updated Rust ZMQ api

samuel-cavalcanti · Sep 19, 2023 · 7c6406b · 7c6406b
1 parent db350dd
commit 7c6406b
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Showing 9 changed files with 94 additions and 101 deletions.
diff --git a/examples/get_simulation_time.rs b/examples/get_simulation_time.rs
@@ -8,24 +8,24 @@ fn main() -> Result<(), RemoteAPIError> {
     // use the env variable RUST_LOG="trace" or RUST_LOG="debug" to observe the zmq communication
     env_logger::init();
 
-    let sim = zmq_remote_api::RemoteApiClient::new(RemoteApiClientParams {
+    let client = zmq_remote_api::RemoteApiClient::new(RemoteApiClientParams {
         host: "localhost".to_string(),
         ..RemoteApiClientParams::default()
     })?;
 
-    sim.set_stepping(true)?;
+    client.set_stepping(true)?;
 
-    sim.start_simulation()?;
+    client.sim_start_simulation()?;
 
-    let mut time = sim.get_simulation_time()?;
+    let mut time = client.sim_get_simulation_time()?;
 
     while time < 3.0 {
         println!("Simulation time: {:.3} [s]", time);
-        sim.step(true)?;
-        time = sim.get_simulation_time()?;
+        client.step(true)?;
+        time = client.sim_get_simulation_time()?;
     }
 
-    sim.stop_simulation()?;
+    client.sim_stop_simulation()?;
 
     Ok(())
 }
diff --git a/examples/opencv_example/src/main.rs b/examples/opencv_example/src/main.rs
@@ -19,27 +19,27 @@ fn main() -> Result<(), RemoteAPIError> {
         ..RemoteApiClientParams::default()
     })?;
 
-    let vision_sensor_handle = client.get_object("/VisionSensor".to_string(), None)?;
+    let vision_sensor_handle = client.sim_get_object("/VisionSensor".to_string(), None)?;
 
     client.set_stepping(true)?;
 
-    client.start_simulation()?;
+    client.sim_start_simulation()?;
 
-    let start_time = client.get_simulation_time()?;
+    let start_time = client.sim_get_simulation_time()?;
     let mut time = start_time;
     while time - start_time < 5.0 {
         let (img, res) =
-            client.get_vision_sensor_img(vision_sensor_handle, None, None, None, None)?;
+            client.sim_get_vision_sensor_img(vision_sensor_handle, None, None, None, None)?;
 
         opencv_show_image(img, res);
 
         println!("time: {:.2}", time);
 
         client.step(true)?;
-        time = client.get_simulation_time()?;
+        time = client.sim_get_simulation_time()?;
     }
 
-    client.stop_simulation()?;
+    client.sim_stop_simulation()?;
 
     println!("Program ended");
 

diff --git a/examples/p_controller.rs b/examples/p_controller.rs
@@ -25,9 +25,10 @@ fn main() -> Result<(), RemoteAPIError> {
         ..RemoteApiClientParams::default()
     })?;
 
-    let joint_handle = client.get_object("/Cuboid[0]/joint".to_string(), None)?;
-    let mut join_angle = client.get_joint_position(joint_handle)?;
-    client.set_joint_target_velocity(joint_handle, 360.0 * PI, None)?;
+    let joint_handle = client.sim_get_object("/Cuboid[0]/joint".to_string(), None)?;
+    let mut join_angle = client.sim_get_joint_position(joint_handle)?;
+    client.sim_set_joint_target_velocity(joint_handle, 360.0 * PI, None)?;
+
     /*
        enable the stepping mode on the client, that means
        the simulation waits the trigger: client.step()
@@ -36,7 +37,7 @@ fn main() -> Result<(), RemoteAPIError> {
     */
     client.set_stepping(true)?;
 
-    client.start_simulation()?;
+    client.sim_start_simulation()?;
 
     move_to_angle(
         45.0 * PI / 180.0,
@@ -70,7 +71,7 @@ fn main() -> Result<(), RemoteAPIError> {
         &joint_handle,
     )?;
 
