How to call a function from Threaded Child Script remotely

[alix]

Hi,
I am trying to call a function from a threaded child script. It is the same script as Jaco have in "MotionPlanningandGrasping.ttt". I am using the following command:

Code: Select all

res,retInts,retFloats,retStrings,retBuffer=vrep.simxCallScriptFunction(sim_client, "Jaco#0", vrep.sim_scripttype_childscript, 'loadPath',[], [], ['jacoPath_1'], emptyBuff, vrep.simx_opmode_blocking)

It is the function in script that loads the path for motion planning. I have tried it both ways with running simulation and stopped simulation both. I'll appreciate any help in this regard.
Thanks.

[coppelia]

Hello,

sorry for the delay.
If you need to call a threaded child script from a remote client, then keep your script function very simple, like:

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function sysCall_threadmain()
    while sim.getSimulationState()~=sim.simulation_advancing_abouttostop do
        if executeFunctionX==1 then
            -- react to the event
        end
        sim.switchThread()
    end
end

function myFunctionName(inInts,inFloats,inStrings,inBuffer)
    executeFunctionX=1
    return {},{},{},''
end

Remember that the function can only be called while the simulation is running, and while the thread is still operational. If the simulation is not running, or the thread ended, it won't work.

In general it is often times much better to use a non-threaded child script for remote script calls.

Cheers