add Matlab and Python remote control code

6_Demo_MatlabAndPythonControl/matlab/VREP_RemoteAPIs/complexCommandTest.m

@@ -0,0 +1,57 @@
+% This example illustrates how to execute complex commands from
+% a remote API client. You can also use a similar construct for
+% commands that are not directly supported by the remote API.
+%
+% Load the demo scene 'remoteApiCommandServerExample.ttt' in CoppeliaSim, then 
+% start the simulation and run this program.
+%
+% IMPORTANT: for each successful call to simxStart, there
+% should be a corresponding call to simxFinish at the end!
+
+function complexCommandTest()
+
+    disp('Program started');
+    % sim=remApi('remoteApi','extApi.h'); % using the header (requires a compiler)
+    sim=remApi('remoteApi'); % using the prototype file (remoteApiProto.m)
+    sim.simxFinish(-1); % just in case, close all opened connections
+    clientID=sim.simxStart('127.0.0.1',19999,true,true,5000,5);
+
+    if (clientID>-1)
+        disp('Connected to remote API server');
+
+        % 1. First send a command to display a specific message in a dialog box:
+        [res retInts retFloats retStrings retBuffer]=sim.simxCallScriptFunction(clientID,'remoteApiCommandServer',sim.sim_scripttype_childscript,'displayText_function',[],[],'Hello world!',[],sim.simx_opmode_blocking);
+        if (res==sim.simx_return_ok)
+            fprintf('Returned message: %s\n',retStrings);
+        else
+            fprintf('Remote function call failed\n');
+        end
+
+        % 2. Now create a dummy object at coordinate 0.1,0.2,0.3 with name 'MyDummyName':
+        [res retInts retFloats retStrings retBuffer]=sim.simxCallScriptFunction(clientID,'remoteApiCommandServer',sim.sim_scripttype_childscript,'createDummy_function',[],[0.1 0.2 0.3],'MyDummyName',[],sim.simx_opmode_blocking);
+        if (res==sim.simx_return_ok)
+            fprintf('Dummy handle: %d\n',retInts(1));
+        else
+            fprintf('Remote function call failed\n');
+        end
+
+        % 3. Now send a code string to execute some random functions:
+        code=['local octreeHandle=simCreateOctree(0.5,0,1)', char(10), ...
+            'simInsertVoxelsIntoOctree(octreeHandle,0,{0.1,0.1,0.1},{255,0,255})', char(10), ...
+            'return ''done'''];
+        [res retInts retFloats retStrings retBuffer]=sim.simxCallScriptFunction(clientID,'remoteApiCommandServer',sim.sim_scripttype_childscript,'executeCode_function',[],[],code,[],sim.simx_opmode_blocking);
+        if (res==sim.simx_return_ok)
+            fprintf('Code execution returned: %s\n',retStrings);
+        else
+            fprintf('Remote function call failed\n');
+        end
+
+        % Now close the connection to CoppeliaSim:    
+        sim.simxFinish(clientID);
+    else
+        disp('Failed connecting to remote API server');
+    end
+    sim.delete(); % call the destructor!
+
+    disp('Program ended');
+end

6_Demo_MatlabAndPythonControl/matlab/VREP_RemoteAPIs/readMe.txt

@@ -0,0 +1,18 @@
+Make sure you have following files in your directory, in order to run the various examples:
+
+1. remApi.m
+2. remoteApiProto.m
+3. the appropriate remote API library: "remoteApi.dll" (Windows), "remoteApi.dylib" (Mac) or "remoteApi.so" (Linux)
+4. simpleTest.m (or any other example program)
+
+-------------------------------------------------------------------
+
+If you choose not to use the prototype file ("remoteApiProto.m"), then you will have to make sure you have a compiler
+set-up for Matlab (mex -setup). You will also need "extApi.h" in this folder, and you will have to instanciate the
+remote API with "sim=remApi('remoteApi','extApi.h');" instead of "sim=remApi('remoteApi');"
+
+Finally, if you wish to rebuild the prototype file, you will have to comply with above conditions, then type:
+
+loadlibrary('remoteApi','extApi.h','mfilename','remoteApiProto')
+
+For more examples, have a look at the python folder: language is different but principles are the same