added some deprecaded functions for pController example works

c_transpiler/assets/sim.py

@@ -3,6 +3,33 @@
 
 class Sim(Protocol):
 
+    def setJointMaxForce(self,objectHandle:int, forceOrTorque:float)->None:
+        ...
+
+    def getJointMaxForce(self,jointHandle:int)->float:
+        ...
+
+    def createPureShape(self,primitiveType:int, options:int, sizes:list[float], mass:float, precision:Optional[list[int]] = None)->int:
+        ...
+
+    def removeObject(self,objectHandle:int)->None:
+        ...
+
+    def getVisionSensorDepthBuffer(self,sensorHandle:int, pos:Optional[list[int]] = None, size:Optional[list[int]] = None)->tuple[list[int], list[int]]:
+        ...
+
+    def getVisionSensorCharImage(self,sensorHandle:int, pos:Optional[list[int]] = None, size:Optional[list[int]] = None)->tuple[list[int], list[int]]:
+        ...
+
+    def setVisionSensorCharImage(self,sensorHandle:int, image:list[int])->None:
+        ...
+
+    def getObjectSelection(self)->list[int]:
+        ...
+
+    def setObjectSelection(self,objectHandles:list[float])->None:
+        ...
+
     def getStringSignal(self,signalName:str)->str:
         ...
 

c_transpiler/assets/sim.rs

@@ -1,6 +1,15 @@
 pub trait Sim : RemoteApiClientInterface {
     requests!{
 "sim",
+(sim_set_joint_max_force,"setJointMaxForce",(object_handle:i64,force_or_torque:f64)->()),
+(sim_get_joint_max_force,"getJointMaxForce",(joint_handle:i64)->f64),
+(sim_create_pure_shape,"createPureShape",(primitive_type:i64,options:i64,sizes:Vec<f64>,mass:f64),opt(precision:Vec<i64>)->i64),
+(sim_remove_object,"removeObject",(object_handle:i64)->()),
+(sim_get_vision_sensor_depth_buffer,"getVisionSensorDepthBuffer",(sensor_handle:i64),opt(pos:Vec<i64>,size:Vec<i64>)->(Vec<u8>,Vec<i64>)),
+(sim_get_vision_sensor_char_image,"getVisionSensorCharImage",(sensor_handle:i64),opt(pos:Vec<i64>,size:Vec<i64>)->(Vec<u8>,Vec<i64>)),
+(sim_set_vision_sensor_char_image,"setVisionSensorCharImage",(sensor_handle:i64,image:Vec<u8>)->()),
+(sim_get_object_selection,"getObjectSelection"->Vec<i64>),
+(sim_set_object_selection,"setObjectSelection",(object_handles:Vec<f64>)->()),
 (sim_get_string_signal,"getStringSignal",(signal_name:String)->String),
 (sim_get_int32_signal,"getInt32Signal",(signal_name:String)->Option<i64>),
 (sim_get_float_signal,"getFloatSignal",(signal_name:String)->Option<f64>),

c_transpiler/assets/sim_api_header.h

@@ -1,3 +1,24 @@
+// DEPRECATED/BACKCOMPATIBILITY START
+void setJointMaxForce(int64_t objectHandle, double forceOrTorque);
+double getJointMaxForce(int64_t jointHandle);
+int64_t createPureShape(int64_t primitiveType, int64_t options,
+                        std::vector<double> sizes, double mass,
+                        std::optional<std::vector<int64_t>> precision = {});
+void removeObject(int64_t objectHandle);
+std::tuple<std::vector<uint8_t>, std::vector<int64_t>>
+getVisionSensorDepthBuffer(int64_t sensorHandle,
+                           std::optional<std::vector<int64_t>> pos = {},
+                           std::optional<std::vector<int64_t>> size = {});
+std::tuple<std::vector<uint8_t>, std::vector<int64_t>>
+getVisionSensorCharImage(int64_t sensorHandle,
+                         std::optional<std::vector<int64_t>> pos = {},
+                         std::optional<std::vector<int64_t>> size = {});
+void setVisionSensorCharImage(int64_t sensorHandle, std::vector<uint8_t> image);
+
+std::vector<int64_t> getObjectSelection();
+void setObjectSelection(std::vector<double> objectHandles);
+// DEPRECATED/BACKCOMPATIBILITY START
+
 // SPECIAL START
 std::string getStringSignal(std::string signalName);
 std::optional<int64_t> getInt32Signal(std::string signalName);

