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extApi.c
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extApi.c
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#include "extApi.h"
#include "extApiInternal.h"
#include <stdio.h>
#ifdef _Included_extApiJava
#include "extApiJava.h"
#endif
simxUChar _wholeThingInitialized=0;
simxInt _clientsCount=0;
simxInt _clientIDForThread;
simxUChar _softLock_=0;
simxVoid _softLock()
{ /* a bit delicate, since we can't use mutexes yet... very simple non fail-safe lock! */
while (1)
{
if (_softLock_==0)
{
_softLock_=1;
return;
}
extApi_switchThread();
}
}
simxVoid _softUnlock()
{ /* a bit delicate, since we can't use mutexes yet... very simple non fail-safe unlock! */
_softLock_=0;
}
simxVoid _increaseClientCount()
{
simxInt i;
_softLock(); /* simple and not fail-safe. Init/deinit routines would probably be better... */
if (_wholeThingInitialized==0)
{
_wholeThingInitialized=1;
for (i=0;i<MAX_EXT_API_CONNECTIONS;i++)
{
_nextConnectionID[i]=0;
_replyWaitTimeoutInMs[i]=_REPLY_WAIT_TIMEOUT_IN_MS;
}
extApi_createGlobalMutex();
}
_softUnlock();
extApi_globalSimpleLock();
_clientsCount=_clientsCount+1;
extApi_globalSimpleUnlock();
}
simxVoid _decreaseClientCount(simxUChar useSoftLock)
{
if (useSoftLock!=0)
_softLock(); /* simple and not fail-safe. Init/deinit routines would probably be better... */
if (_clientsCount>0)
{
extApi_globalSimpleLock();
_clientsCount=_clientsCount-1;
extApi_globalSimpleUnlock();
if (_clientsCount==0)
{
extApi_deleteGlobalMutex();
_wholeThingInitialized=0;
}
}
if (useSoftLock!=0)
_softUnlock();
}
EXTAPI_DLLEXPORT simxInt simxStart(const simxChar* connectionAddress,simxInt connectionPort,simxUChar waitUntilConnected,simxUChar doNotReconnectOnceDisconnected,simxInt timeOutInMs,simxInt commThreadCycleInMs)
{
simxInt startTime,i,clientID;
_increaseClientCount();
extApi_initRand();
clientID=-1;
extApi_globalSimpleLock();
for (i=0;i<MAX_EXT_API_CONNECTIONS;i++)
{
if (_nextConnectionID[i]==0)
{
clientID=i;
break;
}
}
if (clientID!=-1)
{
for (i=0;i<MAX_EXT_API_CONNECTIONS;i++)
{
if (_nextConnectionID[i]!=0)
{
if (connectionPort<0)
{ /* using shared memory */
if (connectionPort==_connectionPort[i])
{ /* that 'shared memory number' was already used */
clientID=-1;
break;
}
}
else
{ /* using sockets */
if ( (connectionPort==_connectionPort[i])&&(extApi_areStringsSame(_connectionIP[i],connectionAddress)!=0) )
{ /* that IP/port was already used */
clientID=-1;
break;
}
}
}
}
}
extApi_globalSimpleUnlock();
if (clientID==-1)
{
_decreaseClientCount(1);
return(-1);
}
_nextConnectionID[clientID]=1;
_connectionPort[clientID]=connectionPort;
if (connectionPort<0)
{ /* using shared memory */
_connectionIP[clientID]=(simxChar*)extApi_allocateBuffer(2+1);
_connectionIP[clientID][0]='@';
_connectionIP[clientID][1]='P';
_connectionIP[clientID][2]=0;
}
else
{ /* using sockets */
_connectionIP[clientID]=(simxChar*)extApi_allocateBuffer(extApi_getStringLength(connectionAddress)+1);
for (i=0;i<extApi_getStringLength(connectionAddress)+1;i++)
_connectionIP[clientID][i]=connectionAddress[i];
}
/* Prepare various buffers */
_messageToSend[clientID]=extApi_allocateBuffer(SIMX_INIT_BUFF_SIZE);
_messageToSend_bufferSize[clientID]=SIMX_INIT_BUFF_SIZE;
_messageToSend_dataSize[clientID]=SIMX_HEADER_SIZE;
_splitCommandsToSend[clientID]=extApi_allocateBuffer(SIMX_INIT_BUFF_SIZE);
_splitCommandsToSend_bufferSize[clientID]=SIMX_INIT_BUFF_SIZE;
_splitCommandsToSend_dataSize[clientID]=0;
_messageReceived[clientID]=extApi_allocateBuffer(SIMX_INIT_BUFF_SIZE);
_messageReceived_bufferSize[clientID]=SIMX_INIT_BUFF_SIZE;
_messageReceived_dataSize[clientID]=0;
_splitCommandsReceived[clientID]=extApi_allocateBuffer(SIMX_INIT_BUFF_SIZE);
_splitCommandsReceived_bufferSize[clientID]=SIMX_INIT_BUFF_SIZE;
_splitCommandsReceived_dataSize[clientID]=0;
_commandReceived[clientID]=extApi_allocateBuffer(SIMX_INIT_BUFF_SIZE);
_commandReceived_bufferSize[clientID]=SIMX_INIT_BUFF_SIZE;
_commandReceived_simulationTime[clientID]=0;
_nextMessageIDToSend[clientID]=0;
_lastReceivedMessageID[clientID]=-1;
_waitBeforeSendingAgainWhenMessageIDArrived[clientID]=-1; /* do not wait */
_minCommunicationDelay[clientID]=commThreadCycleInMs;
if (timeOutInMs<0)
{ /* a positive time out is for the first connection. A negative, for all blocking commands */
_replyWaitTimeoutInMs[clientID]=-timeOutInMs;
timeOutInMs=5000;
}
extApi_createMutexes(clientID);
/* Launch the socket/shared memory communication thread */
_communicationThreadRunning[clientID]=1;
_connectionID[clientID]=-1;
_tempConnectionAddress[clientID]=connectionAddress;
_tempConnectionPort[clientID]=connectionPort;
_tempDoNotReconnectOnceDisconnected[clientID]=doNotReconnectOnceDisconnected;
extApi_globalSimpleLock();
_clientIDForThread=clientID;
extApi_launchThread(_communicationThread);
while (_clientIDForThread!=-1)
extApi_switchThread(); /* wait until the thread is set */
extApi_globalSimpleUnlock();
if (waitUntilConnected==0)
return(clientID); /* we do not wait until connected */
startTime=extApi_getTimeInMs();
while ( (extApi_getTimeDiffInMs(startTime)<timeOutInMs)&&(_connectionID[clientID]==-1) )