-    client.stop_simulation()?;
+    client.sim_stop_simulation()?;
 
     println!("Program ended");
     Ok(())
@@ -87,10 +88,10 @@ fn move_to_angle<S: Sim>(
 ) -> Result<(), RemoteAPIError> {
     while (target_angle - *join_angle).abs() > 0.1 * PI / 180.0 {
         let velocity = compute_target_velocity(target_angle, *join_angle);
-        sim.set_joint_target_velocity(*joint_handle, velocity, None)?;
-        sim.set_joint_max_force(*joint_handle, MAX_FORCE)?;
+        sim.sim_set_joint_target_velocity(*joint_handle, velocity, None)?;
+        sim.sim_set_joint_max_force(*joint_handle, MAX_FORCE)?;
         client.step(true)?;
-        *join_angle = sim.get_joint_position(*joint_handle)?;
+        *join_angle = sim.sim_get_joint_position(*joint_handle)?;
     }
 
     Ok(())

diff --git a/examples/send_ik_movement_sequence_mov.rs b/examples/send_ik_movement_sequence_mov.rs
@@ -15,9 +15,9 @@ fn wait_for_movement_executed<S: Sim>(
     sim: &S,
     signal_name: String,
 ) -> Result<(), RemoteAPIError> {
-    let mut string = sim.get_string_signal(signal_name.clone())?;
+    let mut string = sim.sim_get_string_signal(signal_name.clone())?;
     while string != id {
-        string = sim.get_string_signal(signal_name.clone())?;
+        string = sim.sim_get_string_signal(signal_name.clone())?;
     }
 
     Ok(())
@@ -38,16 +38,17 @@ fn main() -> Result<(), RemoteAPIError> {
 
     let signal_name = format!("{}_executedMovId", target_arm);
 
-    let arm_handle = client.get_object(target_arm, None)?;
-    let script_handle = client.get_script(sim::SCRIPTTYPE_CHILDSCRIPT, Some(arm_handle), None)?;
+    let arm_handle = client.sim_get_object(target_arm, None)?;
+    let script_handle =
+        client.sim_get_script(sim::SCRIPTTYPE_CHILDSCRIPT, Some(arm_handle), None)?;
 
-    client.start_simulation()?;
+    client.sim_start_simulation()?;
 
     println!("Wait until ready");
     wait_for_movement_executed("ready".to_string(), &client, signal_name.clone())?;
 
     println!("Get initial pose");
-    let json = client.call_script_function(
+    let json = client.sim_call_script_function(
         String::from("remoteApi_getPoseAndConfig"),
         script_handle,
         None,
@@ -62,14 +63,14 @@ fn main() -> Result<(), RemoteAPIError> {
 
     let movement_data = json!({"id": "movSeq1", "type": "mov", "targetPose": [0, 0, 0.85, 0, 0, 0, 1], "maxVel": MAX_VEL, "maxAccel":MAX_ACCEL});
 
-    let _json = client.call_script_function(
+    let _json = client.sim_call_script_function(
         String::from("remoteApi_movementDataFunction"),
         script_handle,
         Some(movement_data),
     )?;
 
     println!("Execute first movement sequence");
-    let _json = client.call_script_function(
+    let _json = client.sim_call_script_function(
         String::from("remoteApi_executeMovement"),
         script_handle,
         Some(json!("movSeq1")),
@@ -91,28 +92,28 @@ fn main() -> Result<(), RemoteAPIError> {
 
     let movement_data = json!({"id": "movSeq2", "type": "mov", "targetPose": target_pose, "maxVel": MAX_VEL, "maxAccel": MAX_ACCEL});
 
-    let _json = client.call_script_function(
+    let _json = client.sim_call_script_function(
         String::from("remoteApi_movementDataFunction"),
         script_handle,
         Some(movement_data),
     )?;
 
     let movement_data = json!({"id": "movSeq3", "type": "mov", "targetPose": initial_pose, "maxVel": MAX_VEL, "maxAccel": MAX_ACCEL});
 
-    let _json = client.call_script_function(
+    let _json = client.sim_call_script_function(
         String::from("remoteApi_movementDataFunction"),
         script_handle,
         Some(movement_data),
     )?;
 
     println!("Execute second and third movement sequence");
 
-    client.call_script_function(
+    client.sim_call_script_function(
         String::from("remoteApi_executeMovement"),
         script_handle,
         Some(json!("movSeq2")),
     )?;
-    client.call_script_function(
+    client.sim_call_script_function(
         String::from("remoteApi_executeMovement"),
         script_handle,
         Some(json!("movSeq3")),
@@ -122,7 +123,7 @@ fn main() -> Result<(), RemoteAPIError> {
 
     wait_for_movement_executed("movSeq3".to_string(), &client, signal_name.clone())?;
 
