initial commit

ef701ad3 · Houkime · ef701ad3 · ef701ad3 · ef701ad3 · 98ee8259
Commit ef701ad3 authored Aug 18, 2020 by Houkime
37 changed files
--- a/.gitignore
+++ b/.gitignore
+*.import
+*~
--- a/.gitmodules
+++ b/.gitmodules
+[submodule "godot_headers"]
+	path = godot_headers
+	url = https://github.com/GodotNativeTools/godot_headers
--- a/Makefile
+++ b/Makefile
+CC	:= gcc
+CCFLAGS	:= -std=c11 -fPIC -Isrc -I./godot_headers/ 
+LDFLAGS := -rdynamic -shared -pthread -lmodbus 
+
+OBJ	:= src/simple.o
+TARGETS := simple/bin/libsimple.so
+LIBS	:= 
+
+.PHONY: all
+
+all: $(TARGETS)
+
+$(OBJ): %.o : %.c 
+	$(CC) -c -o $@ $< $(CCFLAGS)
+
+$(TARGETS): % : $(OBJ)
+	$(CC) -o $@ $(LIBS) $^ $(CCFLAGS) $(LDFLAGS)
+
--- a/godot_headers @ 98ee8259
+++ b/godot_headers @ 98ee8259
+Subproject commit 98ee82599dfe07e17983ad831f5e9ac41068667f
--- a/simple/.gitignore
+++ b/simple/.gitignore
+*.import
+bin/*.so
\ No newline at end of file
--- a/simple/Conveyor.gd
+++ b/simple/Conveyor.gd
+extends Spatial
+
+export var speed = 1.0
+
+# Declare member variables here. Examples:
+# var a = 2
+# var b = "text"
+
+
+# Called when the node enters the scene tree for the first time.
+func _ready():
+	var mat = $belt/graphics.get_surface_material(0)
+	mat.set_shader_param("speed",speed)
+	$StaticBody.constant_linear_velocity.x = speed
+	pass # Replace with function body.
+
+
+# Called every frame. 'delta' is the elapsed time since the previous frame.
+#func _process(delta):
+#	pass
--- a/simple/Conveyor.tscn
+++ b/simple/Conveyor.tscn
+[gd_scene load_steps=13 format=2]
+
+[ext_resource path="res://outline.tres" type="Material" id=1]
+[ext_resource path="res://belt.shader" type="Shader" id=2]
+[ext_resource path="res://Conveyor.gd" type="Script" id=3]
+[ext_resource path="res://test_bevel.obj" type="ArrayMesh" id=4]
+
+[sub_resource type="CubeMesh" id=1]
+
+[sub_resource type="SpatialMaterial" id=2]
+flags_unshaded = true
+albedo_color = Color( 0.564706, 0.564706, 0.564706, 1 )
+
+[sub_resource type="ArrayMesh" id=3]
+surfaces/0 = {
+"aabb": AABB( -1.02887, -1.02887, -1.02887, 2.05773, 2.05774, 2.05774 ),
+"array_data": PoolByteArray( 238, 177, 131, 191, 238, 177, 131, 63, 238, 177, 131, 63, 0, 0, 127, 0, 127, 0, 0, 127, 0, 0, 0, 0, 238, 177, 131, 63, 238, 177, 131, 63, 238, 177, 131, 191, 0, 0, 129, 0, 129, 0, 0, 127, 85, 57, 0, 0, 238, 177, 131, 63, 238, 177, 131, 63, 238, 177, 131, 63, 0, 0, 127, 0, 127, 0, 0, 127, 85, 53, 0, 0, 238, 177, 131, 191, 238, 177, 131, 63, 238, 177, 131, 191, 0, 0, 129, 0, 129, 0, 0, 127, 0, 60, 0, 0, 238, 177, 131, 191, 238, 177, 131, 191, 238, 177, 131, 63, 0, 0, 127, 0, 127, 0, 0, 127, 0, 0, 0, 56, 238, 177, 131, 63, 238, 177, 131, 191, 238, 177, 131, 191, 0, 0, 129, 0, 129, 0, 0, 127, 85, 57, 0, 56, 238, 177, 131, 63, 238, 177, 131, 191, 238, 177, 131, 63, 0, 0, 127, 0, 127, 0, 0, 127, 85, 53, 0, 56, 238, 177, 131, 191, 238, 177, 131, 191, 238, 177, 131, 191, 0, 0, 129, 0, 129, 0, 0, 127, 0, 60, 0, 56, 238, 177, 131, 63, 238, 177, 131, 63, 238, 177, 131, 63, 127, 0, 0, 0, 0, 0, 129, 127, 85, 53, 0, 0, 238, 177, 131, 191, 238, 177, 131, 63, 238, 177, 131, 191, 129, 0, 0, 0, 0, 0, 127, 127, 0, 0, 0, 56, 238, 177, 131, 63, 238, 177, 131, 63, 238, 177, 131, 191, 127, 0, 0, 0, 0, 0, 129, 127, 85, 57, 0, 0, 238, 177, 131, 191, 238, 177, 131, 63, 238, 177, 131, 63, 129, 0, 0, 0, 0, 0, 127, 127, 85, 53, 0, 56, 238, 177, 131, 63, 238, 177, 131, 191, 238, 177, 131, 63, 127, 0, 0, 0, 0, 0, 129, 127, 85, 53, 0, 56, 238, 177, 131, 191, 238, 177, 131, 191, 238, 177, 131, 191, 129, 0, 0, 0, 0, 0, 127, 127, 0, 0, 0, 60, 238, 177, 131, 63, 238, 177, 131, 191, 238, 177, 131, 191, 127, 0, 0, 0, 0, 0, 129, 127, 85, 57, 0, 56, 238, 177, 131, 191, 238, 177, 131, 191, 238, 177, 131, 63, 129, 0, 0, 0, 0, 0, 127, 127, 85, 53, 0, 60, 238, 177, 131, 63, 238, 177, 131, 63, 238, 177, 131, 63, 0, 127, 0, 0, 129, 0, 0, 127, 85, 53, 0, 56, 238, 177, 131, 191, 238, 177, 131, 191, 238, 177, 131, 63, 0, 129, 0, 0, 127, 0, 0, 127, 85, 57, 0, 56, 238, 177, 131, 191, 238, 177, 131, 63, 238, 177, 131, 63, 0, 127, 0, 0, 129, 0, 0, 127, 85, 57, 0, 56, 238, 177, 131, 63, 238, 177, 131, 191, 238, 177, 131, 63, 0, 129, 0, 0, 127, 0, 0, 127, 0, 60, 0, 56, 238, 177, 131, 63, 238, 177, 131, 63, 238, 177, 131, 191, 0, 127, 0, 0, 129, 0, 0, 127, 85, 53, 0, 60, 238, 177, 131, 191, 238, 177, 131, 191, 238, 177, 131, 191, 0, 129, 0, 0, 127, 0, 0, 127, 85, 57, 0, 60, 238, 177, 131, 191, 238, 177, 131, 63, 238, 177, 131, 191, 0, 127, 0, 0, 129, 0, 0, 127, 85, 57, 0, 60, 238, 177, 131, 63, 238, 177, 131, 191, 238, 177, 131, 191, 0, 129, 0, 0, 127, 0, 0, 127, 0, 60, 0, 60 ),
+"array_index_data": PoolByteArray( 0, 0, 4, 0, 2, 0, 2, 0, 4, 0, 6, 0, 1, 0, 5, 0, 3, 0, 3, 0, 5, 0, 7, 0, 8, 0, 12, 0, 10, 0, 10, 0, 12, 0, 14, 0, 9, 0, 13, 0, 11, 0, 11, 0, 13, 0, 15, 0, 16, 0, 20, 0, 18, 0, 18, 0, 20, 0, 22, 0, 17, 0, 21, 0, 19, 0, 19, 0, 21, 0, 23, 0 ),
+"blend_shape_data": [  ],
+"format": 97559,
+"index_count": 36,
+"primitive": 4,
+"skeleton_aabb": [  ],
+"vertex_count": 24
+}
+
+[sub_resource type="CubeMesh" id=4]
+
+[sub_resource type="ArrayMesh" id=5]
+surfaces/0 = {
+"aabb": AABB( -1.02887, -1.02887, -1.02887, 2.05773, 2.05774, 2.05774 ),