extApi_switchThread();
if (_connectionID[clientID]==-1)
{ /* we failed connecting */
simxFinish(clientID);
return(-1);
}
return(clientID);
}
EXTAPI_DLLEXPORT simxVoid simxFinish(simxInt clientID)
{
simxInt returnValue,i;
if ((clientID<-1)||(clientID>=MAX_EXT_API_CONNECTIONS))
return;
_softLock();
if (_clientsCount<=0)
{
_softUnlock();
return;
}
if (clientID>=0)
{ /* shut down a specific client */
if (_communicationThreadRunning[clientID])
{
if (_connectionID[clientID]!=-1)
{ /* we are still connected */
/* send the kill connection command */
_exec_int(clientID,simx_cmd_kill_connection,simx_opmode_oneshot,0,0,&returnValue);
/* wait 0.5 seconds */
extApi_sleepMs(500);
}
/* now tell the communication thread the end and wait until it's done: */
_communicationThreadRunning[clientID]=0;
while (_communicationThreadRunning[clientID]==0)
extApi_switchThread();
_communicationThreadRunning[clientID]=0;
/* do some clean-up: */
extApi_deleteMutexes(clientID);
extApi_releaseBuffer(_commandReceived[clientID]);
extApi_releaseBuffer(_splitCommandsReceived[clientID]);
extApi_releaseBuffer(_messageToSend[clientID]);
extApi_releaseBuffer(_splitCommandsToSend[clientID]);
extApi_releaseBuffer(_messageReceived[clientID]);
extApi_releaseBuffer((simxUChar*)_connectionIP[clientID]);
_nextConnectionID[clientID]=0; /* slot becomes free */
_decreaseClientCount(0);
}
}
else
{ /* shut down all opened clients */
for (i=0;i<MAX_EXT_API_CONNECTIONS;i++)
{
if (_communicationThreadRunning[i])
{
if (_connectionID[i]!=-1)
{ /* we are still connected */
/* send the kill connection command */
_exec_int(i,simx_cmd_kill_connection,simx_opmode_oneshot,0,0,&returnValue);
}
}
}
/* wait 0.5 seconds */
extApi_sleepMs(500);
for (i=0;i<MAX_EXT_API_CONNECTIONS;i++)
{
if (_communicationThreadRunning[i])
{
/* now tell the communication thread to end and wait until it's done: */
_communicationThreadRunning[i]=0;
while (_communicationThreadRunning[i]==0)
extApi_switchThread();
_communicationThreadRunning[i]=0;
/* do some clean-up: */
extApi_deleteMutexes(i);
extApi_releaseBuffer(_commandReceived[i]);
extApi_releaseBuffer(_splitCommandsReceived[i]);
extApi_releaseBuffer(_messageToSend[i]);
extApi_releaseBuffer(_splitCommandsToSend[i]);
extApi_releaseBuffer(_messageReceived[i]);
extApi_releaseBuffer((simxUChar*)_connectionIP[i]);
_nextConnectionID[i]=0; /* slot becomes free */
_decreaseClientCount(0);
}
}
}
_softUnlock();
}
simxVoid _waitUntilMessageArrived(simxInt clientID,simxInt* error)
{
simxInt startTime;
simxInt lastReceivedMessageIDCopy;
if (_waitBeforeSendingAgainWhenMessageIDArrived[clientID]!=-1)
{ /* wait until we received a reply, or a timeout (if we wanna wait for the reply) */
startTime=extApi_getTimeInMs();
while (1)
{
extApi_lockResources(clientID);
lastReceivedMessageIDCopy=_lastReceivedMessageID[clientID];
extApi_unlockResources(clientID);
if ((extApi_getTimeDiffInMs(startTime)>=_replyWaitTimeoutInMs[clientID])||(lastReceivedMessageIDCopy>=_waitBeforeSendingAgainWhenMessageIDArrived[clientID]))
break;
extApi_switchThread();
}
if (lastReceivedMessageIDCopy<_waitBeforeSendingAgainWhenMessageIDArrived[clientID])
error[0]|=simx_return_timeout_flag;
}
}
simxUChar* _setLastFetchedCmd(simxInt clientID,simxUChar* cmdPtr,simxInt* error)
{
simxInt blockSize,incr,i,status;
simxUChar* newCommand;
if (cmdPtr!=0)
{
blockSize=extApi_endianConversionInt(((simxInt*)(cmdPtr+simx_cmdheaderoffset_mem_size))[0]);
if (blockSize>_commandReceived_bufferSize[clientID])
{ /* we need more memory here for the fetched command buffer */
incr=blockSize-_commandReceived_bufferSize[clientID];
if (incr<SIMX_MIN_BUFF_INCR)
incr=SIMX_MIN_BUFF_INCR;
newCommand=(simxUChar*)extApi_allocateBuffer(_commandReceived_bufferSize[clientID]+incr);
extApi_releaseBuffer(_commandReceived[clientID]);
_commandReceived[clientID]=newCommand;
_commandReceived_bufferSize[clientID]+=incr;
}
for (i=0;i<blockSize;i++)
_commandReceived[clientID][i]=cmdPtr[i];
cmdPtr=_commandReceived[clientID];
status=cmdPtr[simx_cmdheaderoffset_status];
_commandReceived_simulationTime[clientID]=extApi_endianConversionInt(((simxInt*)(cmdPtr+simx_cmdheaderoffset_sim_time))[0]);
if (status&1)
error[0]|=simx_return_remote_error_flag; /* command caused an error on the server side */
}
else
error[0]|=simx_return_novalue_flag;
return(cmdPtr);
}
simxUChar* _exec_null(simxInt clientID,simxInt cmdRaw,simxInt opMode,simxUChar options,simxInt* error)
{
simxUShort delayOrSplit;
simxUChar* cmdPtr=0;
error[0]=simx_return_ok;
delayOrSplit=opMode&simx_cmdmask;
opMode-=(opMode&simx_cmdmask);
if (opMode!=simx_opmode_buffer)
{
/* Check if the command is already present in the request list */
extApi_lockResources(clientID);
if (opMode==simx_opmode_oneshot_split)
{
if (delayOrSplit<_MIN_SPLIT_AMOUNT_IN_BYTES)
delayOrSplit=_MIN_SPLIT_AMOUNT_IN_BYTES;
cmdPtr=_getCommandPointer_(cmdRaw,_splitCommandsToSend[clientID],_splitCommandsToSend_dataSize[clientID]);
if (cmdPtr!=0)
error[0]|=simx_return_split_progress_flag; /* Command already there */
else
{ /* Command not there. Add it */
_splitCommandsToSend[clientID]=_appendCommand_(cmdRaw+opMode,options,delayOrSplit,_splitCommandsToSend[clientID],&_splitCommandsToSend_bufferSize[clientID],&_splitCommandsToSend_dataSize[clientID]);
