vrep_sensor_test.java

import coppelia.CharWA;
import coppelia.FloatWA;
import coppelia.IntW;
import coppelia.remoteApi;

public class SensorTest
{
    public static void main(String[] args)
    {
        // Establish VREP Connection
        System.out.println("Establishing connection to remote API server");
        remoteApi vrep = new remoteApi();
        vrep.simxFinish(-1); // just in case, close all opened connections
        int clientId = vrep.simxStart("127.0.0.1",19997,true,true,5000,5);
        if (clientId == -1) {
            System.err.println("Failed connecting to remote API server");
            System.exit(1);
            return;
        }
        System.out.println("Connected to remote API server");
        vrep.simxAddStatusbarMessage(clientId, "SensorTest started", remoteApi.simx_opmode_oneshot);

        // Read sensor data
        CharWA measuredDataString = new CharWA(1000);
        vrep.simxReadStringStream(clientId, "measuredDataAtThisTime", measuredDataString, remoteApi.simx_opmode_streaming);
        FloatWA measuredData = new FloatWA(0);
        measuredData.initArrayFromCharArray(measuredDataString.getArray());
        printData(measuredData.getArray());

        // While we remain connected
        while(vrep.simxGetConnectionId(clientId) != -1) {
            if (vrep.simxReadStringStream(clientId, "measuredDataAtThisTime", measuredDataString, remoteApi.simx_opmode_buffer) == remoteApi.simx_return_ok) {
                measuredData.initArrayFromCharArray(measuredDataString.getArray());
                printData(measuredData.getArray());
            }
        }

        // Before closing the connection to V-REP, make sure that the last command sent out had time to arrive.
        IntW pingTime = new IntW(0);
        vrep.simxGetPingTime(clientId, pingTime);

        // Close the connection to V-REP
        vrep.simxFinish(clientId);
        System.out.println("Program ended");
    }

    static void printData(float[] data) {
        for (int i = 0; i < (data.length - 3); i += 3) {
            System.out.println(String.format("X: %+.3f Y: %+.3f Z: %+.3f", data[i], data[i+1], data[i+2]));
        }
        System.out.println("==============");
    }
}