add remote function calls, small refactor, update README

Author: Troxid

README.md

@@ -5,9 +5,7 @@ Simple Scala binding for
 ## Getting started
 1. Add the library in your sbt project by simply adding the following dependency to your build file:
 ```scala
-resolvers += "Sonatype OSS Snapshots" at "https://oss.sonatype.org/content/repositories/snapshots"
-
-libraryDependencies += "com.github.troxid" %% "vrepapiscala" % "0.1-SNAPSHOT"
+libraryDependencies += "com.github.troxid" %% "vrepapiscala" % "0.2.1"
 ```
 2. Copy platform-specific native library from
     `V-REP/programming/remoteApiBindings/java/lib/`
@@ -23,12 +21,12 @@ Basically implemented those components that are required to control the robot:
 * Proximity sensor
 * Vision sensor
 * Force sensor
-* Navigation sensor (used for that dummy object)
+* Position sensor (used for that dummy or shape object)
+* Remote function calls
 
 ## Example
 ```scala
 import vrepapiscala._
-import vrepapiscala.sensors.ProximitySensor
 
 object PioneerRemoteControlExample extends App {
   val api = VRepAPI.connect("127.0.0.1", 19997).get
@@ -37,27 +35,28 @@ object PioneerRemoteControlExample extends App {
   api.simulation.start()
 
   for(_ <- 0 to 500){
-    Thread.sleep(10)
-    robot.leftAndRightSensor match {
-      case (ProximitySensor.Values(true, dp, _, _), _) if dp.length < 0.5=>
-        robot.rotateRight()
-      case (_, ProximitySensor.Values(true, dp, _, _)) if dp.length < 0.5=>
-        robot.rotateLeft()
-      case _ =>
-        robot.moveForward()
+    val resLS = robot.leftSensor.read
+    val resRS = robot.rightSensor.read
+    if(resLS.detectionState && resLS.detectedPoint.length < 0.5){
+      robot.rotateRight()
+    }else if(resRS.detectionState && resRS.detectedPoint.length < 0.5){
+      robot.rotateLeft()
+    } else {
+      robot.moveForward()
     }
+    Thread.sleep(10)
   }
 
   api.simulation.stop()
 }
 
 class PioneerP3dx(api: VRepAPI) {
   private val speed = 2f
-  private val leftMotor = api.joint.withVelocityControl("Pioneer_p3dx_leftMotor")
-  private val rightMotor = api.joint.withVelocityControl("Pioneer_p3dx_rightMotor")
+  private val leftMotor = api.joint.withVelocityControl("Pioneer_p3dx_leftMotor").get
+  private val rightMotor = api.joint.withVelocityControl("Pioneer_p3dx_rightMotor").get
   private val frontSensors =
     for(i <- 1 to 8)
-      yield api.sensor.proximitySensor("Pioneer_p3dx_ultrasonicSensor" + i)
+      yield api.sensor.proximity("Pioneer_p3dx_ultrasonicSensor" + i).get
 
   def moveForward(): Unit = {
     leftMotor.setTargetVelocity(speed)
@@ -84,7 +83,9 @@ class PioneerP3dx(api: VRepAPI) {
     rightMotor.setTargetVelocity(0)
   }
 
-  def leftAndRightSensor = (frontSensors(1).read, frontSensors(6).read)
+  def leftSensor = frontSensors(1)
+
+  def rightSensor = frontSensors(6)
 }
 ```
 

build.sbt

@@ -1,8 +1,9 @@
+
 name := "vrepapiscala"
 
-version := "0.1-SNAPSHOT"
+version := "0.2.1"
 
-scalaVersion := "2.11.7"
+scalaVersion := "2.11.8"
 
 organization := "com.github.troxid"
 

examples/PioneerRemoteControlExample.scala examples/src/main/scala/vrepapiscala/example/PioneerRemoteControlExample.scala

@@ -1,9 +1,9 @@
 /**
   * Created by troxid on 09.06.2015.
   */
+package vrepapiscala.example
 