}
}
else
{
cmdPtr=_getCommandPointer_(cmdRaw,_messageToSend[clientID]+SIMX_HEADER_SIZE,_messageToSend_dataSize[clientID]-SIMX_HEADER_SIZE);
if ((cmdPtr==0)||(options&1))
{ /* Command not there (or cmd cannot be overwritten). Add it */
_messageToSend[clientID]=_appendCommand_(cmdRaw+opMode,options,delayOrSplit,_messageToSend[clientID],&_messageToSend_bufferSize[clientID],&_messageToSend_dataSize[clientID]);
}
}
if (opMode==simx_opmode_blocking)
_waitBeforeSendingAgainWhenMessageIDArrived[clientID]=_nextMessageIDToSend[clientID];
extApi_unlockResources(clientID);
/* wait until we received a reply, or a timeout (if we wanna wait for the reply) */
if (_waitBeforeSendingAgainWhenMessageIDArrived[clientID]!=-1)
_waitUntilMessageArrived(clientID,error);
}
/* Check if the command is present in the input list */
extApi_lockResources(clientID);
cmdPtr=_getCommandPointer_(cmdRaw,_messageReceived[clientID]+SIMX_HEADER_SIZE,_messageReceived_dataSize[clientID]-SIMX_HEADER_SIZE);
cmdPtr=_setLastFetchedCmd(clientID,cmdPtr,error);
_waitBeforeSendingAgainWhenMessageIDArrived[clientID]=-1; /* make sure to enable the communication thread again! */
extApi_unlockResources(clientID);
if (opMode==simx_opmode_blocking) /* A cmd reply stays in the inbox always.. except when the mode is simx_opmode_blocking (to avoid polluting the inbox) */
_removeCommandReply_null(clientID,cmdRaw);
return(cmdPtr);
}
simxUChar* _exec_null_buffer(simxInt clientID,simxInt cmdRaw,simxInt opMode,simxUChar options,simxUChar* buffer,simxInt bufferSize,simxInt* error)
{
simxUShort delayOrSplit;
simxUChar* cmdPtr=0;
error[0]=simx_return_ok;
delayOrSplit=opMode&simx_cmdmask;
opMode-=(opMode&simx_cmdmask);
if (opMode!=simx_opmode_buffer)
{
/* Check if the command is already present in the request list */
extApi_lockResources(clientID);
if (opMode==simx_opmode_oneshot_split)
{
if (delayOrSplit<_MIN_SPLIT_AMOUNT_IN_BYTES)
delayOrSplit=_MIN_SPLIT_AMOUNT_IN_BYTES;
cmdPtr=_getCommandPointer_(cmdRaw,_splitCommandsToSend[clientID],_splitCommandsToSend_dataSize[clientID]);
if (cmdPtr!=0)
{ /* Command already there */
/* Now make sure we have the same command size, otherwise we have to remove the old cmd and add freshly the new */
if (extApi_endianConversionInt(((simxInt*)(cmdPtr+simx_cmdheaderoffset_mem_size))[0])==SIMX_SUBHEADER_SIZE+4+bufferSize)
error[0]|=simx_return_split_progress_flag; /* ok, we have the same size */
else
{ /* we don't have the same size! Remove the old command */
_removeChunkFromBuffer(_splitCommandsToSend[clientID],cmdPtr,extApi_endianConversionInt(((simxInt*)(cmdPtr+simx_cmdheaderoffset_mem_size))[0]),&_splitCommandsToSend_dataSize[clientID]);
cmdPtr=0; /* so that we will add the new command in next section */
}
}
if (cmdPtr==0)
_splitCommandsToSend[clientID]=_appendCommand_null_buff(cmdRaw+opMode,options,buffer,bufferSize,delayOrSplit,_splitCommandsToSend[clientID],&_splitCommandsToSend_bufferSize[clientID],&_splitCommandsToSend_dataSize[clientID]);
}
else
{
cmdPtr=_getCommandPointer_(cmdRaw,_messageToSend[clientID]+SIMX_HEADER_SIZE,_messageToSend_dataSize[clientID]-SIMX_HEADER_SIZE);
if ((cmdPtr!=0)&&((options&1)==0)) /* Command already there, and we can overwrite it. We remove it and add it again */
_removeChunkFromBuffer(_messageToSend[clientID],cmdPtr,extApi_endianConversionInt(((simxInt*)(cmdPtr+simx_cmdheaderoffset_mem_size))[0]),&_messageToSend_dataSize[clientID]); /* we remove then add the command again (b/c no guarantee the buffer has the same size) */
_messageToSend[clientID]=_appendCommand_null_buff(cmdRaw+opMode,options,buffer,bufferSize,delayOrSplit,_messageToSend[clientID],&_messageToSend_bufferSize[clientID],&_messageToSend_dataSize[clientID]);
}
if (opMode==simx_opmode_blocking)
_waitBeforeSendingAgainWhenMessageIDArrived[clientID]=_nextMessageIDToSend[clientID];
extApi_unlockResources(clientID);
/* wait until we received a reply, or a timeout (if we wanna wait for the reply) */
if (_waitBeforeSendingAgainWhenMessageIDArrived[clientID]!=-1)
_waitUntilMessageArrived(clientID,error);
}
/* Check if the command is present in the input list (we might have this situation when we want to check if there was an error on the server side) */
extApi_lockResources(clientID);
cmdPtr=_getCommandPointer_(cmdRaw,_messageReceived[clientID]+SIMX_HEADER_SIZE,_messageReceived_dataSize[clientID]-SIMX_HEADER_SIZE);
cmdPtr=_setLastFetchedCmd(clientID,cmdPtr,error);
_waitBeforeSendingAgainWhenMessageIDArrived[clientID]=-1; /* make sure to enable the communication thread again! */
extApi_unlockResources(clientID);
if (opMode==simx_opmode_blocking) /* A cmd reply stays in the inbox always.. except when the mode is simx_opmode_blocking (to avoid polluting the inbox) */
_removeCommandReply_null(clientID,cmdRaw);
return(cmdPtr);
}
simxUChar* _exec_int(simxInt clientID,simxInt cmdRaw,simxInt opMode,simxUChar options,simxInt intValue,simxInt* error)
{
simxUShort delayOrSplit;
simxUChar* cmdPtr=0;
error[0]=simx_return_ok;
delayOrSplit=opMode&simx_cmdmask;
opMode-=(opMode&simx_cmdmask);
if (opMode!=simx_opmode_buffer)
{