-    client.stop_simulation()?;
+    client.sim_stop_simulation()?;
 
     println!("Program ended");
     Ok(())

diff --git a/examples/send_ik_movement_sequence_pts.rs b/examples/send_ik_movement_sequence_pts.rs
@@ -26,8 +26,9 @@ fn main() -> Result<(), RemoteAPIError> {
 
     let signal_name = format!("{}_executedMovId", target_arm);
 
-    let arm_handle = client.get_object(target_arm, None)?;
-    let script_handle = client.get_script(sim::SCRIPTTYPE_CHILDSCRIPT, Some(arm_handle), None)?;
+    let arm_handle = client.sim_get_object(target_arm, None)?;
+    let script_handle =
+        client.sim_get_script(sim::SCRIPTTYPE_CHILDSCRIPT, Some(arm_handle), None)?;
 
     // Set-up some movement variables:
     let times = vec![
@@ -420,8 +421,7 @@ fn main() -> Result<(), RemoteAPIError> {
         1.000, 1.000, 1.000, 1.000, 1.000, 1.000, 1.000, 1.000, 1.000, 1.000, 1.000, 1.000, 1.000,
         1.000, 1.000, 1.000, 1.000, 1.000, 1.000, 1.000, 1.000, 1.000, 1.000, 1.000,
     ];
-
-    client.start_simulation()?;
+    client.sim_start_simulation()?;
 
     println!("Wait until ready");
     wait_for_movement_executed("ready".to_string(), &client, signal_name.clone())?;
@@ -435,13 +435,13 @@ fn main() -> Result<(), RemoteAPIError> {
     });
 
     println!("Execute first movement sequence");
-    client.call_script_function(
+    client.sim_call_script_function(
         String::from("remoteApi_movementDataFunction"),
         script_handle,
         Some(movement_data),
     )?;
 
-    client.call_script_function(
+    client.sim_call_script_function(
         String::from("remoteApi_executeMovement"),
         script_handle,
         Some(json! {"movSeq1"}),
@@ -450,7 +450,7 @@ fn main() -> Result<(), RemoteAPIError> {
     println!("Wait until above movement sequence finished executing");
     wait_for_movement_executed("movSeq1".to_string(), &client, signal_name.clone())?;
 
-    client.stop_simulation()?;
+    client.sim_stop_simulation()?;
 
     println!("Program ended");
     Ok(())
@@ -461,9 +461,9 @@ fn wait_for_movement_executed<S: Sim>(
     sim: &S,
     signal_name: String,
 ) -> Result<(), RemoteAPIError> {
-    let mut string = sim.get_string_signal(signal_name.clone())?;
+    let mut string = sim.sim_get_string_signal(signal_name.clone())?;
     while string != id {
-        string = sim.get_string_signal(signal_name.clone())?;
+        string = sim.sim_get_string_signal(signal_name.clone())?;
     }
 
     Ok(())

diff --git a/examples/simple_test.rs b/examples/simple_test.rs
@@ -26,56 +26,60 @@ fn main() -> Result<(), RemoteAPIError> {
     // slow, since the idle loop runs at 8 Hz by default. So let's make
     // sure that the idle loop runs at full speed for this program:
 
-    let default_idle_fps = client.get_int32_param(sim::INTPARAM_IDLE_FPS)?;
-    client.set_int32_param(sim::INTPARAM_IDLE_FPS, 0)?;
+    let default_idle_fps = client.sim_get_int32_param(sim::INTPARAM_IDLE_FPS)?;
+    client.sim_set_int32_param(sim::INTPARAM_IDLE_FPS, 0)?;
 
     // Create a few dummies and set their positions:
     let handles: Vec<i64> = (0..50)
-        .map(|_| client.create_dummy(0.01).unwrap())
+        .map(|_| client.sim_create_dummy(0.01).unwrap())
         .collect();
 
     for (i, h) in handles.iter().enumerate() {
         let i = i as f64;
-        client.set_object_position(*h, sim::HANDLE_WORLD, vec![0.01 * i, 0.01 * i, 0.01 * i])?;
+        client.sim_set_object_position(
+            *h,
+            sim::HANDLE_WORLD,
+            vec![0.01 * i, 0.01 * i, 0.01 * i],
+        )?;
     }
 
-    client.start_simulation()?;
+    client.sim_start_simulation()?;
     // Run a simulation in asynchronous mode:
-    let mut time = client.get_simulation_time()?;
+    let mut time = client.sim_get_simulation_time()?;
     while time < 3.0 {
-        time = client.get_simulation_time()?;
+        time = client.sim_get_simulation_time()?;
 
         println!("Simulation time: {time:.2} [s] (simulation running asynchronously  to client, i.e. non-stepped)", time = time);
     }
 