-import vrepapiscala._
-import vrepapiscala.sensors.ProximitySensor
+import vrepapiscala.VRepAPI
 
 object PioneerRemoteControlExample extends App {
   val api = VRepAPI.connect("127.0.0.1", 19997).get
@@ -12,27 +12,28 @@ object PioneerRemoteControlExample extends App {
   api.simulation.start()
 
   for(_ <- 0 to 500){
-    Thread.sleep(10)
-    robot.leftAndRightSensor match {
-      case (ProximitySensor.Values(true, dp, _, _), _) if dp.length < 0.5=>
-        robot.rotateRight()
-      case (_, ProximitySensor.Values(true, dp, _, _)) if dp.length < 0.5=>
-        robot.rotateLeft()
-      case _ =>
-        robot.moveForward()
+    val resLS = robot.leftSensor.read
+    val resRS = robot.rightSensor.read
+    if(resLS.detectionState && resLS.detectedPoint.length < 0.5){
+      robot.rotateRight()
+    }else if(resRS.detectionState && resRS.detectedPoint.length < 0.5){
+      robot.rotateLeft()
+    } else {
+      robot.moveForward()
     }
+    Thread.sleep(10)
   }
 
   api.simulation.stop()
 }
 
 class PioneerP3dx(api: VRepAPI) {
   private val speed = 2f
-  private val leftMotor = api.joint.withVelocityControl("Pioneer_p3dx_leftMotor")
-  private val rightMotor = api.joint.withVelocityControl("Pioneer_p3dx_rightMotor")
+  private val leftMotor = api.joint.withVelocityControl("Pioneer_p3dx_leftMotor").get
+  private val rightMotor = api.joint.withVelocityControl("Pioneer_p3dx_rightMotor").get
   private val frontSensors =
     for(i <- 1 to 8)
-      yield api.sensor.proximitySensor("Pioneer_p3dx_ultrasonicSensor" + i)
+      yield api.sensor.proximity("Pioneer_p3dx_ultrasonicSensor" + i).get
 
   def moveForward(): Unit = {
     leftMotor.setTargetVelocity(speed)
@@ -59,7 +60,8 @@ class PioneerP3dx(api: VRepAPI) {
     rightMotor.setTargetVelocity(0)
   }
 
-  def leftAndRightSensor = (frontSensors(1).read, frontSensors(6).read)
+  def leftSensor = frontSensors(1)
 
+  def rightSensor = frontSensors(6)
 }
 

src/main/java/coppelia/remoteApi.java

@@ -1,6 +1,6 @@
 // This file is part of the REMOTE API
 // 
-// Copyright 2006-2015 Coppelia Robotics GmbH. All rights reserved. 
+// Copyright 2006-2016 Coppelia Robotics GmbH. All rights reserved. 
 // marc@coppeliarobotics.com
 // www.coppeliarobotics.com
 // 
@@ -24,7 +24,7 @@
 // along with the REMOTE API.  If not, see <http://www.gnu.org/licenses/>.
 // -------------------------------------------------------------------
 //
-// This file was automatically created for V-REP release V3.2.3 rev4 on December 21st 2015
+// This file was automatically created for V-REP release V3.3.0 on February 19th 2016
 
 package coppelia;
 
@@ -142,6 +142,7 @@ public class remoteApi
 	public native int simxQuery(int clientID,final String signalName, final CharWA signalValue,final String retSignalName, CharWA retSignalValue, int timeOutInMs);
 	public native int simxGetObjectGroupData(int clientID,int objectType,int dataType,IntWA handles,IntWA intData,FloatWA floatData,StringWA stringData,int operationMode);
 	public native int simxGetObjectVelocity(int clientID,int objectHandle, FloatWA linearVelocity, FloatWA angularVelocity, int operationMode);
+	public native int simxCallScriptFunction(int clientID,final String scriptDescription,int options,final String functionName,final IntWA inInts,final FloatWA inFloats,final StringWA inStrings,final CharWA inBuffer,IntWA outInts,FloatWA outFloats,StringWA outStrings,CharWA outBuffer,int operationMode);
 
 
 	public static final int SIMX_HEADER_SIZE = 18;
@@ -408,7 +409,6 @@ public class remoteApi
 	public static final int sim_simulation_advancing = 16;								/* Simulation is advancing */
 	public static final int sim_simulation_advancing_firstafterstop =16 |0;		/* First simulation pass (1x) */
 	public static final int sim_simulation_advancing_running = 16|1;		/* Normal simulation pass (>=1x) */
-	/* reserved									=sim_simulation_advancing|0x02, */
 	public static final int sim_simulation_advancing_lastbeforepause = 16|3;		/* Last simulation pass before pause (1x) */
 	public static final int sim_simulation_advancing_firstafterpause = 16|4;		/* First simulation pass after pause (1x) */
 	public static final int sim_simulation_advancing_abouttostop = 16|5;		/* "Trying to stop" simulation pass (>=1x) */
@@ -425,9 +425,10 @@ public class remoteApi
 	/* Script types (serialized!) */
 	public static final int sim_scripttype_mainscript = 0;
 	public static final int sim_scripttype_childscript = 1;
-	public static final int sim_scripttype_pluginscript = 2;
-	public static final int sim_scripttype_threaded = 240;		/* Combine with one of above's type values */
-		
+	public static final int sim_scripttype_jointctrlcallback = 4;
+	public static final int sim_scripttype_contactcallback = 5;
+	public static final int sim_scripttype_customizationscript = 6;
+	public static final int sim_scripttype_generalcallback = 7;
 