/* Check if the command is already present in the request list */
extApi_lockResources(clientID);
if (opMode==simx_opmode_oneshot_split)
{
if (delayOrSplit<_MIN_SPLIT_AMOUNT_IN_BYTES)
delayOrSplit=_MIN_SPLIT_AMOUNT_IN_BYTES;
cmdPtr=_getCommandPointer_i(cmdRaw,intValue,_splitCommandsToSend[clientID],_splitCommandsToSend_dataSize[clientID]);
if (cmdPtr!=0)
error[0]|=simx_return_split_progress_flag; /* Command already there */
else
{ /* Command not there. Add it */
_splitCommandsToSend[clientID]=_appendCommand_i(cmdRaw+opMode,options,intValue,delayOrSplit,_splitCommandsToSend[clientID],&_splitCommandsToSend_bufferSize[clientID],&_splitCommandsToSend_dataSize[clientID]);
}
}
else
{
cmdPtr=_getCommandPointer_i(cmdRaw,intValue,_messageToSend[clientID]+SIMX_HEADER_SIZE,_messageToSend_dataSize[clientID]-SIMX_HEADER_SIZE);
if ((cmdPtr!=0)&&((options&1)==0))
{ /* Command already there, and we can overwrite it. Update it */
((simxInt*)(cmdPtr+simx_cmdheaderoffset_cmd))[0]=extApi_endianConversionInt(cmdRaw+opMode);
}
else
{ /* Command not there. Add it */
_messageToSend[clientID]=_appendCommand_i(cmdRaw+opMode,options,intValue,delayOrSplit,_messageToSend[clientID],&_messageToSend_bufferSize[clientID],&_messageToSend_dataSize[clientID]);
}
}
if (opMode==simx_opmode_blocking)
_waitBeforeSendingAgainWhenMessageIDArrived[clientID]=_nextMessageIDToSend[clientID];
extApi_unlockResources(clientID);
/* wait until we received a reply, or a timeout (if we wanna wait for the reply) */
if (_waitBeforeSendingAgainWhenMessageIDArrived[clientID]!=-1)
_waitUntilMessageArrived(clientID,error);
}
/* Check if the command is present in the input list */
extApi_lockResources(clientID);
cmdPtr=_getCommandPointer_i(cmdRaw,intValue,_messageReceived[clientID]+SIMX_HEADER_SIZE,_messageReceived_dataSize[clientID]-SIMX_HEADER_SIZE);
cmdPtr=_setLastFetchedCmd(clientID,cmdPtr,error);
_waitBeforeSendingAgainWhenMessageIDArrived[clientID]=-1; /* make sure to enable the communication thread again! */
extApi_unlockResources(clientID);
if (opMode==simx_opmode_blocking) /* A cmd reply stays in the inbox always.. except when the mode is simx_opmode_blocking (to avoid polluting the inbox) */
_removeCommandReply_int(clientID,cmdRaw,intValue);
return(cmdPtr);
}
simxUChar* _exec_intint(simxInt clientID,simxInt cmdRaw,simxInt opMode,simxUChar options,simxInt intValue1,simxInt intValue2,simxInt* error)
{
simxUShort delayOrSplit;
simxUChar* cmdPtr=0;
error[0]=simx_return_ok;
delayOrSplit=opMode&simx_cmdmask;
opMode-=(opMode&simx_cmdmask);
if (opMode!=simx_opmode_buffer)
{
/* Check if the command is already present in the request list */
extApi_lockResources(clientID);
if (opMode==simx_opmode_oneshot_split)
{
if (delayOrSplit<_MIN_SPLIT_AMOUNT_IN_BYTES)
delayOrSplit=_MIN_SPLIT_AMOUNT_IN_BYTES;
cmdPtr=_getCommandPointer_ii(cmdRaw,intValue1,intValue2,_splitCommandsToSend[clientID],_splitCommandsToSend_dataSize[clientID]);
if (cmdPtr!=0)
error[0]|=simx_return_split_progress_flag; /* Command already there */
else
{ /* Command not there. Add it */
_splitCommandsToSend[clientID]=_appendCommand_ii(cmdRaw+opMode,options,intValue1,intValue2,delayOrSplit,_splitCommandsToSend[clientID],&_splitCommandsToSend_bufferSize[clientID],&_splitCommandsToSend_dataSize[clientID]);
}
}
else
{
cmdPtr=_getCommandPointer_ii(cmdRaw,intValue1,intValue2,_messageToSend[clientID]+SIMX_HEADER_SIZE,_messageToSend_dataSize[clientID]-SIMX_HEADER_SIZE);
if ((cmdPtr!=0)&&((options&1)==0))
{ /* Command already there, and we can overwrite it. Update it */
((simxInt*)(cmdPtr+simx_cmdheaderoffset_cmd))[0]=extApi_endianConversionInt(cmdRaw+opMode);
}
else
{ /* Command not there. Add it */
_messageToSend[clientID]=_appendCommand_ii(cmdRaw+opMode,options,intValue1,intValue2,delayOrSplit,_messageToSend[clientID],&_messageToSend_bufferSize[clientID],&_messageToSend_dataSize[clientID]);
}
}
if (opMode==simx_opmode_blocking)
_waitBeforeSendingAgainWhenMessageIDArrived[clientID]=_nextMessageIDToSend[clientID];
extApi_unlockResources(clientID);
/* wait until we received a reply, or a timeout (if we wanna wait for the reply) */
if (_waitBeforeSendingAgainWhenMessageIDArrived[clientID]!=-1)
_waitUntilMessageArrived(clientID,error);
}
/* Check if the command is present in the input list */
extApi_lockResources(clientID);
cmdPtr=_getCommandPointer_ii(cmdRaw,intValue1,intValue2,_messageReceived[clientID]+SIMX_HEADER_SIZE,_messageReceived_dataSize[clientID]-SIMX_HEADER_SIZE);
cmdPtr=_setLastFetchedCmd(clientID,cmdPtr,error);
_waitBeforeSendingAgainWhenMessageIDArrived[clientID]=-1; /* make sure to enable the communication thread again! */
extApi_unlockResources(clientID);
if (opMode==simx_opmode_blocking) /* A cmd reply stays in the inbox always.. except when the mode is simx_opmode_blocking (to avoid polluting the inbox) */
_removeCommandReply_intint(clientID,cmdRaw,intValue1,intValue2);
return(cmdPtr);
}
simxUChar* _exec_string(simxInt clientID,simxInt cmdRaw,simxInt opMode,simxUChar options,const simxUChar* stringValue,simxInt* error)
{
simxUShort delayOrSplit;
simxUChar* cmdPtr=0;
error[0]=simx_return_ok;
delayOrSplit=opMode&simx_cmdmask;
opMode-=(opMode&simx_cmdmask);
