new API

README.md

@@ -77,8 +77,11 @@ add this crate at your cargo.toml :
 
 ```toml
 # the branch is the coppelia version
-zmq_remote_api = { git = "https://github.com/samuel-cavalcanti/rust_zmqRemoteApi", branch = "CoppeliaSim_4.4.0"}
+zmq_remote_api = { git = "https://github.com/samuel-cavalcanti/rust_zmqRemoteApi", branch = "CoppeliaSim_4.5.1"}
 ```
 
 See this simple [example](examples/get_simulation_time.rs) to understand how to use this create.
+<<<<<<< HEAD
 
+=======
+>>>>>>> CoppeliaSim_4.5.1

c_transpiler/assets/sim.rs

@@ -1,4 +1,4 @@
-impl Sim {
+pub trait Sim: RemoteApiClientInterface {
     requests! {
     "sim",
     (get_joint_max_force,"getJointMaxForce",(joint_handle:i64)->f64),
@@ -10,7 +10,7 @@ impl Sim {
     (set_vision_sensor_char_image,"setVisionSensorCharImage",(sensor_handle:i64,image:Vec<u8>)->()),
     (get_object_selection,"getObjectSelection"->Vec<i64>),
     (set_object_selection,"setObjectSelection",(object_handles:Vec<f64>)->()),
-    (get_string_signal,"getStringSignal",(signal_name:String)->String),// changed),
+    (get_string_signal,"getStringSignal",(signal_name:String)->String),
     (get_int32_signal,"getInt32Signal",(signal_name:String)->Option<i64>),
     (get_float_signal,"getFloatSignal",(signal_name:String)->Option<f64>),
     (add_drawing_object,"addDrawingObject",(object_type:i64,size:f64,duplicate_tolerance:f64,parent_object_handle:i64,max_item_count:i64),opt(color:Vec<f64>)->i64),

c_transpiler/convert.py

@@ -15,8 +15,9 @@ def cpp_to_rust(assigns: list[FunctionAssign], rust_file: Path) -> None:
     rust_assigns = [ir_to_macro_request_rust(assign) for assign in assigns]
     rust_string = ",\n".join(rust_assigns)
     file_name = rust_file.name.split(".")[0]
-    struct_name = inflection.camelize(file_name)
-    content = f' impl {struct_name} {{\n requests!{{\n"{file_name}",\n{rust_string}\n}}\n}}'
+    trait_name = inflection.camelize(file_name)
+    space = ' '*4
+    content = f'pub trait {trait_name} : RemoteApiClientInterface {{\n{space}requests!{{\n"{file_name}",\n{rust_string}\n}}\n}}'
 
     rust_file.write_text(content)
 

examples/get_simulation_time.rs

@@ -1,4 +1,3 @@
-use std::rc::Rc;
 use zmq_remote_api::{sim::Sim, RemoteAPIError, RemoteApiClientParams};
 
 /*
@@ -9,24 +8,21 @@ fn main() -> Result<(), RemoteAPIError> {
     // use the env variable RUST_LOG="trace" or RUST_LOG="debug" to observe the zmq communication
     env_logger::init();
 
-    let client = zmq_remote_api::RemoteApiClient::new(RemoteApiClientParams {
+    let sim = zmq_remote_api::RemoteApiClient::new(RemoteApiClientParams {
         host: "localhost".to_string(),
         ..RemoteApiClientParams::default()
     })?;
 
-    // Rc means Reference counter, is a smart pointer that counter the number of references
-    let client = Rc::new(client);
-    let sim = Sim::new(client.clone());
 
-    client.set_stepping(true)?;
+    sim.set_stepping(true)?;
 
     sim.start_simulation()?;
 
     let mut time = sim.get_simulation_time()?;
 
     while time < 3.0 {
         println!("Simulation time: {:.3} [s]", time);
-        client.step(true)?;
+        sim.step(true)?;
         time = sim.get_simulation_time()?;
     }
 

examples/opencv_example/src/main.rs

@@ -19,30 +19,27 @@ fn main() -> Result<(), RemoteAPIError> {
         ..RemoteApiClientParams::default()
     })?;
 
-    // Rc means Reference counter, is a smart pointer that counter the number of references
-    let client = Rc::new(client);
-    let sim = Sim::new(client.clone());
 
-    let vision_sensor_handle = sim.get_object("/VisionSensor".to_string(), None)?;
+    let vision_sensor_handle = client.get_object("/VisionSensor".to_string(), None)?;
 
     client.set_stepping(true)?;
 
-    sim.start_simulation()?;
+    client.start_simulation()?;
 
-    let start_time = sim.get_simulation_time()?;
+    let start_time = client.get_simulation_time()?;
     let mut time = start_time;
     while time - start_time < 5.0 {
-        let (img, res) = sim.get_vision_sensor_img(vision_sensor_handle, None, None, None, None)?;
+        let (img, res) = client.get_vision_sensor_img(vision_sensor_handle, None, None, None, None)?;
 
         opencv_show_image(img, res);
 
         println!("time: {:.2}", time);
 
         client.step(true)?;
-        time = sim.get_simulation_time()?;
+        time = client.get_simulation_time()?;
     }
 