 	/* API call error messages */
 	public static final int sim_api_errormessage_ignore = 0;	/* does not memorize nor output errors */
@@ -723,7 +724,7 @@ public class remoteApi
 	/* Command return codes */
 	public static final int simx_return_ok = 0;
 	public static final int simx_return_novalue_flag = 1;		/* input buffer doesn't contain the specified command */
-	public static final int simx_return_timeout_flag = 2;		/* command reply not received in time for simx_opmode_oneshot_wait operation mode */
+	public static final int simx_return_timeout_flag = 2;		/* command reply not received in time for simx_opmode_blocking operation mode */
 	public static final int simx_return_illegal_opmode_flag = 4;		/* command doesn't support the specified operation mode */
 	public static final int simx_return_remote_error_flag = 8;		/* command caused an error on the server side */
 	public static final int simx_return_split_progress_flag = 16;		/* previous similar command not yet fully processed (applies to simx_opmode_oneshot_split operation modes) */
@@ -733,7 +734,7 @@ public class remoteApi
 	/* Following for backward compatibility (same as above) */
 	public static final int simx_error_noerror = 0;
 	public static final int simx_error_novalue_flag = 1;		/* input buffer doesn't contain the specified command */
-	public static final int simx_error_timeout_flag = 2;		/* command reply not received in time for simx_opmode_oneshot_wait operation mode */
+	public static final int simx_error_timeout_flag = 2;		/* command reply not received in time for simx_opmode_blocking operation mode */
 	public static final int simx_error_illegal_opmode_flag = 4;		/* command doesn't support the specified operation mode */
 	public static final int simx_error_remote_error_flag = 8;		/* command caused an error on the server side */
 	public static final int simx_error_split_progress_flag = 16;		/* previous similar command not yet fully processed (applies to simx_opmode_oneshot_split operation modes) */
@@ -743,6 +744,7 @@ public class remoteApi
 
 			/* Regular operation modes */
 	public static final int	simx_opmode_oneshot = 0;		/* sends command as one chunk. Reply will also come as one chunk. Doesn't wait for the reply. */
+	public static final int	simx_opmode_blocking = 65536;		/* sends command as one chunk. Reply will also come as one chunk. Waits for the reply (_REPLY_WAIT_TIMEOUT_IN_MS is the timeout). */
 	public static final int	simx_opmode_oneshot_wait = 65536;		/* sends command as one chunk. Reply will also come as one chunk. Waits for the reply (_REPLY_WAIT_TIMEOUT_IN_MS is the timeout). */
 	public static final int	simx_opmode_streaming = 131072;
 	public static final int	simx_opmode_continuous = 131072;

src/main/scala/vrepapiscala/CommandReturnCode.scala

@@ -5,25 +5,45 @@ import coppelia.remoteApi
 /**
   * Created by troxid on 22.11.15.
   */
-sealed trait CommandReturnCode
+sealed abstract class CommandReturnCode(val msg: String)
 object CommandReturnCode {
-  case class Ok()              extends CommandReturnCode
-  case class NoValue()         extends CommandReturnCode
-  case class TimeOut()         extends CommandReturnCode
-  case class IllegalOpMode()   extends CommandReturnCode
-  case class RemoteError()     extends CommandReturnCode
-  case class SplitProgress()   extends CommandReturnCode
-  case class LocalError()      extends CommandReturnCode
-  case class InitializeError() extends CommandReturnCode
+  case object Ok
+    extends CommandReturnCode("Ok")
+
+  case object NoValue
+    extends CommandReturnCode("Input buffer doesn't contain the specified command")
+
+  case object TimeOut
+    extends CommandReturnCode("Command reply not received in time for opmode_oneshot_wait operation mode")
+
+  case object IllegalOpMode
+    extends CommandReturnCode("Command doesn't support the specified operation mode")
+
+  case object RemoteError
+    extends CommandReturnCode("Command caused an error on the server side")
+
+  case object SplitProgress
+    extends CommandReturnCode("Previous similar command not yet fully processed " +
+      "(applies to opmode_oneshot_split operation modes)")
+
+  case object LocalError
+    extends CommandReturnCode("Command caused an error on the client side")
+
+  case object InitializeError
+    extends CommandReturnCode("simxStart was not yet called")
+
+  case class UndefCode(code: Int)
+    extends CommandReturnCode(s"Undefined return code: $code")
 