+"array_data": PoolByteArray( 238, 177, 131, 191, 238, 177, 131, 63, 238, 177, 131, 63, 0, 0, 127, 0, 127, 0, 0, 127, 0, 0, 0, 0, 238, 177, 131, 63, 238, 177, 131, 63, 238, 177, 131, 191, 0, 0, 129, 0, 129, 0, 0, 127, 85, 57, 0, 0, 238, 177, 131, 63, 238, 177, 131, 63, 238, 177, 131, 63, 0, 0, 127, 0, 127, 0, 0, 127, 85, 53, 0, 0, 238, 177, 131, 191, 238, 177, 131, 63, 238, 177, 131, 191, 0, 0, 129, 0, 129, 0, 0, 127, 0, 60, 0, 0, 238, 177, 131, 191, 238, 177, 131, 191, 238, 177, 131, 63, 0, 0, 127, 0, 127, 0, 0, 127, 0, 0, 0, 56, 238, 177, 131, 63, 238, 177, 131, 191, 238, 177, 131, 191, 0, 0, 129, 0, 129, 0, 0, 127, 85, 57, 0, 56, 238, 177, 131, 63, 238, 177, 131, 191, 238, 177, 131, 63, 0, 0, 127, 0, 127, 0, 0, 127, 85, 53, 0, 56, 238, 177, 131, 191, 238, 177, 131, 191, 238, 177, 131, 191, 0, 0, 129, 0, 129, 0, 0, 127, 0, 60, 0, 56, 238, 177, 131, 63, 238, 177, 131, 63, 238, 177, 131, 63, 127, 0, 0, 0, 0, 0, 129, 127, 85, 53, 0, 0, 238, 177, 131, 191, 238, 177, 131, 63, 238, 177, 131, 191, 129, 0, 0, 0, 0, 0, 127, 127, 0, 0, 0, 56, 238, 177, 131, 63, 238, 177, 131, 63, 238, 177, 131, 191, 127, 0, 0, 0, 0, 0, 129, 127, 85, 57, 0, 0, 238, 177, 131, 191, 238, 177, 131, 63, 238, 177, 131, 63, 129, 0, 0, 0, 0, 0, 127, 127, 85, 53, 0, 56, 238, 177, 131, 63, 238, 177, 131, 191, 238, 177, 131, 63, 127, 0, 0, 0, 0, 0, 129, 127, 85, 53, 0, 56, 238, 177, 131, 191, 238, 177, 131, 191, 238, 177, 131, 191, 129, 0, 0, 0, 0, 0, 127, 127, 0, 0, 0, 60, 238, 177, 131, 63, 238, 177, 131, 191, 238, 177, 131, 191, 127, 0, 0, 0, 0, 0, 129, 127, 85, 57, 0, 56, 238, 177, 131, 191, 238, 177, 131, 191, 238, 177, 131, 63, 129, 0, 0, 0, 0, 0, 127, 127, 85, 53, 0, 60, 238, 177, 131, 63, 238, 177, 131, 63, 238, 177, 131, 63, 0, 127, 0, 0, 129, 0, 0, 127, 85, 53, 0, 56, 238, 177, 131, 191, 238, 177, 131, 191, 238, 177, 131, 63, 0, 129, 0, 0, 127, 0, 0, 127, 85, 57, 0, 56, 238, 177, 131, 191, 238, 177, 131, 63, 238, 177, 131, 63, 0, 127, 0, 0, 129, 0, 0, 127, 85, 57, 0, 56, 238, 177, 131, 63, 238, 177, 131, 191, 238, 177, 131, 63, 0, 129, 0, 0, 127, 0, 0, 127, 0, 60, 0, 56, 238, 177, 131, 63, 238, 177, 131, 63, 238, 177, 131, 191, 0, 127, 0, 0, 129, 0, 0, 127, 85, 53, 0, 60, 238, 177, 131, 191, 238, 177, 131, 191, 238, 177, 131, 191, 0, 129, 0, 0, 127, 0, 0, 127, 85, 57, 0, 60, 238, 177, 131, 191, 238, 177, 131, 63, 238, 177, 131, 191, 0, 127, 0, 0, 129, 0, 0, 127, 85, 57, 0, 60, 238, 177, 131, 63, 238, 177, 131, 191, 238, 177, 131, 191, 0, 129, 0, 0, 127, 0, 0, 127, 0, 60, 0, 60 ),
+"array_index_data": PoolByteArray( 0, 0, 4, 0, 2, 0, 2, 0, 4, 0, 6, 0, 1, 0, 5, 0, 3, 0, 3, 0, 5, 0, 7, 0, 8, 0, 12, 0, 10, 0, 10, 0, 12, 0, 14, 0, 9, 0, 13, 0, 11, 0, 11, 0, 13, 0, 15, 0, 16, 0, 20, 0, 18, 0, 18, 0, 20, 0, 22, 0, 17, 0, 21, 0, 19, 0, 19, 0, 21, 0, 23, 0 ),
+"blend_shape_data": [  ],
+"format": 97559,
+"index_count": 36,
+"primitive": 4,
+"skeleton_aabb": [  ],
+"vertex_count": 24
+}
+
+[sub_resource type="PlaneMesh" id=6]
+
+[sub_resource type="ShaderMaterial" id=7]
+shader = ExtResource( 2 )
+shader_param/bg_color = null
+shader_param/fg_color = Color( 0.976471, 0.917647, 0.0196078, 1 )
+shader_param/scale = null
+shader_param/speed = 0.1
+
+[sub_resource type="ConvexPolygonShape" id=8]
+points = PoolVector3Array( -0.986604, -0.9557, -0.832278, -0.986604, -0.9557, 0.832278, -0.986604, -0.832278, -0.9557, -0.986604, -0.832278, 0.9557, -0.986604, 0.832278, -0.9557, -0.986604, 0.832278, 0.9557, -0.986604, 0.9557, -0.832278, -0.986604, 0.9557, 0.832278, -0.985938, -0.924172, -0.893482, -0.9557, -0.986604, -0.832278, -0.9557, -0.986604, 0.832278, -0.9557, -0.832278, -0.986604, -0.9557, -0.832278, 0.986604, -0.9557, 0.832278, -0.986604, -0.9557, 0.832278, 0.986604, -0.9557, 0.986604, -0.832278, -0.9557, 0.986604, 0.832278, -0.9537, -0.9537, -0.9537, -0.9537, -0.9537, 0.9537, -0.9537, 0.9537, -0.9537, -0.9537, 0.9537, 0.9537, -0.832278, -0.986604, -0.9557, -0.832278, -0.986604, 0.9557, -0.832278, -0.9557, -0.986604, -0.832278, -0.9557, 0.986604, -0.832278, 0.9557, -0.986604, -0.832278, 0.9557, 0.986604, -0.832278, 0.986604, -0.9557, -0.832278, 0.986604, 0.9557, 0.832278, -0.986604, -0.9557, 0.832278, -0.986604, 0.9557, 0.832278, -0.9557, -0.986604, 0.832278, -0.9557, 0.986604, 0.832278, 0.9557, -0.986604, 0.832278, 0.9557, 0.986604, 0.832278, 0.986604, -0.9557, 0.832278, 0.986604, 0.9557, 0.893315, 0.924199, 0.985967, 0.9537, -0.9537, -0.9537, 0.9537, -0.9537, 0.9537, 0.9537, 0.9537, -0.9537, 0.9537, 0.9537, 0.9537, 0.9557, -0.986604, -0.832278, 0.9557, -0.986604, 0.832278, 0.9557, -0.832278, -0.986604, 0.9557, -0.832278, 0.986604, 0.9557, 0.832278, -0.986604, 0.9557, 0.832278, 0.986604, 0.9557, 0.986604, -0.832278, 0.9557, 0.986604, 0.832278, 0.986604, -0.9557, -0.832278, 0.986604, -0.9557, 0.832278, 0.986604, -0.832278, -0.9557, 0.986604, -0.832278, 0.9557, 0.986604, 0.832278, -0.9557, 0.986604, 0.832278, 0.9557, 0.986604, 0.9557, -0.832278, 0.986604, 0.9557, 0.832278 )
+
+[node name="Conveyor" type="Spatial"]
+transform = Transform( 0.5, 0, 0, 0, 0.5, 0, 0, 0, 0.5, 0, 0, 0 )
+script = ExtResource( 3 )
+
+[node name="base" type="MeshInstance" parent="."]
