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• Unofficial Rust zmqRemoteApi
  • Porting C++ client to Rust client
  • diferences between C++ client and Rust client
  • running the opencv example
  • Get started

Unofficial Rust zmqRemoteApi

This client support the coppeliasim 4.4.0 version

A Rust ZeroMQ remote API for coppeliasim

to run tests

cargo test

to run an example: make sure to open the correct coppeliasim scene and run the cargo command:

cargo run --example=simple_test

Perhaps you want to see the zmq communication logs. There is two logs levels:

• level 1: debug, debug level you will see the request in json format
• level 2: trace, trace level you will see the request in json and bytes format

RUST_LOG="trace" cargo run --example=simple_test

Porting C++ client to Rust client

The RemoteAPIObjects.h has 3750 lines of code, so to port all the functions, I create a kind of c_transpiler.

diferences between C++ client and Rust client

At moment the only difference encountered is in

std::vector<uint8_t> getStringSignal(std::string signalName);

in rust the function returns a std::String. I haven't observed any examples where the function returns a block of bytes.

running the opencv example

Get started

create a new rust project:

cargo new new_project

add this crate at your cargo.toml :

# the branch is the coppelia version
zmq_remote_api = { git = "https://github.com/samuel-cavalcanti/rust_zmqRemoteApi", branch = "CoppeliaSim_4.4.0"}

See this simple example to understand how to use this create.

Main Branch

the main branch use the smart pointers

// main branch
let client = 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());

Using smart pointer is easier than dealing with borrowing and life cycle.

// CoppeliaSim_4.4.0, CoppeliaSim_4.3.0

 let client = zmq_remote_api::RemoteApiClient::new(RemoteApiClientParams {
        host: "localhost".to_string(),
        ..RemoteApiClientParams::default()
    })?;

    let sim = Sim::new(&client);