if (opMode!=simx_opmode_buffer)
{
/* Check if the command is already present in the request list */
extApi_lockResources(clientID);
if (opMode==simx_opmode_oneshot_split)
{
if (delayOrSplit<_MIN_SPLIT_AMOUNT_IN_BYTES)
delayOrSplit=_MIN_SPLIT_AMOUNT_IN_BYTES;
cmdPtr=_getCommandPointer_s(cmdRaw,stringValue,_splitCommandsToSend[clientID],_splitCommandsToSend_dataSize[clientID]);
if (cmdPtr!=0)
{ /* Command already there */
error[0]|=simx_return_split_progress_flag;
}
else
{ /* Command not there. Add it */
_splitCommandsToSend[clientID]=_appendCommand_s(cmdRaw+opMode,options,stringValue,delayOrSplit,_splitCommandsToSend[clientID],&_splitCommandsToSend_bufferSize[clientID],&_splitCommandsToSend_dataSize[clientID]);
}
}
else
{
cmdPtr=_getCommandPointer_s(cmdRaw,stringValue,_messageToSend[clientID]+SIMX_HEADER_SIZE,_messageToSend_dataSize[clientID]-SIMX_HEADER_SIZE);
if ((cmdPtr!=0)&&((options&1)==0))
{ /* Command already there, and we can overwrite it. Update it */
((simxInt*)(cmdPtr+simx_cmdheaderoffset_cmd))[0]=extApi_endianConversionInt(cmdRaw+opMode);
}
else
{ /* Command not there. Add it */
_messageToSend[clientID]=_appendCommand_s(cmdRaw+opMode,options,stringValue,delayOrSplit,_messageToSend[clientID],&_messageToSend_bufferSize[clientID],&_messageToSend_dataSize[clientID]);
}
}
if (opMode==simx_opmode_blocking)
_waitBeforeSendingAgainWhenMessageIDArrived[clientID]=_nextMessageIDToSend[clientID];
extApi_unlockResources(clientID);
/* wait until we received a reply, or a timeout (if we wanna wait for the reply) */
if (_waitBeforeSendingAgainWhenMessageIDArrived[clientID]!=-1)
_waitUntilMessageArrived(clientID,error);
}
/* Check if the command is present in the input list */
extApi_lockResources(clientID);
cmdPtr=_getCommandPointer_s(cmdRaw,stringValue,_messageReceived[clientID]+SIMX_HEADER_SIZE,_messageReceived_dataSize[clientID]-SIMX_HEADER_SIZE);
cmdPtr=_setLastFetchedCmd(clientID,cmdPtr,error);
_waitBeforeSendingAgainWhenMessageIDArrived[clientID]=-1; /* make sure to enable the communication thread again! */
extApi_unlockResources(clientID);
if (opMode==simx_opmode_blocking) /* A cmd reply stays in the inbox always.. except when the mode is simx_opmode_blocking (to avoid polluting the inbox) */
_removeCommandReply_string(clientID,cmdRaw,stringValue);
return(cmdPtr);
}
simxUChar* _exec_int_int(simxInt clientID,simxInt cmdRaw,simxInt opMode,simxUChar options,simxInt intValue,simxInt intValue2,simxInt* error)
{
simxUChar* cmdPtr;
simxUShort delayOrSplit;
error[0]=simx_return_ok;
delayOrSplit=opMode&simx_cmdmask;
opMode-=(opMode&simx_cmdmask);
if (opMode!=simx_opmode_buffer)
{
/* Check if the command is already present in the request list */
extApi_lockResources(clientID);
if (opMode==simx_opmode_oneshot_split)
{
if (delayOrSplit<_MIN_SPLIT_AMOUNT_IN_BYTES)
delayOrSplit=_MIN_SPLIT_AMOUNT_IN_BYTES;
cmdPtr=_getCommandPointer_i(cmdRaw,intValue,_splitCommandsToSend[clientID],_splitCommandsToSend_dataSize[clientID]);
if ((cmdPtr!=0)&&((options&1)==0))
{ /* Command already there, and we can overwrite it. Update it */
error[0]|=simx_return_split_progress_flag;
}
else
{ /* Command not there. Add it */
_splitCommandsToSend[clientID]=_appendCommand_i_i(cmdRaw+opMode,options,intValue,intValue2,delayOrSplit,_splitCommandsToSend[clientID],&_splitCommandsToSend_bufferSize[clientID],&_splitCommandsToSend_dataSize[clientID]);
}
}
else
{
cmdPtr=_getCommandPointer_i(cmdRaw,intValue,_messageToSend[clientID]+SIMX_HEADER_SIZE,_messageToSend_dataSize[clientID]-SIMX_HEADER_SIZE);
if (cmdPtr!=0)
{ /* Command already there. Update it */
((simxInt*)(cmdPtr+simx_cmdheaderoffset_cmd))[0]=extApi_endianConversionInt(cmdRaw+opMode);
((simxInt*)(cmdPtr+SIMX_SUBHEADER_SIZE+4))[0]=extApi_endianConversionInt(intValue2);
}
else
{ /* Command not there. Add it */
_messageToSend[clientID]=_appendCommand_i_i(cmdRaw+opMode,options,intValue,intValue2,delayOrSplit,_messageToSend[clientID],&_messageToSend_bufferSize[clientID],&_messageToSend_dataSize[clientID]);
}
}
if (opMode==simx_opmode_blocking)
_waitBeforeSendingAgainWhenMessageIDArrived[clientID]=_nextMessageIDToSend[clientID];
extApi_unlockResources(clientID);
/* wait until we received a reply, or a timeout (if we wanna wait for the reply) */
if (_waitBeforeSendingAgainWhenMessageIDArrived[clientID]!=-1)
_waitUntilMessageArrived(clientID,error);
}
/* Check if the command is present in the input list (we might have this situation when we want to check if there was an error on the server side) */
extApi_lockResources(clientID);
cmdPtr=_getCommandPointer_i(cmdRaw,intValue,_messageReceived[clientID]+SIMX_HEADER_SIZE,_messageReceived_dataSize[clientID]-SIMX_HEADER_SIZE);
cmdPtr=_setLastFetchedCmd(clientID,cmdPtr,error);
_waitBeforeSendingAgainWhenMessageIDArrived[clientID]=-1; /* make sure to enable the communication thread again! */
extApi_unlockResources(clientID);
if (opMode==simx_opmode_blocking) /* A cmd reply stays in the inbox always.. except when the mode is simx_opmode_blocking (to avoid polluting the inbox) */
_removeCommandReply_int(clientID,cmdRaw,intValue);
return(cmdPtr);
}