-    sim.stop_simulation()?;
+    client.stop_simulation()?;
 
     println!("Program ended");
 

examples/p_controller.rs

@@ -1,5 +1,4 @@
 use std::f64::consts::PI;
-use std::rc::Rc;
 
 use zmq_remote_api::{sim::Sim, RemoteAPIError, RemoteApiClient, RemoteApiClientParams};
 
@@ -26,13 +25,9 @@ fn main() -> Result<(), RemoteAPIError> {
         ..RemoteApiClientParams::default()
     })?;
 
-    // Rc means Reference counter, is a smart pointer that counter the number of references
-    let client = Rc::new(client);
-    let sim = Sim::new(client.clone());
-
-    let joint_handle = sim.get_object("/Cuboid[0]/joint".to_string(), None)?;
-    let mut join_angle = sim.get_joint_position(joint_handle)?;
-    sim.set_joint_target_velocity(joint_handle, 360.0 * PI, None)?;
+    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)?;
     /*
        enable the stepping mode on the client, that means
        the simulation waits the trigger: client.step()
@@ -41,52 +36,52 @@ fn main() -> Result<(), RemoteAPIError> {
     */
     client.set_stepping(true)?;
 
-    sim.start_simulation()?;
+    client.start_simulation()?;
 
     move_to_angle(
         45.0 * PI / 180.0,
         &mut join_angle,
-        &sim,
+        &client,
         &client,
         &joint_handle,
     )?;
 
     move_to_angle(
         90.0 * PI / 180.0,
         &mut join_angle,
-        &sim,
+        &client,
         &client,
         &joint_handle,
     )?;
 
     move_to_angle(
         -89.0 * PI / 180.0,
         &mut join_angle,
-        &sim,
+        &client,
         &client,
         &joint_handle,
     )?;
 
     move_to_angle(
         0.0 * PI / 180.0,
         &mut join_angle,
-        &sim,
+        &client,
         &client,
         &joint_handle,
     )?;
 
-    sim.stop_simulation()?;
+    client.stop_simulation()?;
 
     println!("Program ended");
     Ok(())
 }
 
 const MAX_FORCE: f64 = 100.0;
 
-fn move_to_angle(
+fn move_to_angle<S: Sim>(
     target_angle: f64,
     join_angle: &mut f64,
-    sim: &Sim,
+    sim: &S,
     client: &RemoteApiClient,
     joint_handle: &i64,
 ) -> Result<(), RemoteAPIError> {

examples/send_ik_movement_sequence_mov.rs

@@ -1,4 +1,3 @@
-use std::rc::Rc;
 use zmq_remote_api::serde_json::json;
 use zmq_remote_api::{sim, sim::Sim, RemoteAPIError, RemoteApiClient, RemoteApiClientParams};
 /*
@@ -11,9 +10,9 @@ use zmq_remote_api::{sim, sim::Sim, RemoteAPIError, RemoteApiClient, RemoteApiCl
     Do not launch simulation, then run this script
 */
 
-fn wait_for_movement_executed(
+fn wait_for_movement_executed<S: Sim>(
     id: String,
-    sim: &Sim,
+    sim: &S,
     signal_name: String,
 ) -> Result<(), RemoteAPIError> {
     let mut string = sim.get_string_signal(signal_name.clone())?;
@@ -33,26 +32,22 @@ fn main() -> Result<(), RemoteAPIError> {
         ..RemoteApiClientParams::default()
     })?;
 
-    /// Rc means Reference counter, is a smart pointer that counter the number of references
-    let client = Rc::new(client);
-    let sim = Sim::new(client.clone());
-
     println!("Program started");
 
     let target_arm = "/LBR4p".to_string();
 
     let signal_name = format!("{}_executedMovId", target_arm);
 
-    let arm_handle = sim.get_object(target_arm, None)?;
-    let script_handle = sim.get_script(sim::SCRIPTTYPE_CHILDSCRIPT, Some(arm_handle), None)?;
+    let arm_handle = client.get_object(target_arm, None)?;
+    let script_handle = client.get_script(sim::SCRIPTTYPE_CHILDSCRIPT, Some(arm_handle), None)?;
 