+transform = Transform( 1, 0, 0, 0, 0.8, 0, 0, 0, 1, 0, -0.2, 0 )
+mesh = SubResource( 1 )
+material/0 = SubResource( 2 )
+
+[node name="MeshInstance" type="MeshInstance" parent="base"]
+material_override = ExtResource( 1 )
+mesh = SubResource( 3 )
+material/0 = null
+
+[node name="belt" type="MeshInstance" parent="."]
+transform = Transform( 1, 0, 0, 0, 0.2, 0, 0, 0, 1, 0, 0.8, 0 )
+mesh = SubResource( 4 )
+material/0 = null
+
+[node name="MeshInstance" type="MeshInstance" parent="belt"]
+mesh = SubResource( 5 )
+material/0 = ExtResource( 1 )
+
+[node name="graphics" type="MeshInstance" parent="belt"]
+transform = Transform( 1, 0, 0, 0, 1, 0, 0, 0, 1, 0, 1.02021, 0 )
+mesh = SubResource( 6 )
+material/0 = SubResource( 7 )
+
+[node name="StaticBody" type="StaticBody" parent="."]
+constant_linear_velocity = Vector3( 0.1, 0, 0 )
+
+[node name="test_bevel" type="MeshInstance" parent="StaticBody"]
+transform = Transform( 1, 0, 0, 0, 1, 0, 0, 0, 1, 0, 6, 0 )
+visible = false
+mesh = ExtResource( 4 )
+material/0 = null
+
+[node name="CollisionShape" type="CollisionShape" parent="StaticBody"]
+transform = Transform( 1.2, 0, 0, 0, 1, 0, 0, 0, 1, 0, 0, 0 )
+shape = SubResource( 8 )
--- a/simple/Kinematic_Cube.gd
+++ b/simple/Kinematic_Cube.gd
+extends KinematicBody
+
+var phase = 0.0
+var freq = 1.0
+var rot_freq = 2.0
+var amplitude = 1.0
+
+
+# Declare member variables here. Examples:
+# var a = 2
+# var b = "text"
+
+
+# Called when the node enters the scene tree for the first time.
+func _ready():
+	pass # Replace with function body.
+
+func _process(delta):
+	phase = wrapf(phase + freq*delta,0,2*PI)
+	translation = Vector3(0,amplitude*sin(phase),0)
+	rotate_x(freq*delta)
+	rotate_y(freq*delta)
+	rotate_z(freq*delta/2.0)
+
+# Called every frame. 'delta' is the elapsed time since the previous frame.
+#func _process(delta):
+#	pass
--- a/simple/Modbus.gd
+++ b/simple/Modbus.gd
+extends Node
+
+
+# Declare member variables here. Examples:
+# var a = 2
+# var b = "text"
+
+
+# Called when the node enters the scene tree for the first time.
+func _ready():
+	pass # Replace with function body.
+
+
+# Called every frame. 'delta' is the elapsed time since the previous frame.
+#func _process(delta):
+#	pass
--- a/simple/Modbus_Server.gd
+++ b/simple/Modbus_Server.gd
+extends Node
+
+class_name ModbusServer
+var c_backend = load('res://simple.gdns').new()
+var hold_register = 17 setget set_holding_register, get_holding_register #single for now
+#var coils = [0,0,0,0]
+
+
+func _init(address, port):
+	c_backend.start_server(address, port)
+
+func set_holding_register(value):
+	c_backend.set_holding_register(value)
+
+func get_holding_register():
+	return c_backend.get_holding_register()
+
+func get_coil():
+	return c_backend.get_coil()
--- a/simple/Modbus_Spatial.gd
+++ b/simple/Modbus_Spatial.gd
+extends Spatial
+class_name ModbusSpatial
+
+export var address = "192.168.56.1"
+export var port = 5020
+var ms
+
+
+func _ready():
+	print("creating sth with " + address + " " + str(port))
+	ms = ModbusServer.new(address, port)
--- a/simple/Pushertest.tscn
+++ b/simple/Pushertest.tscn
+[gd_scene load_steps=14 format=2]
+
+[ext_resource path="res://SimplePusher.gd" type="Script" id=1]
+[ext_resource path="res://Spawner.gd" type="Script" id=2]
+[ext_resource path="res://pushermat.tres" type="Material" id=3]
+[ext_resource path="res://Sensor.tscn" type="PackedScene" id=4]
+[ext_resource path="res://Conveyor.tscn" type="PackedScene" id=5]
+[ext_resource path="res://blockshader_ghost.shader" type="Shader" id=6]
+
+[sub_resource type="CubeMesh" id=1]
+
+[sub_resource type="ShaderMaterial" id=2]
+shader = ExtResource( 6 )
+shader_param/color = Color( 0.227451, 0.521569, 0.521569, 1 )
+shader_param/scale = 113.0
+
+[sub_resource type="CubeMesh" id=3]
+
+[sub_resource type="CubeMesh" id=4]
+
+[sub_resource type="SpatialMaterial" id=5]
+flags_unshaded = true
+albedo_color = Color( 0.207843, 0.207843, 0.207843, 1 )
+
+[sub_resource type="ConvexPolygonShape" id=6]
+points = PoolVector3Array( -1, -1, -1, -1, -1, 1, -1, 1, -1, -1, 1, 1, 1, -1, -1, 1, -1, 1, 1, 1, -1, 1, 1, 1 )
+
+[sub_resource type="CylinderMesh" id=7]
+
+[node name="Pushertest" type="Spatial"]
+
+[node name="Spawner" type="Spatial" parent="."]
