zmqRemoteApi/clients/python/test1.py at master · CoppeliaRobotics/zmqRemoteApi · GitHub

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
# Testing

import time
import numpy as np

#from coppeliasim_zmqremoteapi_client import RemoteAPIClient
from zmqRemoteApi import RemoteAPIClient # use the local source code for testing

def reentranceCallback(a,b):
    return a,b

def reentranceCallbackFirst(a,b):
    ret1, ret2 = sim.testCB("Paul", reentranceCallback, "Jeanine", 1)
    assert ret1 == 'Paul' and ret2 == 'Jeanine'
    return a,b

def systemCallback(ui,button):
    print("button was clicked!")
    startTime = time.time()
    ret1, ret2 = sim.testCB("Paul", reentranceCallbackFirst, "Jeanine")
    assert ret1 == 'Paul' and ret2 == 'Jeanine'
    dt = time.time() - startTime
    print(f"Elapsed time: {dt} secs")

print('Program started')

client = RemoteAPIClient()
client.timeout = 5

sim = client.require('sim')
print("acquired 'sim' namespace")
simIK = client.require('simIK')

a = [1,2,3]
b = sim.packFloatTable(a)
c = sim.unpackFloatTable(b)
print(a)
print(c)

sim.loadScene('')

simIK.createEnvironment()

a = np.random.uniform(-1, 1, 2)
a = np.array(a, dtype=np.float32)
x, y = a
handles = sim.getObjectsInTree(sim.handle_scene)
sp = sim.getObjectPose(handles[0])
sim.setObjectPose(handles[0], [x, y, 0, 0, 0, 0, 1])
sim.setObjectPose(handles[0], sp)

simUI = client.require('simUI')
xml ='<ui title="Threaded"> <button text=" ***** Click me! ***** " on-click="systemCallback"/> </ui>'
ui=simUI.create(xml)
startTime = time.time()
print(f"Click button for 5 seconds")
while time.time() - startTime < 5:
    sim.handleExtCalls()

print(f"Click button for 3 seconds")
sim.wait(3, False)

print(f"Click button for 5 seconds")
sim.setStepping(True)
sim.startSimulation()
startTime = time.time()
while time.time() - startTime < 5:
    sim.step()
sim.stopSimulation(True)
sim.setStepping(False)

simUI.destroy(ui)

sim.startSimulation()
sim.wait(20, True)
print('Should be very close to 20: ', sim.getSimulationTime())
sim.stopSimulation(True)

for cnt in range(1000):
    print(f"Total iteration {cnt}/1000")
    totTime1 = 0.0
    totTime2 = 0.0
    totCnt = 0.0

    startATime = time.time()
    sim.setStepping(False)
    sim.startSimulation()
    itCnt = 0
    while sim.getSimulationTime() < 5:
        startTime = time.time()
        ret1, ret2 = sim.testCB("Paul",reentranceCallback,"Jeanine")
        assert ret1 == 'Paul' and ret2 == 'Jeanine'
        totTime1 += time.time() - startTime
        totCnt += 1.0
        startTime = time.time()
        sim.getInt32Param(sim.intparam_platform)
        sim.getInt32Param(sim.intparam_platform)
        sim.getInt32Param(sim.intparam_platform)
        sim.getInt32Param(sim.intparam_platform)
        sim.getInt32Param(sim.intparam_platform)
        sim.getInt32Param(sim.intparam_platform)
        sim.getInt32Param(sim.intparam_platform)
        sim.getInt32Param(sim.intparam_platform)
        sim.getInt32Param(sim.intparam_platform)
        sim.getInt32Param(sim.intparam_platform)
        totTime2 += time.time() - startTime
        itCnt += 1
    sim.stopSimulation(True)
    print(f"Average sim. step time (sim1): {(time.time() - startATime)/100} secs, {itCnt} iterations")

    startATime = time.time()
    sim.setStepping(True)
    sim.startSimulation()
    itCnt = 0
    while sim.getSimulationTime() < 5:
        startTime = time.time()
        ret1, ret2 = sim.testCB("Paul",reentranceCallback,"Jeanine")
        assert ret1 == 'Paul' and ret2 == 'Jeanine'
        totTime1 += time.time() - startTime
        totCnt += 1.0
        startTime = time.time()
        sim.getInt32Param(sim.intparam_platform)
        sim.getInt32Param(sim.intparam_platform)
        sim.getInt32Param(sim.intparam_platform)
        sim.getInt32Param(sim.intparam_platform)
        sim.getInt32Param(sim.intparam_platform)
        sim.getInt32Param(sim.intparam_platform)
        sim.getInt32Param(sim.intparam_platform)
        sim.getInt32Param(sim.intparam_platform)
        sim.getInt32Param(sim.intparam_platform)
        sim.getInt32Param(sim.intparam_platform)
        totTime2 += time.time() - startTime
        sim.step()
        itCnt += 1
    assert itCnt == 101
    sim.stopSimulation(True)
    print(f"Average sim. step time (sim2): {(time.time() - startATime)/100} secs, {itCnt} iterations")

    startATime = time.time()
    sim.setStepping(False)
    sim.startSimulation()
    itCnt = 0
    while sim.getSimulationTime() < 5:
        itCnt += 1
    sim.stopSimulation(True)
    print(f"Average sim. step time (sim3): {(time.time() - startATime)/100} secs, {itCnt} iterations")

    startATime = time.time()
    sim.setStepping(True)
    sim.startSimulation()
    itCnt = 0
    while sim.getSimulationTime() < 5:
        sim.step()
        itCnt += 1
    assert itCnt == 101
    sim.stopSimulation(True)
    print(f"Average sim. step time (sim4): {(time.time() - startATime)/100} secs, {itCnt} iterations")

    print(f"Average sim.testCB: {totTime1 / totCnt} secs")
    print(f"Average sim.getInt32Param: {totTime2 / (totCnt * 10)} secs")

print('Program ended')