-    sim.start_simulation()?;
+    client.start_simulation()?;
 
     println!("Wait until ready");
-    wait_for_movement_executed("ready".to_string(), &sim, signal_name.clone())?;
+    wait_for_movement_executed("ready".to_string(), &client, signal_name.clone())?;
 
     println!("Get initial pose");
-    let json = sim.call_script_function(
+    let json = client.call_script_function(
         String::from("remoteApi_getPoseAndConfig"),
         script_handle,
         None,
@@ -67,21 +62,21 @@ 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 = sim.call_script_function(
+    let _json = client.call_script_function(
         String::from("remoteApi_movementDataFunction"),
         script_handle,
         Some(movement_data),
     )?;
 
     println!("Execute first movement sequence");
-    let _json = sim.call_script_function(
+    let _json = client.call_script_function(
         String::from("remoteApi_executeMovement"),
         script_handle,
         Some(json!("movSeq1")),
     )?;
 
     println!("Wait until above movement sequence finished executing");
-    wait_for_movement_executed("movSeq1".to_string(), &sim, signal_name.clone())?;
+    wait_for_movement_executed("movSeq1".to_string(), &client, signal_name.clone())?;
 
     println!("Send second and third movement sequence, where third one should execute immediately after the second one");
     let target_pose = vec![
@@ -96,38 +91,38 @@ fn main() -> Result<(), RemoteAPIError> {
 
     let movement_data = json!({"id": "movSeq2", "type": "mov", "targetPose": target_pose, "maxVel": MAX_VEL, "maxAccel": MAX_ACCEL});
 
-    let _json = sim.call_script_function(
+    let _json = client.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 = sim.call_script_function(
+    let _json = client.call_script_function(
         String::from("remoteApi_movementDataFunction"),
         script_handle,
         Some(movement_data),
     )?;
 
     println!("Execute second and third movement sequence");
 
-    sim.call_script_function(
+    client.call_script_function(
         String::from("remoteApi_executeMovement"),
         script_handle,
         Some(json!("movSeq2")),
     )?;
-    sim.call_script_function(
+    client.call_script_function(
         String::from("remoteApi_executeMovement"),
         script_handle,
         Some(json!("movSeq3")),
     )?;
 
     println!("Wait until above 2 movement sequences finished executing");
 
-    wait_for_movement_executed("movSeq3".to_string(), &sim, signal_name.clone())?;
+    wait_for_movement_executed("movSeq3".to_string(), &client, signal_name.clone())?;
 
-    sim.stop_simulation()?;
+    client.stop_simulation()?;
 
     println!("Program ended");
     Ok(())

examples/send_ik_movement_sequence_pts.rs

@@ -1,4 +1,3 @@
-use std::rc::Rc;
 use zmq_remote_api::serde_json::json;
 use zmq_remote_api::{sim, sim::Sim, RemoteAPIError, RemoteApiClient, RemoteApiClientParams};
 
@@ -21,18 +20,14 @@ fn main() -> Result<(), RemoteAPIError> {
         ..RemoteApiClientParams::default()
     })?;
 
-    // Rc means Reference counter, is a smart pointer that counter the number of references
-    let client = Rc::new(client);
-    let sim = Sim::new(client.clone());
-
     println!("Program started");
 
     let target_arm = "/LBR4p".to_string();
 
     let signal_name = format!("{}_executedMovId", target_arm);
 
-    let arm_handle = sim.get_object(target_arm, None)?;
-    let script_handle = sim.get_script(sim::SCRIPTTYPE_CHILDSCRIPT, Some(arm_handle), None)?;
+    let arm_handle = client.get_object(target_arm, None)?;
+    let script_handle = client.get_script(sim::SCRIPTTYPE_CHILDSCRIPT, Some(arm_handle), None)?;
 
     // Set-up some movement variables:
     let times = vec![
@@ -426,10 +421,10 @@ 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,
     ];
 
-    sim.start_simulation()?;
+    client.start_simulation()?;
 
     println!("Wait until ready");
-    wait_for_movement_executed("ready".to_string(), &sim, signal_name.clone())?;
+    wait_for_movement_executed("ready".to_string(), &client, signal_name.clone())?;
 
     let movement_data = json!(
     {"id": "movSeq1",
@@ -440,30 +435,30 @@ fn main() -> Result<(), RemoteAPIError> {
     });
 
     println!("Execute first movement sequence");
-    sim.call_script_function(
+    client.call_script_function(
         String::from("remoteApi_movementDataFunction"),
         script_handle,
         Some(movement_data),
     )?;
 
-    sim.call_script_function(
+    client.call_script_function(
         String::from("remoteApi_executeMovement"),
         script_handle,
         Some(json! {"movSeq1"}),
     )?;
 
     println!("Wait until above movement sequence finished executing");
-    wait_for_movement_executed("movSeq1".to_string(), &sim, signal_name.clone())?;
+    wait_for_movement_executed("movSeq1".to_string(), &client, signal_name.clone())?;
 
-    sim.stop_simulation()?;
+    client.stop_simulation()?;
 
     println!("Program ended");
     Ok(())
 }
 
-fn wait_for_movement_executed(
+fn wait_for_movement_executed<S: Sim>(
     id: String,
-    sim: &Sim,
+    sim: &S,
     signal_name: String,
 ) -> Result<(), RemoteAPIError> {
     let mut string = sim.get_string_signal(signal_name.clone())?;