WebSocket plugin for CoppeliaSim

Compiling

1. Install required packages for simStubsGen: see simStubsGen's README
2. Checkout, compile and install into CoppeliaSim:

$ git clone https://github.com/CoppeliaRobotics/simWS.git
$ cd simWS
$ git checkout coppeliasim-v4.5.0-rev0
$ mkdir build && cd build
$ cmake -DCMAKE_BUILD_TYPE=Release ..
$ cmake --build .
$ cmake --install .

NOTE: replace coppeliasim-v4.5.0-rev0 with the actual CoppeliaSim version you have.

Usage

Use simWS.start to start listening on the specified port, simWS.setMessageHandler to set an handler for incoming messages, and simWS.send to send messages on the specified connection:

-- Simple echo server

function onMessage(server, connection, data)
    simWS.send(server, connection, data)
end

function sysCall_init()
    server = simWS.start(9000)
    simWS.setMessageHandler(server, 'onMessage')
end

It is possible to broadcast a message to all connected clients by tracking active connections via open/close events:

-- Simple broadcaster

function onOpen(server, connection)
    clients[server] = clients[server] or {}
    clients[server][connection] = 1
end

function onClose(server, connection)
    clients[server][connection] = nil
end

function broadcast(server, data)
    for connection, _ in pairs(clients[server] or {}) do
        simWS.send(server, connection, data)
    end
end

function sysCall_init()
    clients = {}
    server = simWS.start(9000)
    simWS.setOpenHandler(server, 'onOpen')
    simWS.setCloseHandler(server, 'onClose')
end

Clients use the simWS.connect() function to connect and simWS.send() to send data similarly to the servers.

See also the examples in the examples subdirectory.