def startRun(self, time, dt=0.05):
self.runFinished = False
self.remainingRunTime = time
self.dt = dt
vrep.simxSetFloatingParameter(self.clientID,
vrep.sim_floatparam_simulation_time_step,
dt, vrep.simx_opmode_oneshot)
# start our simulation in lockstep with our code
vrep.simxStartSimulation(self.clientID, vrep.simx_opmode_blocking)
def __init__(self):
"""Constructor.
"""
from vrep import vrep as vrep
vrep.simxFinish(-1) # just in case, close all opened connections
self._clientID = vrep.simxStart('127.0.0.1', 19997, True, True, 5000, 5) # Connect to V-REP
# enable the synchronous mode on the client:
vrep.simxSynchronous(self._clientID, True)
# start the simulation:
vrep.simxStartSimulation(self._clientID, vrep.simx_opmode_oneshot_wait)
def reset(self):
# Restart the simulation
stop = vrep.simxStopSimulation(self.client_id,
vrep.simx_opmode_blocking)
stop = vrep.simxStopSimulation(self.client_id,
vrep.simx_opmode_blocking)
start = vrep.simxStartSimulation(self.client_id,
vrep.simx_opmode_blocking)
start = vrep.simxStartSimulation(self.client_id,
vrep.simx_opmode_blocking)
print("Resetting Simulation. Stop Code: {} Start Code: {}".format(
stop, start))
def start_simulation(self):
self.check_is_connected()
# Check if simulation is already running
if self.is_running:
raise RuntimeError('Simulation is already running.')
# Set if communication is synchronous
if self.enable_sync:
status = vrep.simxSynchronous(self.id, self.enable_sync)
self.check_return_code(status)
# Start simulation
status = vrep.simxStartSimulation(self.id, vrep.simx_opmode_blocking)
self.check_return_code(status)
# Wait until simulation really started
while True:
vrep.simxClearIntegerSignal(self.id, "DummySignal",
vrep.simx_opmode_oneshot_wait)
_, info = vrep.simxGetInMessageInfo(
self.id, vrep.simx_headeroffset_server_state)
begin_running = info & 1
if begin_running:
break
self.is_running = True
def __init__(self, client_id):
self._clientID = client_id
# query wheel joints
rc, self._rightWheelJoint = vrep.simxGetObjectHandle(self._clientID, "right_wheel_joint",
vrep.simx_opmode_oneshot_wait)
rc, self._leftWheelJoint = vrep.simxGetObjectHandle(self._clientID, "left_wheel_joint",
vrep.simx_opmode_oneshot_wait)
# query create
rc, self._create = vrep.simxGetObjectHandle(self._clientID, "create",
vrep.simx_opmode_oneshot_wait)
# start the simulation:
vrep.simxStartSimulation(self._clientID, vrep.simx_opmode_oneshot_wait)
self._mode = Mode.Off
self._leftEncoderCount = 0
self._rightEncoderCount = 0
self._lastPosRight = None
self._lastPosLeft = None
self._sensorIDs = None
def start(self):
v.simxStartSimulation(self._id, self._def_op_mode)