Merge pull request #1 from ziteh/develop

Develop
ziteh · Nov 25, 2021 · f5f6f64 · f5f6f64
2 parents bd1cb2f + 4e0d257
commit f5f6f64
Show file tree

Hide file tree

Showing 17 changed files with 982 additions and 35 deletions.
diff --git a/CoppeliaSimCSharpAPI.TestForm/Api.cs b/CoppeliaSimCSharpAPI.TestForm/Api.cs
@@ -0,0 +1,29 @@
+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);
+    }
+}
diff --git a/CoppeliaSimCSharpAPI.TestForm/App.config b/CoppeliaSimCSharpAPI.TestForm/App.config
@@ -0,0 +1,6 @@
+<?xml version="1.0" encoding="utf-8" ?>
+<configuration>
+    <startup> 
+        <supportedRuntime version="v4.0" sku=".NETFramework,Version=v4.7.2" />
+    </startup>
+</configuration>
diff --git a/CoppeliaSimCSharpAPI.TestForm/CoppeliaSimCSharpAPI.TestForm.csproj b/CoppeliaSimCSharpAPI.TestForm/CoppeliaSimCSharpAPI.TestForm.csproj
@@ -0,0 +1,104 @@
+<?xml version="1.0" encoding="utf-8"?>
+<Project ToolsVersion="15.0" xmlns="http://schemas.microsoft.com/developer/msbuild/2003">
+  <Import Project="$(MSBuildExtensionsPath)\$(MSBuildToolsVersion)\Microsoft.Common.props" Condition="Exists('$(MSBuildExtensionsPath)\$(MSBuildToolsVersion)\Microsoft.Common.props')" />
+  <PropertyGroup>
+    <Configuration Condition=" '$(Configuration)' == '' ">Debug</Configuration>
+    <Platform Condition=" '$(Platform)' == '' ">AnyCPU</Platform>
+    <ProjectGuid>{FB8863F3-9BA4-47AA-83B2-C28513F2B7F5}</ProjectGuid>
+    <OutputType>WinExe</OutputType>
+    <RootNamespace>CoppeliaSimCSharpAPI.TestForm</RootNamespace>
+    <AssemblyName>CoppeliaSimCSharpAPI.TestForm</AssemblyName>
+    <TargetFrameworkVersion>v4.7.2</TargetFrameworkVersion>
+    <FileAlignment>512</FileAlignment>
+    <AutoGenerateBindingRedirects>true</AutoGenerateBindingRedirects>
+    <Deterministic>true</Deterministic>
+  </PropertyGroup>
+  <PropertyGroup Condition=" '$(Configuration)|$(Platform)' == 'Debug|AnyCPU' ">
+    <PlatformTarget>AnyCPU</PlatformTarget>
+    <DebugSymbols>true</DebugSymbols>
+    <DebugType>full</DebugType>
+    <Optimize>false</Optimize>
+    <OutputPath>bin\Debug\</OutputPath>
+    <DefineConstants>DEBUG;TRACE</DefineConstants>
+    <ErrorReport>prompt</ErrorReport>
+    <WarningLevel>4</WarningLevel>
+  </PropertyGroup>
+  <PropertyGroup Condition=" '$(Configuration)|$(Platform)' == 'Release|AnyCPU' ">
+    <PlatformTarget>AnyCPU</PlatformTarget>
+    <DebugType>pdbonly</DebugType>
+    <Optimize>true</Optimize>
+    <OutputPath>bin\Release\</OutputPath>
+    <DefineConstants>TRACE</DefineConstants>
+    <ErrorReport>prompt</ErrorReport>
+    <WarningLevel>4</WarningLevel>
+  </PropertyGroup>
+  <PropertyGroup Condition="'$(Configuration)|$(Platform)' == 'Debug|x64'">
+    <DebugSymbols>true</DebugSymbols>
+    <OutputPath>bin\x64\Debug\</OutputPath>
+    <DefineConstants>DEBUG;TRACE</DefineConstants>
+    <DebugType>full</DebugType>
+    <PlatformTarget>x64</PlatformTarget>
+    <LangVersion>7.3</LangVersion>
+    <ErrorReport>prompt</ErrorReport>
+    <Prefer32Bit>true</Prefer32Bit>
+  </PropertyGroup>
+  <PropertyGroup Condition="'$(Configuration)|$(Platform)' == 'Release|x64'">
+    <OutputPath>bin\x64\Release\</OutputPath>
+    <DefineConstants>TRACE</DefineConstants>
+    <Optimize>true</Optimize>
+    <DebugType>pdbonly</DebugType>
+    <PlatformTarget>x64</PlatformTarget>
+    <LangVersion>7.3</LangVersion>
+    <ErrorReport>prompt</ErrorReport>
+    <Prefer32Bit>true</Prefer32Bit>
+  </PropertyGroup>
+  <ItemGroup>
+    <Reference Include="System" />
+    <Reference Include="System.Core" />
+    <Reference Include="System.Xml.Linq" />
+    <Reference Include="System.Data.DataSetExtensions" />
+    <Reference Include="Microsoft.CSharp" />
+    <Reference Include="System.Data" />
+    <Reference Include="System.Deployment" />
+    <Reference Include="System.Drawing" />
+    <Reference Include="System.Net.Http" />
+    <Reference Include="System.Windows.Forms" />
+    <Reference Include="System.Xml" />
+  </ItemGroup>
+  <ItemGroup>
+    <Compile Include="Api.cs" />
+    <Compile Include="Form1.cs">
+      <SubType>Form</SubType>
+    </Compile>
+    <Compile Include="Form1.Designer.cs">
+      <DependentUpon>Form1.cs</DependentUpon>
+    </Compile>
+    <Compile Include="Program.cs" />
+    <Compile Include="Properties\AssemblyInfo.cs" />
+    <EmbeddedResource Include="Form1.resx">
+      <DependentUpon>Form1.cs</DependentUpon>
+    </EmbeddedResource>
+    <EmbeddedResource Include="Properties\Resources.resx">
+      <Generator>ResXFileCodeGenerator</Generator>
+      <LastGenOutput>Resources.Designer.cs</LastGenOutput>
+      <SubType>Designer</SubType>
+    </EmbeddedResource>
+    <Compile Include="Properties\Resources.Designer.cs">
+      <AutoGen>True</AutoGen>
+      <DependentUpon>Resources.resx</DependentUpon>
+    </Compile>
+    <None Include="Properties\Settings.settings">
+      <Generator>SettingsSingleFileGenerator</Generator>
+      <LastGenOutput>Settings.Designer.cs</LastGenOutput>
+    </None>
+    <Compile Include="Properties\Settings.Designer.cs">
+      <AutoGen>True</AutoGen>
+      <DependentUpon>Settings.settings</DependentUpon>
+      <DesignTimeSharedInput>True</DesignTimeSharedInput>
+    </Compile>
+  </ItemGroup>
+  <ItemGroup>
+    <None Include="App.config" />
+  </ItemGroup>
+  <Import Project="$(MSBuildToolsPath)\Microsoft.CSharp.targets" />
+</Project>