examples/p_controller.rs

@@ -89,7 +89,7 @@ fn move_to_angle<S: Sim>(
     while (target_angle - *join_angle).abs() > 0.1 * PI / 180.0 {
         let velocity = compute_target_velocity(target_angle, *join_angle);
         sim.sim_set_joint_target_velocity(*joint_handle, velocity, None)?;
-        sim.sim_set_joint_target_force(*joint_handle, MAX_FORCE, None)?;
+        sim.sim_set_joint_max_force(*joint_handle, MAX_FORCE)?;
         client.sim_step()?;
         *join_angle = sim.sim_get_joint_position(*joint_handle)?;
     }

src/remote_api_objects/sim/tests.rs

@@ -65,26 +65,28 @@ fn test_simple_test_functions() -> Result<(), RemoteAPIError> {
 
 #[test]
 fn test_p_controller_functions() -> Result<(), RemoteAPIError> {
-    let sim = MockRemoteAPIClient::new_sucess();
+    let mut sim = MockRemoteAPIClient::new_sucess();
+    sim.uuid = "92e1fde9-2d2c-4258-aafc-06d89efb8a7a".to_string();
 
     let id = sim.sim_get_object("/Cuboid[0]/joint".to_string(), None)?;
     assert_eq!(id, 1);
-    assert_payload!(sim, b"\xa2dfuncmsim.getObjectdargs\x81p/Cuboid[0]/joint");
+    assert_payload!(sim,b"\xa5dfuncmsim.getObjectdargs\x81p/Cuboid[0]/jointduuidx$92e1fde9-2d2c-4258-aafc-06d89efb8a7acver\x02dlangdrust");
 
     *sim.result.borrow_mut() = json!({"ret":[1.2],"success":true});
     let pos = sim.sim_get_joint_position(9)?;
     assert_eq!(pos, 1.2);
-    assert_payload!(sim, b"\xa2dfunctsim.getJointPositiondargs\x81\t");
+    assert_payload!(sim, b"\xa5dfunctsim.getJointPositiondargs\x81\tduuidx$92e1fde9-2d2c-4258-aafc-06d89efb8a7acver\x02dlangdrust"
+);
 
     *sim.result.borrow_mut() = json!({"ret":[1],"success":true});
     sim.sim_set_joint_target_velocity(9, std::f64::consts::TAU, None)?;
     assert_payload!(
         sim,
-        b"\xa2dfuncx\x1asim.setJointTargetVelocitydargs\x82\t\xfb@\x19!\xfbTD-\x18"
+b"\xa5dfuncx\x1asim.setJointTargetVelocitydargs\x82\t\xfb@\x19!\xfbTD-\x18duuidx$92e1fde9-2d2c-4258-aafc-06d89efb8a7acver\x02dlangdrust"
     );
 
-    sim.sim_set_joint_target_force(9, 100.0, None)?;
-    assert_payload!(sim, b"\xa2dfunctsim.setJointMaxForcedargs\x82\t\xf9V@");
+    sim.sim_set_joint_max_force(9, 100.0)?;
+    assert_payload!(sim, b"\xa5dfunctsim.setJointMaxForcedargs\x82\t\xf9V@duuidx$92e1fde9-2d2c-4258-aafc-06d89efb8a7acver\x02dlangdrust");
 
     Ok(())
 }