+transform = Transform( 1, 0, 0, 0, 1, 0, 0, 0, 1, 0, 2, 0 )
+script = ExtResource( 2 )
+
+[node name="MeshInstance" type="MeshInstance" parent="Spawner"]
+transform = Transform( 0.48, 0, 0, 0, 0.48, 0, 0, 0, 0.48, 0, 0, 0 )
+mesh = SubResource( 1 )
+material/0 = SubResource( 2 )
+
+[node name="Camera" type="Camera" parent="."]
+transform = Transform( 1, 0, 0, 0, 1, 0, 0, 0, 1, 3, 2.01221, 6.90506 )
+far = 8192.0
+
+[node name="Pusher" type="Spatial" parent="."]
+transform = Transform( -8.14603e-08, 0, -0.5, 0, 0.5, 0, 0.5, 0, -8.14603e-08, 5, 1, -1 )
+script = ExtResource( 1 )
+port = 5040
+
+[node name="MeshInstance" type="MeshInstance" parent="Pusher"]
+transform = Transform( 0.8, 0, 0, 0, 1, 0, 0, 0, 1, -0.2, 0, 0 )
+mesh = SubResource( 3 )
+material/0 = ExtResource( 3 )
+
+[node name="PusherHandle" type="Spatial" parent="Pusher"]
+
+[node name="MeshInstance2" type="MeshInstance" parent="Pusher/PusherHandle"]
+transform = Transform( 0.2, 0, 0, 0, 1, 0, 0, 0, 1, 0.8, 0, 0 )
+mesh = SubResource( 4 )
+material/0 = SubResource( 5 )
+
+[node name="KinematicBody" type="KinematicBody" parent="Pusher/PusherHandle"]
+
+[node name="CollisionShape" type="CollisionShape" parent="Pusher/PusherHandle/KinematicBody"]
+transform = Transform( 0.2, 0, 0, 0, 1, 0, 0, 0, 1, 0.8, 0, 0 )
+shape = SubResource( 6 )
+
+[node name="shaft_handle" type="Spatial" parent="Pusher"]
+transform = Transform( -1.31134e-08, -0.1, 0, 0.3, -4.37114e-09, 0, 0, 0, 0.3, 0.6, 0, 0 )
+
+[node name="MeshInstance2" type="MeshInstance" parent="Pusher/shaft_handle"]
+transform = Transform( 1, 7.10543e-15, 0, 0, 1, 0, 0, 0, 1, 0, -1, 0 )
+mesh = SubResource( 7 )
+material/0 = null
+
+[node name="Conveyor" parent="." instance=ExtResource( 5 )]
+
+[node name="Conveyor2" parent="." instance=ExtResource( 5 )]
+transform = Transform( 0.5, 0, 0, 0, 0.5, 0, 0, 0, 0.5, 1, 0, 0 )
+
+[node name="Conveyor3" parent="." instance=ExtResource( 5 )]
+transform = Transform( 0.5, 0, 0, 0, 0.5, 0, 0, 0, 0.5, 2, 0, 0 )
+
+[node name="Conveyor4" parent="." instance=ExtResource( 5 )]
+transform = Transform( 0.5, 0, 0, 0, 0.5, 0, 0, 0, 0.5, 3, 0, 0 )
+
+[node name="Conveyor5" parent="." instance=ExtResource( 5 )]
+transform = Transform( 0.5, 0, 0, 0, 0.5, 0, 0, 0, 0.5, 4, 0, 0 )
+
+[node name="Conveyor6" parent="." instance=ExtResource( 5 )]
+transform = Transform( 0.5, 0, 0, 0, 0.5, 0, 0, 0, 0.5, 5, 0, 0 )
+
+[node name="Conveyor7" parent="." instance=ExtResource( 5 )]
+transform = Transform( 0.5, 0, 0, 0, 0.5, 0, 0, 0, 0.5, 6, 0, 0 )
+
+[node name="Sensor" parent="." instance=ExtResource( 4 )]
+transform = Transform( 1, 0, 0, 0, 1, 0, 0, 0, 1, 5, 4, 0 )
--- a/simple/Sensor.gd
+++ b/simple/Sensor.gd
+extends ModbusSpatial
+
+func _physics_process(delta):
+	ms.hold_register = floor($RayCast.distance*100.0)
--- a/simple/Sensor.tscn
+++ b/simple/Sensor.tscn
--- a/simple/SensorTest.tscn
+++ b/simple/SensorTest.tscn
+[gd_scene load_steps=10 format=2]
+
+[ext_resource path="res://Kinematic_Cube.gd" type="Script" id=1]
+[ext_resource path="res://distance_readout.gd" type="Script" id=2]
+[ext_resource path="res://Sensor.gd" type="Script" id=3]
+[ext_resource path="res://Sensor.tscn" type="PackedScene" id=4]
+
+[sub_resource type="CubeMesh" id=2]
+
+[sub_resource type="SpatialMaterial" id=3]
+flags_unshaded = true
+albedo_color = Color( 0.87451, 1, 0, 1 )
+
+[sub_resource type="ArrayMesh" id=4]
+surfaces/0 = {
+"aabb": AABB( -1.02887, -1.02887, -1.02887, 2.05773, 2.05774, 2.05774 ),
+"array_data": PoolByteArray( 238, 177, 131, 191, 238, 177, 131, 63, 238, 177, 131, 63, 0, 0, 127, 0, 127, 0, 0, 127, 0, 0, 0, 0, 238, 177, 131, 63, 238, 177, 131, 63, 238, 177, 131, 191, 0, 0, 129, 0, 129, 0, 0, 127, 85, 57, 0, 0, 238, 177, 131, 63, 238, 177, 131, 63, 238, 177, 131, 63, 0, 0, 127, 0, 127, 0, 0, 127, 85, 53, 0, 0, 238, 177, 131, 191, 238, 177, 131, 63, 238, 177, 131, 191, 0, 0, 129, 0, 129, 0, 0, 127, 0, 60, 0, 0, 238, 177, 131, 191, 238, 177, 131, 191, 238, 177, 131, 63, 0, 0, 127, 0, 127, 0, 0, 127, 0, 0, 0, 56, 238, 177, 131, 63, 238, 177, 131, 191, 238, 177, 131, 191, 0, 0, 129, 0, 129, 0, 0, 127, 85, 57, 0, 56, 238, 177, 131, 63, 238, 177, 131, 191, 238, 177, 131, 63, 0, 0, 127, 0, 127, 0, 0, 127, 85, 53, 0, 56, 238, 177, 131, 191, 238, 177, 131, 191, 238, 177, 131, 191, 0, 0, 129, 0, 129, 0, 0, 127, 0, 60, 0, 56, 238, 177, 131, 63, 238, 177, 131, 63, 238, 177, 131, 63, 127, 0, 0, 0, 0, 0, 129, 127, 85, 53, 0, 0, 238, 177, 131, 191, 238, 177, 131, 63, 238, 177, 131, 191, 129, 0, 0, 0, 0, 0, 127, 127, 0, 0, 0, 56, 238, 177, 131, 63, 238, 177, 131, 63, 238, 177, 131, 191, 127, 0, 0, 0, 0, 0, 129, 127, 85, 57, 0, 0, 238, 177, 131, 191, 238, 177, 131, 63, 238, 177, 131, 63, 129, 0, 0, 0, 0, 0, 127, 127, 85, 53, 0, 56, 238, 177, 131, 63, 238, 177, 131, 191, 238, 177, 131, 63, 127, 0, 0, 0, 0, 