   def fromRaw(code: Int): CommandReturnCode = code match {
-    case remoteApi.simx_return_ok                    => Ok()
-    case remoteApi.simx_return_novalue_flag          => NoValue()
-    case remoteApi.simx_return_timeout_flag          => TimeOut()
-    case remoteApi.simx_return_illegal_opmode_flag   => IllegalOpMode()
-    case remoteApi.simx_return_remote_error_flag     => RemoteError()
-    case remoteApi.simx_return_split_progress_flag   => SplitProgress()
-    case remoteApi.simx_return_local_error_flag      => LocalError()
-    case remoteApi.simx_return_initialize_error_flag => InitializeError()
+    case remoteApi.simx_return_ok                    => Ok
+    case remoteApi.simx_return_novalue_flag          => NoValue
+    case remoteApi.simx_return_timeout_flag          => TimeOut
+    case remoteApi.simx_return_illegal_opmode_flag   => IllegalOpMode
+    case remoteApi.simx_return_remote_error_flag     => RemoteError
+    case remoteApi.simx_return_split_progress_flag   => SplitProgress
+    case remoteApi.simx_return_local_error_flag      => LocalError
+    case remoteApi.simx_return_initialize_error_flag => InitializeError
+    case undefCode                                   => UndefCode(code)
   }
 }

src/main/scala/vrepapiscala/OpMode.scala

@@ -1,7 +1,6 @@
 package vrepapiscala
 
 import coppelia.remoteApi
-import coppelia.remoteApi._
 
 /**
   * Created by troxid on 22.11.15.
@@ -16,7 +15,7 @@ object OpMode {
     * @note Non-blocking mode.
     * @note Regular operation modes.
     */
-  case object OneShot     extends OpMode(simx_opmode_oneshot)
+  case object OneShot extends OpMode(simx_opmode_oneshot)
 
   /** The command is sent, and the function will wait for the actual reply
     * and return it (if the function doesn't time out). The received command reply will be removed
@@ -33,7 +32,7 @@ object OpMode {
     * @note Non-blocking mode.
     * @note Regular operation modes.
     */
-  case class Streaming(msDelay: Int = 0)   extends OpMode(simx_opmode_streaming + msDelay){
+  case class Streaming(msDelay: Int = 0) extends OpMode(simx_opmode_streaming + msDelay){
     require(msDelay >= 0 && msDelay <= 65535, "Alpha must be between 0-65535")
   }
 
@@ -50,7 +49,7 @@ object OpMode {
     * @note Operation modes for heavy data.
     * @note Not recommended
     */
-  case class OneShotSplit(chunkSize: Int = 100)    extends OpMode(simx_opmode_oneshot_split + chunkSize){
+  case class OneShotSplit(chunkSize: Int = 100) extends OpMode(simx_opmode_oneshot_split + chunkSize){
     require(chunkSize >= 100 && chunkSize <= 65535, "Beta must be between 100-65535")
   }
 
@@ -65,7 +64,7 @@ object OpMode {
     * @note Operation modes for heavy data.
     * @note Not recommended
     */
-  case class StreamingSplit(chunkSize: Int = 100)  extends OpMode(simx_opmode_streaming_split + chunkSize){
+  case class StreamingSplit(chunkSize: Int = 100) extends OpMode(simx_opmode_streaming_split + chunkSize){
     require(chunkSize >= 100 && chunkSize <= 65535, "Beta must be between 100-65535")
   }
 
@@ -86,7 +85,7 @@ object OpMode {
     * @note Non-blocking mode.
     * @note Special operation modes
     */
-  case object Buffer      extends OpMode(simx_opmode_buffer)
+  case object Buffer extends OpMode(simx_opmode_buffer)
 
   /**
     * A previous reply to the same command is cleared from the input buffer (if available).
@@ -95,5 +94,5 @@ object OpMode {
     * @note Non-blocking mode.
     * @note Special operation modes
     */
-  case object Remove     extends OpMode(simx_opmode_remove)
+  case object Remove extends OpMode(simx_opmode_remove)
 }