simxUChar* _exec_intint_int(simxInt clientID,simxInt cmdRaw,simxInt opMode,simxUChar options,simxInt intValue1,simxInt intValue2,simxInt intValue3,simxInt* error)
{
simxUChar* cmdPtr;
simxUShort delayOrSplit;
error[0]=simx_return_ok;
delayOrSplit=opMode&simx_cmdmask;
opMode-=(opMode&simx_cmdmask);
if (opMode!=simx_opmode_buffer)
{
/* Check if the command is already present in the request list */
extApi_lockResources(clientID);
if (opMode==simx_opmode_oneshot_split)
{
if (delayOrSplit<_MIN_SPLIT_AMOUNT_IN_BYTES)
delayOrSplit=_MIN_SPLIT_AMOUNT_IN_BYTES;
cmdPtr=_getCommandPointer_ii(cmdRaw,intValue1,intValue2,_splitCommandsToSend[clientID],_splitCommandsToSend_dataSize[clientID]);
if (cmdPtr!=0)
{ /* Command already there */
error[0]|=simx_return_split_progress_flag;
}
else
{ /* Command not there. Add it */
_splitCommandsToSend[clientID]=_appendCommand_ii_i(cmdRaw+opMode,options,intValue1,intValue2,intValue3,delayOrSplit,_splitCommandsToSend[clientID],&_splitCommandsToSend_bufferSize[clientID],&_splitCommandsToSend_dataSize[clientID]);
}
}
else
{
cmdPtr=_getCommandPointer_ii(cmdRaw,intValue1,intValue2,_messageToSend[clientID]+SIMX_HEADER_SIZE,_messageToSend_dataSize[clientID]-SIMX_HEADER_SIZE);
if ((cmdPtr!=0)&&((options&1)==0))
{ /* Command already there, and we can overwrite it. Update it */
((simxInt*)(cmdPtr+simx_cmdheaderoffset_cmd))[0]=extApi_endianConversionInt(cmdRaw+opMode);
((simxInt*)(cmdPtr+SIMX_SUBHEADER_SIZE+8))[0]=extApi_endianConversionInt(intValue3);
}
else
{ /* Command not there. Add it */
_messageToSend[clientID]=_appendCommand_ii_i(cmdRaw+opMode,options,intValue1,intValue2,intValue3,delayOrSplit,_messageToSend[clientID],&_messageToSend_bufferSize[clientID],&_messageToSend_dataSize[clientID]);
}
}
if (opMode==simx_opmode_blocking)
_waitBeforeSendingAgainWhenMessageIDArrived[clientID]=_nextMessageIDToSend[clientID];
extApi_unlockResources(clientID);
/* wait until we received a reply, or a timeout (if we wanna wait for the reply) */
if (_waitBeforeSendingAgainWhenMessageIDArrived[clientID]!=-1)
_waitUntilMessageArrived(clientID,error);
}
/* Check if the command is present in the input list (we might have this situation when we want to check if there was an error on the server side) */
extApi_lockResources(clientID);
cmdPtr=_getCommandPointer_ii(cmdRaw,intValue1,intValue2,_messageReceived[clientID]+SIMX_HEADER_SIZE,_messageReceived_dataSize[clientID]-SIMX_HEADER_SIZE);
cmdPtr=_setLastFetchedCmd(clientID,cmdPtr,error);
_waitBeforeSendingAgainWhenMessageIDArrived[clientID]=-1; /* make sure to enable the communication thread again! */
extApi_unlockResources(clientID);
if (opMode==simx_opmode_blocking) /* A cmd reply stays in the inbox always.. except when the mode is simx_opmode_blocking (to avoid polluting the inbox) */
_removeCommandReply_intint(clientID,cmdRaw,intValue1,intValue2);
return(cmdPtr);
}
simxUChar* _exec_intint_buffer(simxInt clientID,simxInt cmdRaw,simxInt opMode,simxUChar options,simxInt intValue1,simxInt intValue2,simxUChar* buffer,simxInt bufferSize,simxInt* error)
{
simxUChar* cmdPtr;
simxUShort delayOrSplit;
error[0]=simx_return_ok;
delayOrSplit=opMode&simx_cmdmask;
opMode-=(opMode&simx_cmdmask);
if (opMode!=simx_opmode_buffer)
{
/* Check if the command is already present in the request list */
extApi_lockResources(clientID);
if (opMode==simx_opmode_oneshot_split)
{
if (delayOrSplit<_MIN_SPLIT_AMOUNT_IN_BYTES)
delayOrSplit=_MIN_SPLIT_AMOUNT_IN_BYTES;
cmdPtr=_getCommandPointer_ii(cmdRaw,intValue1,intValue2,_splitCommandsToSend[clientID],_splitCommandsToSend_dataSize[clientID]);
if (cmdPtr!=0)
{ /* Command already there */
error[0]|=simx_return_split_progress_flag;
}
else
{ /* Command not there. Add it */
_splitCommandsToSend[clientID]=_appendCommand_ii_buff(cmdRaw+opMode,options,intValue1,intValue2,buffer,bufferSize,delayOrSplit,_splitCommandsToSend[clientID],&_splitCommandsToSend_bufferSize[clientID],&_splitCommandsToSend_dataSize[clientID]);
}
}
else
{
cmdPtr=_getCommandPointer_ii(cmdRaw,intValue1,intValue2,_messageToSend[clientID]+SIMX_HEADER_SIZE,_messageToSend_dataSize[clientID]-SIMX_HEADER_SIZE);
if ((cmdPtr!=0)&&((options&1)==0))
{ /* Command already there, and we can overwrite it. Remove it, we'll add it again just after */
_removeChunkFromBuffer(_messageToSend[clientID],cmdPtr,extApi_endianConversionInt(((simxInt*)(cmdPtr+simx_cmdheaderoffset_mem_size))[0]),&_messageToSend_dataSize[clientID]); /* we remove then add the command again (b/c no guarantee the buffer has the same size) */
}
/* Add it: */
_messageToSend[clientID]=_appendCommand_ii_buff(cmdRaw+opMode,options,intValue1,intValue2,buffer,bufferSize,delayOrSplit,_messageToSend[clientID],&_messageToSend_bufferSize[clientID],&_messageToSend_dataSize[clientID]);
}
if (opMode==simx_opmode_blocking)
_waitBeforeSendingAgainWhenMessageIDArrived[clientID]=_nextMessageIDToSend[clientID];
extApi_unlockResources(clientID);
/* wait until we received a reply, or a timeout (if we wanna wait for the reply) */
if (_waitBeforeSendingAgainWhenMessageIDArrived[clientID]!=-1)
_waitUntilMessageArrived(clientID,error);
}
/* Check if the command is present in the input list (we might have this situation when we want to check if there was an error on the server side) */