0, 129, 127, 85, 53, 0, 56, 238, 177, 131, 191, 238, 177, 131, 191, 238, 177, 131, 191, 129, 0, 0, 0, 0, 0, 127, 127, 0, 0, 0, 60, 238, 177, 131, 63, 238, 177, 131, 191, 238, 177, 131, 191, 127, 0, 0, 0, 0, 0, 129, 127, 85, 57, 0, 56, 238, 177, 131, 191, 238, 177, 131, 191, 238, 177, 131, 63, 129, 0, 0, 0, 0, 0, 127, 127, 85, 53, 0, 60, 238, 177, 131, 63, 238, 177, 131, 63, 238, 177, 131, 63, 0, 127, 0, 0, 129, 0, 0, 127, 85, 53, 0, 56, 238, 177, 131, 191, 238, 177, 131, 191, 238, 177, 131, 63, 0, 129, 0, 0, 127, 0, 0, 127, 85, 57, 0, 56, 238, 177, 131, 191, 238, 177, 131, 63, 238, 177, 131, 63, 0, 127, 0, 0, 129, 0, 0, 127, 85, 57, 0, 56, 238, 177, 131, 63, 238, 177, 131, 191, 238, 177, 131, 63, 0, 129, 0, 0, 127, 0, 0, 127, 0, 60, 0, 56, 238, 177, 131, 63, 238, 177, 131, 63, 238, 177, 131, 191, 0, 127, 0, 0, 129, 0, 0, 127, 85, 53, 0, 60, 238, 177, 131, 191, 238, 177, 131, 191, 238, 177, 131, 191, 0, 129, 0, 0, 127, 0, 0, 127, 85, 57, 0, 60, 238, 177, 131, 191, 238, 177, 131, 63, 238, 177, 131, 191, 0, 127, 0, 0, 129, 0, 0, 127, 85, 57, 0, 60, 238, 177, 131, 63, 238, 177, 131, 191, 238, 177, 131, 191, 0, 129, 0, 0, 127, 0, 0, 127, 0, 60, 0, 60 ),
+"array_index_data": PoolByteArray( 0, 0, 4, 0, 2, 0, 2, 0, 4, 0, 6, 0, 1, 0, 5, 0, 3, 0, 3, 0, 5, 0, 7, 0, 8, 0, 12, 0, 10, 0, 10, 0, 12, 0, 14, 0, 9, 0, 13, 0, 11, 0, 11, 0, 13, 0, 15, 0, 16, 0, 20, 0, 18, 0, 18, 0, 20, 0, 22, 0, 17, 0, 21, 0, 19, 0, 19, 0, 21, 0, 23, 0 ),
+"blend_shape_data": [  ],
+"format": 97559,
+"index_count": 36,
+"primitive": 4,
+"skeleton_aabb": [  ],
+"vertex_count": 24
+}
+
+[sub_resource type="SpatialMaterial" id=5]
+flags_unshaded = true
+
+[sub_resource type="BoxShape" id=6]
+
+[node name="SensorTest" type="Spatial"]
+
+[node name="Sensor" type="Spatial" parent="." instance=ExtResource( 4 )]
+transform = Transform( 1, 0, 0, 0, 1, 0, 0, 0, 1, 0, 2, 0 )
+script = ExtResource( 3 )
+
+[node name="test_equilibrium" type="Spatial" parent="."]
+transform = Transform( 1, 0, 0, 0, 1, 0, 0, 0, 1, 0, -1, 0 )
+
+[node name="Kinematic_Cube" type="KinematicBody" parent="test_equilibrium"]
+transform = Transform( 0.5, 0, 0, 0, 0.5, 0, 0, 0, 0.5, 0, -4.76837e-07, -4.76837e-07 )
+script = ExtResource( 1 )
+
+[node name="test_cube" type="MeshInstance" parent="test_equilibrium/Kinematic_Cube"]
+mesh = SubResource( 2 )
+material/0 = SubResource( 3 )
+
+[node name="MeshInstance" type="MeshInstance" parent="test_equilibrium/Kinematic_Cube/test_cube"]
+mesh = SubResource( 4 )
+material/0 = SubResource( 5 )
+
+[node name="CollisionShape" type="CollisionShape" parent="test_equilibrium/Kinematic_Cube"]
+shape = SubResource( 6 )
+
+[node name="Camera" type="Camera" parent="."]
+transform = Transform( 1, 0, 0, 0, 0.88643, 0.462863, 0, -0.462863, 0.88643, 0, 4.71983, 6.1721 )
+far = 8192.0
+
+[node name="Label" type="Label" parent="."]
+margin_right = 40.0
+margin_bottom = 14.0
+script = ExtResource( 2 )
+__meta__ = {
+"_edit_use_anchors_": false
+}
--- a/simple/SimplePusher.gd
+++ b/simple/SimplePusher.gd
+extends ModbusSpatial
+
+
+var speed = 1;
+var max_extension = 1.0;
+var extension = 0;
+var min_shaft_len = 0.1; # godot does not like zero-lenth things
+
+func _physics_process(delta):
+	var needs_to_extend = ms.get_coil()
+	#var needs_to_extend = false
+	#var just_to_read = ms.get_coil()
+	#print(needs_to_extend)
+
+	if needs_to_extend and extension < max_extension:
+		extension = clamp($PusherHandle.translation.x/2.0 + speed * delta, 0, max_extension)
+		$PusherHandle.translation.x = extension * 2
+		$shaft_handle.scale.y = max(extension, min_shaft_len)
+	if !needs_to_extend and extension > 0:
+		extension = clamp($PusherHandle.translation.x/2.0 - speed * delta, 0, max_extension)
+		$PusherHandle.translation.x = extension * 2
+		$shaft_handle.scale.y = max(extension, min_shaft_len)
--- a/simple/Spatial.gd
+++ b/simple/Spatial.gd
+extends Spatial
--- a/simple/Spatial.tscn
+++ b/simple/Spatial.tscn
+[gd_scene load_steps=7 format=2]
+
+[ext_resource path="res://Spatial.gd" type="Script" id=1]
+[ext_resource path="res://skyshader.tres" type="Material" id=2]
+[ext_resource path="res://Pushertest.tscn" type="PackedScene" id=3]
+[ext_resource path="res://firewall.gd" type="Script" id=7]
+
+[sub_resource type="BoxShape" id=1]
+extents = Vector3( 13.3624, 1, 18.5475 )
+
+[sub_resource type="SphereMesh" id=2]
+flip_faces = true
+
+[node name="MAIN" type="Spatial"]
+script = ExtResource( 1 )
+
+[node name="Pushertest" parent="." instance=ExtResource( 3 )]
+
+[node name="Area" type="Area" parent="."]
+script = ExtResource( 7 )
+__meta__ = {
+"_edit_lock_": true
+}
+
+[node name="CollisionShape" type="CollisionShape" parent="Area"]
+transform = Transform( 1, 0, 0, 0, 1, 0, 0, 0, 1, 0, -6.34348, 0 )
+shape = SubResource( 1 )
+
+[node name="Sky" type="MeshInstance" parent="."]
