updated api and all examples passed

examples/get_simulation_time.rs

@@ -27,7 +27,7 @@ fn main() -> Result<(), RemoteAPIError> {
         time = client.sim_get_simulation_time()?;
     }
 
-    client.sim_stop_simulation()?;
+    client.sim_stop_simulation(None)?;
 
     Ok(())
 }

examples/p_controller.rs

@@ -1,15 +1,14 @@
 use std::f64::consts::PI;
 
 use coppeliasim_zmq_remote_api::{
-    sim::Sim, RemoteAPIError, RemoteApiClient, RemoteApiClientParams,
+    sim::{Sim, self}, RemoteAPIError, RemoteApiClient, RemoteApiClientParams,
 };
 
 /*
 
 based on pController.py
 
-# Make sure to have CoppeliaSim running, with following scene loaded:
-#
+# Make sure to have CoppeliaSim running, 
 # scenes/messaging/pControllerViaRemoteApi.ttt
 #
 # Do not launch simulation, but run this script
@@ -26,6 +25,10 @@ fn main() -> Result<(), RemoteAPIError> {
         host: "localhost".to_string(),
         ..RemoteApiClientParams::default()
     })?;
+    let path = client.sim_get_string_param(sim::STRINGPARAM_SCENEDEFAULTDIR)?;
+
+    client.sim_load_scene(format!("{path}/messaging/pControllerViaRemoteApi.ttt"))?;
+
 
     let joint_handle = client.sim_get_object("/Cuboid[0]/joint".to_string(), None)?;
     let mut join_angle = client.sim_get_joint_position(joint_handle)?;
@@ -73,7 +76,7 @@ fn main() -> Result<(), RemoteAPIError> {
         &joint_handle,
     )?;
 
-    client.sim_stop_simulation()?;
+    client.sim_stop_simulation(Some(true))?;
 
     println!("Program ended");
     Ok(())

examples/sim_ik_example.rs

@@ -25,6 +25,9 @@ fn main() -> Result<(), RemoteAPIError> {
         host: "localhost".to_string(),
         ..RemoteApiClientParams::default()
     })?;
+    let path = std::env::var("CARGO_MANIFEST_DIR").unwrap();
+
+    client.sim_load_scene(format!("{path}/scenes/redundantRobot.ttt"))?;
 
     // Must call require before usint sim_ik functions
     client.require(sim::Plugin::SimIK)?;

examples/simple_test.rs

@@ -70,7 +70,7 @@ fn main() -> Result<(), RemoteAPIError> {
     client.sim_test_cb(10, format!("{fn_cb}@func"), 20)?;
     client.sim_test_cb(10, format!("{closure_cb}@func"), 20)?;
 
-    client.sim_stop_simulation()?;
+    client.sim_stop_simulation(Some(false))?;
     // if you need to make sure we really stopped:
     while client.sim_get_simulation_state()? != sim::SIMULATION_STOPPED {
         std::thread::sleep(std::time::Duration::from_secs_f64(0.1))
@@ -87,10 +87,10 @@ fn main() -> Result<(), RemoteAPIError> {
         println!("{}", message);
         client.sim_add_log(sim::VERBOSITY_SCRIPTINFOS, message)?;
     }
-    client.sim_stop_simulation()?;
+    client.sim_stop_simulation(Some(true))?;
 
     //Remove the dummies created earlier:
-    client.sim_remove_objects(handles)?;
+    client.sim_remove_objects(handles, None)?;
 
     //Restore the original idle loop frequency:
     client.sim_set_int32_param(sim::INTPARAM_IDLE_FPS, default_idle_fps)?;

examples/synchronous_image_transmission.rs

@@ -1,5 +1,5 @@
 use coppeliasim_zmq_remote_api::{
-    sim::Sim, RemoteAPIError, RemoteApiClient, RemoteApiClientParams,
+    sim::{self, Sim}, RemoteAPIError, RemoteApiClient, RemoteApiClientParams,
 };
 
 /* Based on synchronousImageTransmission.cpp example
@@ -21,6 +21,10 @@ fn main() -> Result<(), RemoteAPIError> {
         ..RemoteApiClientParams::default()
     })?;
 
+    let path = client.sim_get_string_param(sim::STRINGPARAM_SCENEDEFAULTDIR)?;
+
+    client.sim_load_scene(format!("{path}/messaging/synchronousImageTransmissionViaRemoteApi.ttt"))?;
+
     let vision_sensor_handle = client.sim_get_object("/VisionSensor".to_string(), None)?;
 
     let passive_vision_sensor_handle =
@@ -40,7 +44,7 @@ fn main() -> Result<(), RemoteAPIError> {
         client.sim_step()?;
     }
 
-    client.sim_stop_simulation()?;
+    client.sim_stop_simulation(Some(false))?;
 
     println!("Program ended");