extApi_lockResources(clientID);
cmdPtr=_getCommandPointer_ii(cmdRaw,intValue1,intValue2,_messageReceived[clientID]+SIMX_HEADER_SIZE,_messageReceived_dataSize[clientID]-SIMX_HEADER_SIZE);
cmdPtr=_setLastFetchedCmd(clientID,cmdPtr,error);
_waitBeforeSendingAgainWhenMessageIDArrived[clientID]=-1; /* make sure to enable the communication thread again! */
extApi_unlockResources(clientID);
if (opMode==simx_opmode_blocking) /* A cmd reply stays in the inbox always.. except when the mode is simx_opmode_blocking (to avoid polluting the inbox) */
_removeCommandReply_intint(clientID,cmdRaw,intValue1,intValue2);
return(cmdPtr);
}
simxUChar* _exec_int_float(simxInt clientID,simxInt cmdRaw,simxInt opMode,simxUChar options,simxInt intValue,simxFloat floatValue,simxInt* error)
{
simxUChar* cmdPtr;
simxUShort delayOrSplit;
error[0]=simx_return_ok;
delayOrSplit=opMode&simx_cmdmask;
opMode-=(opMode&simx_cmdmask);
if (opMode!=simx_opmode_buffer)
{
/* Check if the command is already present in the request list */
extApi_lockResources(clientID);
if (opMode==simx_opmode_oneshot_split)
{
if (delayOrSplit<_MIN_SPLIT_AMOUNT_IN_BYTES)
delayOrSplit=_MIN_SPLIT_AMOUNT_IN_BYTES;
cmdPtr=_getCommandPointer_i(cmdRaw,intValue,_splitCommandsToSend[clientID],_splitCommandsToSend_dataSize[clientID]);
if (cmdPtr!=0)
{ /* Command already there */
error[0]|=simx_return_split_progress_flag;
}
else
{ /* Command not there. Add it */
_splitCommandsToSend[clientID]=_appendCommand_i_f(cmdRaw+opMode,options,intValue,floatValue,delayOrSplit,_splitCommandsToSend[clientID],&_splitCommandsToSend_bufferSize[clientID],&_splitCommandsToSend_dataSize[clientID]);
}
}
else
{
cmdPtr=_getCommandPointer_i(cmdRaw,intValue,_messageToSend[clientID]+SIMX_HEADER_SIZE,_messageToSend_dataSize[clientID]-SIMX_HEADER_SIZE);
if ((cmdPtr!=0)&&((options&1)==0))
{ /* Command already there, and we can overwrite it. Update it */
((simxInt*)(cmdPtr+simx_cmdheaderoffset_cmd))[0]=extApi_endianConversionInt(cmdRaw+opMode);
((simxFloat*)(cmdPtr+SIMX_SUBHEADER_SIZE+4))[0]=extApi_endianConversionFloat(floatValue);
}
else
{ /* Command not there. Add it */
_messageToSend[clientID]=_appendCommand_i_f(cmdRaw+opMode,options,intValue,floatValue,delayOrSplit,_messageToSend[clientID],&_messageToSend_bufferSize[clientID],&_messageToSend_dataSize[clientID]);
}
}
if (opMode==simx_opmode_blocking)
_waitBeforeSendingAgainWhenMessageIDArrived[clientID]=_nextMessageIDToSend[clientID];
extApi_unlockResources(clientID);
/* wait until we received a reply, or a timeout (if we wanna wait for the reply) */
if (_waitBeforeSendingAgainWhenMessageIDArrived[clientID]!=-1)
_waitUntilMessageArrived(clientID,error);
}
/* Check if the command is present in the input list (we might have this situation when we want to check if there was an error on the server side) */
extApi_lockResources(clientID);
cmdPtr=_getCommandPointer_i(cmdRaw,intValue,_messageReceived[clientID]+SIMX_HEADER_SIZE,_messageReceived_dataSize[clientID]-SIMX_HEADER_SIZE);
cmdPtr=_setLastFetchedCmd(clientID,cmdPtr,error);
_waitBeforeSendingAgainWhenMessageIDArrived[clientID]=-1; /* make sure to enable the communication thread again! */
extApi_unlockResources(clientID);
if (opMode==simx_opmode_blocking) /* A cmd reply stays in the inbox always.. except when the mode is simx_opmode_blocking (to avoid polluting the inbox) */
_removeCommandReply_int(clientID,cmdRaw,intValue);
return(cmdPtr);
}
simxUChar* _exec_int_buffer(simxInt clientID,simxInt cmdRaw,simxInt opMode,simxUChar options,simxInt intValue,simxUChar* buffer,simxInt bufferSize,simxInt* error)
{
simxUChar* cmdPtr;
simxUShort delayOrSplit;
error[0]=simx_return_ok;
delayOrSplit=opMode&simx_cmdmask;
opMode-=(opMode&simx_cmdmask);
if (opMode!=simx_opmode_buffer)
{
/* Check if the command is already present in the request list */
extApi_lockResources(clientID);
if (opMode==simx_opmode_oneshot_split)
{
if (delayOrSplit<_MIN_SPLIT_AMOUNT_IN_BYTES)
delayOrSplit=_MIN_SPLIT_AMOUNT_IN_BYTES;
cmdPtr=_getCommandPointer_i(cmdRaw,intValue,_splitCommandsToSend[clientID],_splitCommandsToSend_dataSize[clientID]);
if (cmdPtr!=0)
{ /* Command already there */
/* Now make sure we have the same command size, otherwise we have to remove the old cmd and add freshly the new */
if (extApi_endianConversionInt(((simxInt*)(cmdPtr+simx_cmdheaderoffset_mem_size))[0])==SIMX_SUBHEADER_SIZE+4+bufferSize)
error[0]|=simx_return_split_progress_flag; /* ok, we have the same size */
else
{ /* we don't have the same size! Remove the old command */
_removeChunkFromBuffer(_splitCommandsToSend[clientID],cmdPtr,extApi_endianConversionInt(((simxInt*)(cmdPtr+simx_cmdheaderoffset_mem_size))[0]),&_splitCommandsToSend_dataSize[clientID]);
cmdPtr=0; /* so that we will add the new command in next section */
}
}
if (cmdPtr==0)
_splitCommandsToSend[clientID]=_appendCommand_i_buff(cmdRaw+opMode,options,intValue,buffer,bufferSize,delayOrSplit,_splitCommandsToSend[clientID],&_splitCommandsToSend_bufferSize[clientID],&_splitCommandsToSend_dataSize[clientID]);
}
else
{
cmdPtr=_getCommandPointer_i(cmdRaw,intValue,_messageToSend[clientID]+SIMX_HEADER_SIZE,_messageToSend_dataSize[clientID]-SIMX_HEADER_SIZE);