+transform = Transform( 100, 0, 0, 0, 100, 0, 0, 0, 100, 0, 0, 0 )
+mesh = SubResource( 2 )
+material/0 = ExtResource( 2 )
+__meta__ = {
+"_edit_lock_": true
+}
--- a/simple/Spawner.gd
+++ b/simple/Spawner.gd
+extends Spatial
+
+export var frequency = 0.3
+onready var timer = Timer.new()
+var boxscene = preload("res://TestBox.tscn")
+
+func _ready():
+	timer.wait_time = 1.0/float(frequency)
+	timer.connect("timeout",self,"spawn")
+	add_child(timer)
+	timer.start()
+	spawn()
+
+func spawn():
+	var box = boxscene.instance()
+	add_child(box)
--- a/simple/TestBox.tscn
+++ b/simple/TestBox.tscn
+[gd_scene load_steps=4 format=2]
+
+[ext_resource path="res://basic_cube.tscn" type="PackedScene" id=1]
+
+[sub_resource type="PhysicsMaterial" id=1]
+rough = true
+
+[sub_resource type="BoxShape" id=2]
+
+[node name="TestCube" type="RigidBody"]
+physics_material_override = SubResource( 1 )
+can_sleep = false
+
+[node name="CollisionShape" type="CollisionShape" parent="."]
+transform = Transform( 0.5, 0, 0, 0, 0.5, 0, 0, 0, 0.5, 0, 0, 0 )
+shape = SubResource( 2 )
+
+[node name="test_cube" parent="." instance=ExtResource( 1 )]
+transform = Transform( 0.5, 0, 0, 0, 0.5, 0, 0, 0, 0.5, 0, 0, 0 )
--- a/simple/basic_cube.tscn
+++ b/simple/basic_cube.tscn
+[gd_scene load_steps=4 format=2]
+
+[ext_resource path="res://blockshader.shader" type="Shader" id=1]
+
+[sub_resource type="CubeMesh" id=1]
+
+[sub_resource type="ShaderMaterial" id=2]
+shader = ExtResource( 1 )
+shader_param/color = Color( 0.686275, 0.65098, 0.0784314, 1 )
+shader_param/scale = 113.0
+
+[node name="test_cube" type="MeshInstance"]
+mesh = SubResource( 1 )
+material/0 = SubResource( 2 )
--- a/simple/belt.shader
+++ b/simple/belt.shader
+shader_type spatial;
+render_mode unshaded;
+
+uniform vec4 bg_color: hint_color;
+uniform vec4 fg_color: hint_color;
+uniform float scale;
+uniform float speed;
+
+bool triangle(float x,float y){
+//	if (x < 0.3) {
+//		return false;
+//	}
+	if (abs(y-0.5)+x-0.5 > 0.5) {
+		return false;
+	}
+	if (abs(y-0.5)+x-0.5 < 0.3) {
+		return false;
+	}
+	return true;
+}
+
+void fragment(){
+	float x = UV.x;
+	float y = UV.y;
+	float unity = 1.0;
+	
+	x -= TIME*speed;
+	x = x - floor(x);
+	
+	if (triangle(x,y)){
+		ALBEDO = fg_color.xyz;
+	} else{
+		ALBEDO =  bg_color.xyz;
+	}
+}
--- a/simple/blockshader.shader
+++ b/simple/blockshader.shader
+shader_type spatial;
+render_mode unshaded;
+
+uniform vec4 color: hint_color;
+uniform float scale;
+
+void fragment()
+{
+	ALBEDO=color.xyz;
+	if (cos(UV.x*scale/6.)>=0.9||cos(UV.y*scale/9.)>=0.9){
+	ALBEDO=vec3(1,1,1);
+	}
+}
\ No newline at end of file
--- a/simple/blockshader_ghost.shader
+++ b/simple/blockshader_ghost.shader
+shader_type spatial;
+render_mode unshaded;
+render_mode blend_add;
+
+uniform vec4 color: hint_color;
+uniform float scale;
+
+void fragment()
+{
+	float screen_y = mod(SCREEN_UV.y + TIME/30.0, 1.0);
+	if (mod(screen_y, 1.0/100.0) <= 0.005){
+		discard;
+	}
+	ALBEDO=color.xyz;
+	if (cos(UV.x*scale/6.)>=0.9||cos(UV.y*scale/9.)>=0.9){
+	ALBEDO=vec3(1,1,1);
+	}
+}
\ No newline at end of file
--- a/simple/distance_readout.gd
+++ b/simple/distance_readout.gd
+extends Label
+
+
+# Declare member variables here. Examples:
+# var a = 2
+# var b = "text"
+
+
+# Called when the node enters the scene tree for the first time.
+func _ready():
+	pass # Replace with function body.
+
+func _process(delta):
+	text = "Distance: " + str($"../Sensor/RayCast".distance)
+
+# Called every frame. 'delta' is the elapsed time since the previous frame.
+#func _process(delta):
+#	pass
--- a/simple/firewall.gd
+++ b/simple/firewall.gd
+extends Area
+
+func _ready():
+	connect("body_entered",self,"destroy_intruders")
+
+func destroy_intruders(body):
+	body.queue_free()
--- a/simple/libsimple.gdnlib
+++ b/simple/libsimple.gdnlib
+[entry]
+
+X11.64="res://bin/libsimple.so"
+
+[dependencies]
+
+X11.64=[  ]
+
+[general]
+
+singleton=false
+load_once=false
+symbol_prefix="godot_"
+reloadable=true
--- a/simple/new_environment.tres
+++ b/simple/new_environment.tres
+[gd_resource type="Environment" load_steps=2 format=2]
+
+[sub_resource type="ProceduralSky" id=1]
+
+[resource]
+background_sky = SubResource( 1 )
--- a/simple/outline.tres
+++ b/simple/outline.tres
+[gd_resource type="SpatialMaterial" format=2]
+
+[resource]
+flags_unshaded = true
--- a/simple/project.godot
+++ b/simple/project.godot
+; Engine configuration file.
+; It's best edited using the editor UI and not directly,
+; since the parameters that go here are not all obvious.
+;
+; Format:
+;   [section] ; section goes between []
+;   param=value ; assign values to parameters
+
+config_version=4
+
+_global_script_classes=[ {
+"base": "Node",
+"class": "ModbusServer",
+"language": "GDScript",
+"path": "res://Modbus_Server.gd"
+}, {
+"base": "Reference",
+"class": "ModbusServerNative",
+"language": "NativeScript",
+"path": "res://simple.gdns"
+}, {
+"base": "Spatial",
+"class": "ModbusSpatial",
+"language": "GDScript",
+"path": "res://Modbus_Spatial.gd"
+} ]
+_global_script_class_icons={
+"ModbusServer": "",
+"ModbusServerNative": "",
+"ModbusSpatial": ""
+}
+
+[application]
+
+run/main_scene="res://Spatial.tscn"
+
+[physics]
+
+3d/physics_engine="GodotPhysics"
+
+[rendering]
+
+environment/default_environment="res://new_environment.tres"
--- a/simple/pushermat.tres
+++ b/simple/pushermat.tres
+[gd_resource type="SpatialMaterial" format=2]
+
+[resource]
+flags_unshaded = true
+albedo_color = Color( 0.988235, 0.694118, 0.0745098, 1 )
--- a/simple/sensor_ray.gd
+++ b/simple/sensor_ray.gd
+extends RayCast
+
+export var maxlength = 10.0
+
+var distance = 0
+
+# Declare member variables here. Examples:
+# var a = 2
+# var b = "text"
+
+
+# Called when the node enters the scene tree for the first time.
+func _ready():
+	cast_to = Vector3(0,-maxlength,0)
+
+
+func _physics_process(delta):
+	if !is_colliding():
+		$intersection.visible = false
+		$ray_handle.scale = Vector3(0,distance,0)
+		return
+	var collision_p = to_local(get_collision_point())
+	distance = collision_p.length()
+	$ray_handle.scale = Vector3(1,distance,1)
+	$intersection.visible = true
+	$intersection.translation = collision_p
+
+# Called every frame. 'delta' is the elapsed time since the previous frame.
