def stop_simulation(self):
if not self.sim_running:
raise RuntimeError('Simulation is not running.')
self.RAPI_rc(vrep.simxStopSimulation(self.cID, vrep.simx_opmode_blocking))
# Checking if the server really stopped
try:
while True:
self.RAPI_rc(vrep.simxGetIntegerSignal(self.cID, 'sig_debug', vrep.simx_opmode_blocking))
e = vrep.simxGetInMessageInfo(self.cID, vrep.simx_headeroffset_server_state)
still_running = e[1] & 1
if not still_running:
break
except Exception as e:
print("BROKE OUT OF STOP SIM LOOP DUE TO ERROR\n{}\nLet's try one more time!".format(e))
for i in range(6):
time.sleep(10)
try:
while True:
self.RAPI_rc(vrep.simxGetIntegerSignal(self.cID, 'sig_debug', vrep.simx_opmode_blocking))
e = vrep.simxGetInMessageInfo(self.cID, vrep.simx_headeroffset_server_state)
still_running = e[1] & 1
if not still_running:
break
except Exception as e:
print("BROKE OUT OF STOP SIM LOOP DUE TO ERROR the {}th time\n{}\n".format(i, e))
else:
print("We're on it again!")
self.sim_running = False
def stop_simulation(self):
if not self.sim_running:
raise RuntimeError('Simulation is not running.')
self.RAPI_rc(
vrep.simxStopSimulation(self.cID, vrep.simx_opmode_blocking))
# Checking if the server really stopped
while True:
self.RAPI_rc(
vrep.simxGetIntegerSignal(self.cID, 'sig_debug',
vrep.simx_opmode_blocking))
e = vrep.simxGetInMessageInfo(self.cID,
vrep.simx_headeroffset_server_state)
still_running = e[1] & 1
if not still_running:
break
self.sim_running = False
def get_integer_signal(self, sig_name):
return self.RAPI_rc(
vrep.simxGetIntegerSignal(self.cID, sig_name, self.opM_get))
def get_integer_signal(self, sig_name):
return self.RAPI_rc(
vrep.simxGetIntegerSignal(self.cID, sig_name,
vrep.simx_opmode_blocking))
