StartSimulationEngine  "SimState/basicsim.xml"


AddNewEntity    wall1  	/Position:-0.5  0.25  -2.5
AddBoxShape  	/Dimensions:3.0  0.5  0.5  	/Mass:1.0	/Texture:"WoodFloor.jpg"

AddNewEntity    wall2  	/Position:-0.5  0.25  2.5
AddBoxShape  	/Dimensions:3.0  0.5  0.5  	/Mass:1.0	/Texture:"WoodFloor.jpg"

AddNewEntity    wall3  	/Position:-2.5  0.25  0
AddBoxShape  	/Dimensions:0.5  0.5  4.5  	/Mass:1.0	/Texture:"WoodFloor.jpg"

AddNewEntity    wall4  	/Position:2.5  0.25  0
AddBoxShape  	/Dimensions:0.5  0.5  4.5  	/Mass:1.0	/Texture:"WoodFloor.jpg"



AddDifferentialDriveEntity    myrobot

AddBumperEntity    bumper1	/ParentEntity:myrobot
	/FrontPosition:0    0.1    -0.3
	/RearPosition:0    0.1    0.3

AddLaserRangeFinderEntity    lrf1	/Position:0  0.4  0	/ParentEntity:myrobot

FlushScript  

wait 10000
SaveSceneAs    "SimState/boxsim.xml"  

dssprojectmigration "here_your_unzipped_folder_name"	

using System;
using System.Collections.Generic;
using System.ComponentModel;
using Microsoft.Ccr.Core;
using Microsoft.Dss.Core;
using Microsoft.Dss.Core.Attributes;
using Microsoft.Dss.ServiceModel.Dssp;
using Microsoft.Dss.ServiceModel.DsspServiceBase;
using W3C.Soap;
using System.IO;

using dssp = Microsoft.Dss.ServiceModel.Dssp;
using engineproxy = Microsoft.Robotics.Simulation.Engine.Proxy;
using submgr = Microsoft.Dss.Services.SubscriptionManager;
using simengine = Microsoft.Robotics.Simulation.Engine;
using physics = Microsoft.Robotics.Simulation.Physics;

using Microsoft.Robotics.Simulation;
using Microsoft.Robotics.Simulation.Engine;
using Microsoft.Robotics.Simulation.Physics;
using Microsoft.Robotics.PhysicalModel;


namespace SimulationFromState1
{
	[Contract(Contract.Identifier)]
	[DisplayName("SimulationFromState1")]
	[Description("SimulationFromState1 service (no description provided)")]
	class SimulationFromState1Service : DsspServiceBase
	{        
		[ServiceState]
		SimulationFromState1State _state = new SimulationFromState1State();
		
		[ServicePort("/SimulationFromState1", AllowMultipleInstances = true)]
		SimulationFromState1Operations _mainPort = new SimulationFromState1Operations();
		
		public SimulationFromState1Service(DsspServiceCreationPort creationPort)
			: base(creationPort)
		{
		}

        protected override void Start()
        {
            base.Start();

            //Start simulation engine from the state file
            string filename = "SimState/boxsim.xml";

            dssp.PartnerType pt = new dssp.PartnerType();
            System.Xml.XmlQualifiedName qName = 
            	new System.Xml.XmlQualifiedName("StateService", "http://schemas.microsoft.com/xw/2004/10/dssp.html");
            pt.Name = qName;
            pt.Service = filename;
            pt.Contract = "http://schemas.microsoft.com/robotics/2006/04/simulationengine.html";

            engineproxy.Contract.CreateService(ConstructorPort, new PartnerType[] { pt });
        }
        
	}    
}

using System;
using System.Collections.Generic;
using System.ComponentModel;
using Microsoft.Ccr.Core;
using Microsoft.Dss.Core.Attributes;
using Microsoft.Dss.ServiceModel.Dssp;
using Microsoft.Dss.ServiceModel.DsspServiceBase;
using W3C.Soap;

namespace SimulationFromState1
{
	public sealed class Contract
	{
		[DataMember]
		public const string Identifier = "http://schemas.tempuri.org/2009/12/simulationfromstate1.html";
	}
	
	[DataContract]
	public class SimulationFromState1State
	{
	}
	
	[ServicePort]
	public class SimulationFromState1Operations : PortSet
	{
	}
	
	public class Get : Get>
	{
		public Get()
		{
		}
		
		public Get(GetRequestType body)
			: base(body)
		{
		}
		
		public Get(GetRequestType body, PortSet responsePort)
			: base(body, responsePort)
		{
		}
	}
}