+#func _process(delta):
+#	pass
--- a/simple/simple.gdns
+++ b/simple/simple.gdns
+[gd_resource type="NativeScript" load_steps=2 format=2]
+
+[ext_resource path="res://libsimple.gdnlib" type="GDNativeLibrary" id=1]
+
+[resource]
+class_name = "ModbusServerNative"
+library = ExtResource( 1 )
+script_class_name = "ModbusServerNative"
--- a/simple/skyshader.tres
+++ b/simple/skyshader.tres
+[gd_resource type="ShaderMaterial" load_steps=2 format=2]
+
+[sub_resource type="Shader" id=1]
+code = "shader_type spatial;
+render_mode unshaded;
+
+uniform float thickness;
+uniform float step_theta;
+uniform float step_phi;
+
+void fragment(){
+	
+	if (mod(UV.y,step_theta*abs(1.0+sin(TIME/10.0)/2.0)) < thickness) {
+	ALBEDO=vec3(255,0,255);
+	} else{
+		ALBEDO=vec3(0,0,0);
+	}
+	
+}"
+
+[resource]
+shader = SubResource( 1 )
+shader_param/thickness = 0.01
+shader_param/step_theta = 0.056
+shader_param/step_phi = null
--- a/simple/test_bevel.mtl
+++ b/simple/test_bevel.mtl
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl Material
+Ns 323.999994
+Ka 1.000000 1.000000 1.000000
+Kd 0.800000 0.800000 0.800000
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.450000
+d 1.000000
+illum 2
--- a/simple/test_bevel.obj
+++ b/simple/test_bevel.obj
+# Blender v2.82 (sub 7) OBJ File: ''
+# www.blender.org
+mtllib test_bevel.mtl
+o Cube
+v 0.929289 0.829289 -1.000000
+v 0.829289 0.929289 -1.000000
+v 0.829289 1.000000 -0.929289
+v 0.929289 1.000000 -0.829289
+v 1.000000 0.929289 -0.829289
+v 1.000000 0.829289 -0.929289
+v 0.897102 0.897102 -1.000000
+v 0.953650 0.953650 -0.953650
+v 0.829289 0.977240 -0.977240
+v 0.897102 1.000000 -0.897102
+v 0.977240 0.977240 -0.829289
+v 1.000000 0.897102 -0.897102
+v 0.977240 0.829289 -0.977240
+v 0.929289 -1.000000 -0.829289
+v 0.829289 -1.000000 -0.929289
+v 0.829289 -0.929289 -1.000000
+v 0.929289 -0.829289 -1.000000
+v 1.000000 -0.829289 -0.929289
+v 1.000000 -0.929289 -0.829289
+v 0.897102 -1.000000 -0.897102
+v 0.953650 -0.953651 -0.953650
+v 0.829289 -0.977240 -0.977240
+v 0.897102 -0.897102 -1.000000
+v 0.977240 -0.829289 -0.977240
+v 1.000000 -0.897102 -0.897102
+v 0.977240 -0.977240 -0.829289
+v 1.000000 0.829289 0.929289
+v 1.000000 0.929289 0.829289
+v 0.929289 1.000000 0.829289
+v 0.829289 1.000000 0.929289
+v 0.829289 0.929289 1.000000
+v 0.929289 0.829289 1.000000
+v 1.000000 0.897102 0.897102
+v 0.953650 0.953650 0.953650
+v 0.977240 0.977240 0.829289
+v 0.897102 1.000000 0.897102
+v 0.829289 0.977240 0.977240
+v 0.897102 0.897102 1.000000
+v 0.977240 0.829289 0.977240
+v 1.000000 -0.929289 0.829289
+v 1.000000 -0.829289 0.929289
+v 0.929289 -0.829289 1.000000
+v 0.829289 -0.929289 1.000000
+v 0.829289 -1.000000 0.929289
+v 0.929289 -1.000000 0.829289
+v 1.000000 -0.897102 0.897102
+v 0.953651 -0.953650 0.953650
+v 0.977240 -0.829289 0.977240
+v 0.897102 -0.897102 1.000000
+v 0.829289 -0.977240 0.977240
+v 0.897102 -1.000000 0.897102
+v 0.977240 -0.977240 0.829289
+v -0.829289 0.929289 -1.000000
+v -0.929289 0.829289 -1.000000
+v -1.000000 0.829289 -0.929289
+v -1.000000 0.929289 -0.829289
+v -0.929289 1.000000 -0.829289
+v -0.829289 1.000000 -0.929289
+v -0.897102 0.897102 -1.000000
+v -0.953650 0.953650 -0.953651
+v -0.977240 0.829289 -0.977240
+v -1.000000 0.897102 -0.897102
+v -0.977240 0.977240 -0.829289
+v -0.897102 1.000000 -0.897102
+v -0.829289 0.977240 -0.977240
+v -1.000000 -0.929289 -0.829289
+v -1.000000 -0.829289 -0.929289
+v -0.929289 -0.829289 -1.000000
+v -0.829289 -0.929289 -1.000000
+v -0.829289 -1.000000 -0.929289
+v -0.929289 -1.000000 -0.829289
+v -1.000000 -0.897102 -0.897102
+v -0.953651 -0.953650 -0.953650
+v -0.977240 -0.829289 -0.977240
+v -0.897102 -0.897102 -1.000000
+v -0.829289 -0.977240 -0.977240
+v -0.897102 -1.000000 -0.897102
+v -0.977240 -0.977240 -0.829289
+v -1.000000 0.929289 0.829289
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--- a/src/simple.c
+++ b/src/simple.c
+#include "../godot_headers/gdnative_api_struct.gen.h"
+#include <unistd.h>
+#include <asm/unistd.h>
+#include <string.h>
+#include <stdio.h>
+#include <stdlib.h>
+#include <errno.h>
+#include <modbus/modbus.h>
+#include <pthread.h>
+
+#include <sys/types.h>
+#include <sys/syscall.h>
+
+const godot_gdnative_core_api_struct *api = NULL;
+const godot_gdnative_ext_nativescript_api_struct *nativescript_api = NULL;
+
+void *modbus_constructor(godot_object *p_instance, void *p_method_data);
+void modbus_destructor(godot_object *p_instance, void *p_method_data, void *p_user_data);
+godot_variant modbus_get_data(godot_object *p_instance, void *p_method_data,
+		void *p_user_data, int p_num_args, godot_variant **p_args);
+
+typedef struct user_data_struct {
+	modbus_t *ctx;
+	modbus_mapping_t *mb_mapping;
+} user_data_struct;
+
+user_data_struct ud;
+
+//typedef struct server_parameters {
+//	int port;
+//	char *address;
+//} server_parameters;
+
+void GDN_EXPORT godot_gdnative_init(godot_gdnative_init_options *p_options) 
+{
+	api = p_options->api_struct;
+
+	// Now find our extensions.