-    client.stop_simulation()?;
+    client.sim_stop_simulation()?;
     // if you need to make sure we really stopped:
-    while client.get_simulation_state()? != sim::SIMULATION_STOPPED {
+    while client.sim_get_simulation_state()? != sim::SIMULATION_STOPPED {
         std::thread::sleep(std::time::Duration::from_secs_f64(0.1))
     }
 
     client.set_stepping(true)?;
-    client.start_simulation()?;
+    client.sim_start_simulation()?;
 
     // Run a simulation in stepping mode:
-    let mut time = client.get_simulation_time()?;
+    let mut time = client.sim_get_simulation_time()?;
     while time < 3.0 {
-        time = client.get_simulation_time()?;
+        time = client.sim_get_simulation_time()?;
 
         let message = format!("Simulation time: {time:.2} [s] (simulation running asynchronously  to client, i.e. stepped)", time = time);
         println!("{}", message);
-        client.add_log(sim::VERBOSITY_SCRIPTINFOS, message)?;
+        client.sim_add_log(sim::VERBOSITY_SCRIPTINFOS, message)?;
         client.step(true)?; //triggers next simulation step
     }
-    client.stop_simulation()?;
+    client.sim_stop_simulation()?;
 
     //Remove the dummies created earlier:
     for h in handles {
-        client.remove_object(h)?;
+        client.sim_remove_object(h)?;
     }
 
     //Restore the original idle loop frequency:
-    client.set_int32_param(sim::INTPARAM_IDLE_FPS, default_idle_fps)?;
+    client.sim_set_int32_param(sim::INTPARAM_IDLE_FPS, default_idle_fps)?;
     println!("Program ended");
 
     Ok(())

diff --git a/examples/synchronous_image_transmission.rs b/examples/synchronous_image_transmission.rs
@@ -19,26 +19,26 @@ fn main() -> Result<(), RemoteAPIError> {
         ..RemoteApiClientParams::default()
     })?;
 
-    let vision_sensor_handle = client.get_object("/VisionSensor".to_string(), None)?;
+    let vision_sensor_handle = client.sim_get_object("/VisionSensor".to_string(), None)?;
 
     let passive_vision_sensor_handle =
-        client.get_object("/PassiveVisionSensor".to_string(), None)?;
+        client.sim_get_object("/PassiveVisionSensor".to_string(), None)?;
 
     client.set_stepping(true)?;
 
-    client.start_simulation()?;
+    client.sim_start_simulation()?;
 
-    let start_time = client.get_simulation_time()?;
+    let start_time = client.sim_get_simulation_time()?;
 
-    while client.get_simulation_time()? - start_time < 5.0 {
+    while client.sim_get_simulation_time()? - start_time < 5.0 {
         let (img, _res) =
-            client.get_vision_sensor_img(vision_sensor_handle, None, None, None, None)?;
+            client.sim_get_vision_sensor_img(vision_sensor_handle, None, None, None, None)?;
 
-        client.set_vision_sensor_img(passive_vision_sensor_handle, img, None, None, None)?;
+        client.sim_set_vision_sensor_img(passive_vision_sensor_handle, img, None, None, None)?;
         client.step(true)?;
     }
 
-    client.stop_simulation()?;
+    client.sim_stop_simulation()?;
 
     println!("Program ended");
 

diff --git a/src/remote_api_client/client.rs b/src/remote_api_client/client.rs
@@ -79,20 +79,7 @@ impl RemoteApiClient {
         Ok(message)
     }
 
-    // pub fn send_request<R: RawRequest>(&self, request: R) -> Result<JsonValue, Error> {
-    //     let payload = request.to_raw_request();
-    //
-    //     let result = self.call(payload)?;
-    //
-    //     let decoded: CborValue = ciborium::de::from_reader(result.as_slice()).unwrap();
-    //
-    //     let json = serde_json::json!(decoded);
-    //     log::trace!("Json response: {}", json);
-    //
-    //     Ok(json)
-    // }
-
-    pub fn get_object_client(&self, name: String) -> Result<JsonValue, RemoteAPIError> {
+    pub fn get_object(&self, name: String) -> Result<JsonValue, RemoteAPIError> {
         let request = ZmqRequest::remote_api_info(name);
 
         self.send_raw_request(request.to_raw_request())