if ((cmdPtr!=0)&&((options&1)==0)) /* Command already there, and we can overwrite it. We remove it and add it again */
_removeChunkFromBuffer(_messageToSend[clientID],cmdPtr,extApi_endianConversionInt(((simxInt*)(cmdPtr+simx_cmdheaderoffset_mem_size))[0]),&_messageToSend_dataSize[clientID]); /* we remove then add the command again (b/c no guarantee the buffer has the same size) */
_messageToSend[clientID]=_appendCommand_i_buff(cmdRaw+opMode,options,intValue,buffer,bufferSize,delayOrSplit,_messageToSend[clientID],&_messageToSend_bufferSize[clientID],&_messageToSend_dataSize[clientID]);
}
if (opMode==simx_opmode_blocking)
_waitBeforeSendingAgainWhenMessageIDArrived[clientID]=_nextMessageIDToSend[clientID];
extApi_unlockResources(clientID);
/* wait until we received a reply, or a timeout (if we wanna wait for the reply) */
if (_waitBeforeSendingAgainWhenMessageIDArrived[clientID]!=-1)
_waitUntilMessageArrived(clientID,error);
}
/* Check if the command is present in the input list (we might have this situation when we want to check if there was an error on the server side) */
extApi_lockResources(clientID);
cmdPtr=_getCommandPointer_i(cmdRaw,intValue,_messageReceived[clientID]+SIMX_HEADER_SIZE,_messageReceived_dataSize[clientID]-SIMX_HEADER_SIZE);
cmdPtr=_setLastFetchedCmd(clientID,cmdPtr,error);
_waitBeforeSendingAgainWhenMessageIDArrived[clientID]=-1; /* make sure to enable the communication thread again! */
extApi_unlockResources(clientID);
if (opMode==simx_opmode_blocking) /* A cmd reply stays in the inbox always.. except when the mode is simx_opmode_blocking (to avoid polluting the inbox) */
_removeCommandReply_int(clientID,cmdRaw,intValue);
return(cmdPtr);
}
simxUChar* _exec_string_buffer(simxInt clientID,simxInt cmdRaw,simxInt opMode,simxUChar options,const simxUChar* stringValue,simxUChar* buffer,simxInt bufferSize,simxInt* error)
{
simxUChar* cmdPtr;
simxUShort delayOrSplit;
error[0]=simx_return_ok;
delayOrSplit=opMode&simx_cmdmask;
opMode-=(opMode&simx_cmdmask);
if (opMode!=simx_opmode_buffer)
{
/* Check if the command is already present in the request list */
extApi_lockResources(clientID);
if (opMode==simx_opmode_oneshot_split)
{
if (delayOrSplit<_MIN_SPLIT_AMOUNT_IN_BYTES)
delayOrSplit=_MIN_SPLIT_AMOUNT_IN_BYTES;
cmdPtr=_getCommandPointer_s(cmdRaw,stringValue,_splitCommandsToSend[clientID],_splitCommandsToSend_dataSize[clientID]);
if (cmdPtr!=0)
{ /* Command already there */
/* Now make sure we have the same command size, otherwise we have to remove the old cmd and add freshly the new */
if (extApi_endianConversionInt(((simxInt*)(cmdPtr+simx_cmdheaderoffset_mem_size))[0])==SIMX_SUBHEADER_SIZE+extApi_getStringLength((simxChar*)stringValue)+1+bufferSize)
error[0]|=simx_return_split_progress_flag; /* ok, we have the same size */
else
{ /* we don't have the same size! Remove the old command */
_removeChunkFromBuffer(_splitCommandsToSend[clientID],cmdPtr,extApi_endianConversionInt(((simxInt*)(cmdPtr+simx_cmdheaderoffset_mem_size))[0]),&_splitCommandsToSend_dataSize[clientID]);
cmdPtr=0; /* so that we will add the new command in next section */
}
}
if (cmdPtr==0)
_splitCommandsToSend[clientID]=_appendCommand_s_buff(cmdRaw+opMode,options,stringValue,buffer,bufferSize,delayOrSplit,_splitCommandsToSend[clientID],&_splitCommandsToSend_bufferSize[clientID],&_splitCommandsToSend_dataSize[clientID]);
}
else
{
cmdPtr=_getCommandPointer_s(cmdRaw,stringValue,_messageToSend[clientID]+SIMX_HEADER_SIZE,_messageToSend_dataSize[clientID]-SIMX_HEADER_SIZE);
if ((cmdPtr!=0)&&((options&1)==0)) /* Command already there, and we can overwrite it. Remove it and add it again */
_removeChunkFromBuffer(_messageToSend[clientID],cmdPtr,extApi_endianConversionInt(((simxInt*)(cmdPtr+simx_cmdheaderoffset_mem_size))[0]),&_messageToSend_dataSize[clientID]); /* we remove then add the command again (b/c no guarantee the buffer has the same size) */
_messageToSend[clientID]=_appendCommand_s_buff(cmdRaw+opMode,options,stringValue,buffer,bufferSize,delayOrSplit,_messageToSend[clientID],&_messageToSend_bufferSize[clientID],&_messageToSend_dataSize[clientID]);
}
if (opMode==simx_opmode_blocking)
_waitBeforeSendingAgainWhenMessageIDArrived[clientID]=_nextMessageIDToSend[clientID];
extApi_unlockResources(clientID);
/* wait until we received a reply, or a timeout (if we wanna wait for the reply) */
if (_waitBeforeSendingAgainWhenMessageIDArrived[clientID]!=-1)
_waitUntilMessageArrived(clientID,error);
}
/* Check if the command is present in the input list (we might have this situation when we want to check if there was an error on the server side) */
extApi_lockResources(clientID);
cmdPtr=_getCommandPointer_s(cmdRaw,stringValue,_messageReceived[clientID]+SIMX_HEADER_SIZE,_messageReceived_dataSize[clientID]-SIMX_HEADER_SIZE);
cmdPtr=_setLastFetchedCmd(clientID,cmdPtr,error);
_waitBeforeSendingAgainWhenMessageIDArrived[clientID]=-1; /* make sure to enable the communication thread again! */
extApi_unlockResources(clientID);
if (opMode==simx_opmode_blocking) /* A cmd reply stays in the inbox always.. except when the mode is simx_opmode_blocking (to avoid polluting the inbox) */