+	for (int i = 0; i < api->num_extensions; i++) {
+		switch (api->extensions[i]->type) {
+			case GDNATIVE_EXT_NATIVESCRIPT: {
+								nativescript_api = (godot_gdnative_ext_nativescript_api_struct *)api->extensions[i];
+							}; break;
+			default: break;
+		}
+	}
+}
+
+
+void GDN_EXPORT godot_gdnative_terminate(godot_gdnative_terminate_options *p_options) 
+{
+	api = NULL;
+	nativescript_api = NULL;
+}
+void *server_routine(void *user_data_void_p)
+{
+	user_data_struct *user_data = (user_data_struct *) user_data_void_p;
+	//printf("in server_routine address is %s and port is %d\n", user_data->ctx->address, user_data->ctx->port);
+	int s = -1;
+	for (;;) {
+
+		s = modbus_tcp_listen(user_data->ctx, 1);
+		printf("before accept\n");
+		printf("[%d]: outer loop \n", syscall(__NR_gettid));
+		modbus_tcp_accept(user_data->ctx, &s);
+
+		for (;;) {
+			uint8_t query[MODBUS_TCP_MAX_ADU_LENGTH];
+			int rc;
+
+			printf("[%d]: inner loop entry\n", syscall(__NR_gettid));
+			rc = modbus_receive(user_data->ctx, query);
+			if (rc > 0) {
+				/* rc is the query size */
+				modbus_reply(user_data->ctx, query, rc, user_data->mb_mapping);
+			} else if (rc == -1) {
+				/* Connection closed by the client or error */
+				break;
+			}
+		}
+
+		printf("Quit the loop: %s\n", modbus_strerror(errno));
+
+		if (s != -1) {
+			close(s);
+		}
+	}
+	modbus_mapping_free(user_data->mb_mapping);
+	modbus_close(user_data->ctx);
+	modbus_free(user_data->ctx);
+}
+
+void *modbus_constructor(godot_object *p_instance, void *p_method_data) 
+{
+	user_data_struct *user_data = api->godot_alloc(sizeof(user_data_struct));
+	// init is delayed so that we can pass arguments normally
+	return user_data;
+}
+
+void modbus_destructor(godot_object *p_instance, void *p_method_data, void *p_user_data) 
+{
+	api->godot_free(p_user_data);
+}
+
+godot_variant modbus_get_holding_register(godot_object *p_instance, void *p_method_data,
+		void *p_user_data, int p_num_args, godot_variant **p_args) 
+{
+	godot_variant ret;
+	user_data_struct *user_data = (user_data_struct *)p_user_data;
+	int reg_num = 0;
+
+	int value = user_data->mb_mapping->tab_registers[reg_num];
+	api->godot_variant_new_int(&ret, value);
+	return ret;
+}
+
+godot_variant modbus_set_holding_register(godot_object *p_instance, void *p_method_data,
+		void *p_user_data, int p_num_args, godot_variant **p_args) 
+{
+	godot_variant ret;
+	user_data_struct *user_data = (user_data_struct *)p_user_data;
+	int reg_num = 0;
+	godot_variant *gd_value = p_args[0];
+
+	int value = api->godot_variant_as_int(gd_value);
+	user_data->mb_mapping->tab_registers[reg_num]=value;
+	return ret;
+}
+
+godot_variant modbus_set_coil(godot_object *p_instance, void *p_method_data,
+		void *p_user_data, int p_num_args, godot_variant **p_args) 
+{
+	godot_variant ret;
+	user_data_struct *user_data = (user_data_struct *)p_user_data;
+	int reg_num = 0;
+	godot_variant *gd_value = p_args[0];
+
+	bool value = api->godot_variant_as_bool(gd_value);
+	modbus_set_bits_from_byte(&user_data->mb_mapping->tab_bits[0], reg_num, (uint8_t) value);
+
+	return ret;
+}
+
+
+godot_variant modbus_get_coil(godot_object *p_instance, void *p_method_data,
+		void *p_user_data, int p_num_args, godot_variant **p_args) 
+{
+	godot_variant ret;
+	user_data_struct *user_data = (user_data_struct *)p_user_data;
+	int reg_num = 0;
+	int bit_idx = 0;
+
+	uint8_t value = user_data->mb_mapping->tab_bits[reg_num];
+	printf("get coil native: %d\n", value);
+	value = ((value >> bit_idx)  & 0x01);
+	api -> godot_variant_new_bool(&ret, (godot_bool) value); //godot_bool is just a typedefed bool
+	return ret;
+}
+
+godot_variant modbus_start_server(godot_object *p_instance, void *p_method_data,
+		void *p_user_data, int p_num_args, godot_variant **p_args) 
+{
+	//server_parameters srv_parameters;
+	pthread_t server_thread;
+	//pthread_attr_t attr;
+	int port;
+	const char* address;
+	godot_variant ret;
+
+	user_data_struct *user_data = (user_data_struct *)p_user_data;
+	
+	//pthread_attr_init(&attr);
+
+	// start_server(address,port)
+	godot_variant *gd_variant_address = p_args[0];
+	godot_variant *gd_variant_port = p_args[1];
+	
+	port = api->godot_variant_as_int(gd_variant_port);
+	godot_string gd_string_address = api->godot_variant_as_string(gd_variant_address);
+	godot_char_string gd_string_ascii_address = api->godot_string_ascii(&gd_string_address);
+	address = api->godot_char_string_get_data(&gd_string_ascii_address);
+
+	user_data->ctx = modbus_new_tcp(address, port);
+
+
+	printf("created new context with address %s and port %d\n", address, port);
+
+	user_data->mb_mapping = modbus_mapping_new(500, 500, 500, 500);
+	if (user_data->mb_mapping == NULL) {
+		fprintf(stderr, "Failed to allocate the mapping: %s\n",
+				modbus_strerror(errno));
+		modbus_free(user_data->ctx);
+		return ret;
+	}
+
+	pthread_create(&server_thread, NULL, &server_routine, user_data);
+
+	return ret;
+}
+
+void GDN_EXPORT godot_nativescript_init(void *p_handle) 
+{
+	godot_instance_create_func create = { NULL, NULL, NULL };
+	create.create_func = &modbus_constructor;
+
+	godot_instance_destroy_func destroy = { NULL, NULL, NULL };
+	destroy.destroy_func = &modbus_destructor;
+
+	nativescript_api->godot_nativescript_register_class(p_handle, "ModbusServerNative", "Reference",
+			create, destroy);
+
+	godot_method_attributes attributes = { GODOT_METHOD_RPC_MODE_DISABLED };
+
+	godot_instance_method get_holding_register = { NULL, NULL, NULL };
+	get_holding_register.method = &modbus_get_holding_register;
+
+	nativescript_api->godot_nativescript_register_method(p_handle, "ModbusServerNative", "get_holding_register",
+			attributes, get_holding_register);
+	
+	godot_instance_method set_holding_register = { NULL, NULL, NULL };
+	set_holding_register.method = &modbus_set_holding_register;
+
+	nativescript_api->godot_nativescript_register_method(p_handle, "ModbusServerNative", "set_holding_register",
+			attributes, set_holding_register);
+	
+	godot_instance_method start_server = { NULL, NULL, NULL };
+	start_server.method = &modbus_start_server;
+
+	nativescript_api->godot_nativescript_register_method(p_handle, "ModbusServerNative", "start_server",
+			attributes, start_server);
+
+	godot_instance_method set_coil = { NULL, NULL, NULL };
+	set_coil.method = &modbus_set_coil;
+
+	nativescript_api->godot_nativescript_register_method(p_handle, "ModbusServerNative", "set_coil",
+			attributes, set_coil);
+	
+	godot_instance_method get_coil = { NULL, NULL, NULL };
+	get_coil.method = &modbus_get_coil;
+
+	nativescript_api->godot_nativescript_register_method(p_handle, "ModbusServerNative", "get_coil",
+			attributes, get_coil);
+}
+