[coppeliasim4.3] C calls UR5 in the remoteapi control scenario

Screenshot

Video demo

note ：

One 、 Add code to the scenario script , Turn on the server ：

function sysCall_init()
    -- Start remote API server
    local port=3000
    simRemoteApi.start(port)
  
    corout=coroutine.create(coroutineMain)
end

Two 、C# The client connects to the server , And get the joint handle

_id = Api.Connect(textBoxAddress.Text, (int)numericUpDownPort.Value);
  if (Api.IsConnected(_id))
  {
      for (int i = 0; i < _jointHandle.Length; i++)
      {
          _jointHandle[i] = Api.GetObjectHandle(_id, _jointPrefix + (i + 1));
      }
  }

3、 ... and 、 Copy from the installation directory include and remoteApi To C# project , Generate dll、lib

Directory source location

Directory target location

Copy the generated library to C# Project compilation output directory

Four 、C# call C++ library

using System;
using System.Runtime.InteropServices;


namespace CoppeliaSimCSharpAPI.TestForm
{
    internal class Api
    {
        [DllImport("CoppeliaSimCSharpAPI.dll")]
        public static extern int Connect(string address, int port);


        [DllImport("CoppeliaSimCSharpAPI.dll")]
        public static extern int Disconnect(int id);


        [DllImport("CoppeliaSimCSharpAPI.dll")]
        public static extern bool IsConnected(int id);


        [DllImport("CoppeliaSimCSharpAPI.dll")]
        public static extern int GetJointPosition(int id, int[] jointHandle, float[] position, int jointCount);


        [DllImport("CoppeliaSimCSharpAPI.dll")]
        public static extern int GetObjectHandle(int id, string objectName);


        [DllImport("CoppeliaSimCSharpAPI.dll")]
        public static extern int MoveJoint(int id, int[] jointHandle, float[] position, bool inTorqueForceMode, int jointCount);


        [DllImport("CoppeliaSimCSharpAPI.dll")]
        public static extern int SendInfo(int id, string message, bool blocking);
    }
}

5、 ... and 、 Move the manipulator and get the position

private void buttonMove_Click(object sender, EventArgs e)
        {
            var position = new float[]
            {
                (float)numericUpDownJ1.Value,
                (float)numericUpDownJ2.Value,
                (float)numericUpDownJ3.Value,
                (float)numericUpDownJ4.Value,
                (float)numericUpDownJ5.Value,
                (float)numericUpDownJ6.Value
            };
            Api.MoveJoint(_id, _jointHandle, position, true, _jointHandle.Length);
        }


        private void buttonGetPosition_Click(object sender, EventArgs e)
        {
            var position = new float[6];
            Api.GetJointPosition(_id, _jointHandle, position, _jointHandle.Length);
            MessageBox.Show($"{position[0]}\r\n" +
                            $"{position[1]}\r\n" +
                            $"{position[2]}\r\n" +
                            $"{position[3]}\r\n" +
                            $"{position[4]}\r\n" +
                            $"{position[5]}",
                            "Now position");
        }

The End