientID‘remoteApiCommandServer‘vrep.sim_scripttype_childscript‘executeCode_function‘[][]code[]vrep.simx_opmode_blocking）;
????????if?（res==vrep.simx_return_ok）
????????????fprintf（‘Code?execution?returned:?%s\n‘retStrings）;
????????else
????????????fprintf（‘Remote?function?call?failed\n‘）;
????????end

????????%?Now?close?the?connection?to?V-REP:????
????????vrep.simxFinish（clientID）;
????else
????????disp（‘Failed?connecting?to?remote?API?server‘）;
????end
????vrep.delete（）;?%?call?the?destructor!
????
????disp（‘Program?ended‘）;
end

?屬性????????????大小?????日期????時(shí)間???名稱
-----------?---------??----------?-----??----

?????文件??????????0??2020-06-07?21:37??project_puma_v6\backup\detect.m

?????文件???????1370??2020-06-08?19:36??project_puma_v6\backup\getTarget.m

?????文件???????1163??2020-06-07?20:43??project_puma_v6\backup\instruct.m

?????文件????????954??2020-06-08?10:30??project_puma_v6\backup\movel.m

?????文件???????1707??2020-06-08?15:42??project_puma_v6\backup\movelTrack.m

?????文件????????621??2020-06-08?10:30??project_puma_v6\backup\newPlace.m

?????文件???????2799??2018-01-25?18:03??project_puma_v6\complexCommandTest.m

?????文件???????2118??2020-06-12?18:11??project_puma_v6\ik_solution.m

?????文件???????7240??2020-06-14?18:05??project_puma_v6\ik_step.m

?????文件???????2151??2020-06-14?17:24??project_puma_v6\pick_and_place.m

?????文件?????772497??2020-06-14?19:59??project_puma_v6\puma560v2.ttt

?????文件????????876??2018-01-25?18:03??project_puma_v6\readMe.txt

?????文件?????100875??2018-01-25?18:03??project_puma_v6\remApi.m

?????文件??????70656??2018-01-25?18:03??project_puma_v6\remoteApi.dll

?????文件??????35378??2018-01-25?18:03??project_puma_v6\remoteApiProto.m

?????文件??????????0??2020-06-06?17:58??project_puma_v6\sim.simxStart

?????文件???????1770??2018-01-25?18:03??project_puma_v6\simpleSynchronousTest.m

?????文件???????2718??2018-01-25?18:03??project_puma_v6\simpleTest.m

?????文件?????????46??2020-06-12?12:53??project_puma_v6\Untitled.m

?????文件???????1161??2020-06-11?00:21??project_puma_v6\visionSensor.m

?????目錄??????????0??2020-06-14?16:02??project_puma_v6\backup

?????目錄??????????0??2020-06-14?16:02??project_puma_v6

-----------?---------??----------?-----??----

??????????????1006100????????????????????22