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another step closer to useable shared memory C API

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(force/torque sensor needs new API)
in a nutshell, users of shared memory physics API should not
directly poke into shared memory, not fill 'SharedMemorCommand'
nor read SharedMemoryStatus directly. The C-API declares 'handles' for those,
to avoid it from happening.
This commit is contained in:
=
2015-09-16 23:09:10 -07:00
parent 4041748f55
commit 003a42478b
16 changed files with 671 additions and 489 deletions
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70
examples/SharedMemory/SharedMemoryCommands.h
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@@ -4,6 +4,8 @@
//this is a very experimental draft of commands. We will iterate on this API (commands, arguments etc)
#include "SharedMemoryPublic.h"
#ifdef __GNUC__
#include <stdint.h>
typedef int32_t smInt32_t;
@@ -22,51 +24,7 @@
typedef unsigned long long int smUint64_t;
#endif
enum EnumSharedMemoryClientCommand
{
CMD_LOAD_URDF,
CMD_SEND_BULLET_DATA_STREAM,
CMD_CREATE_BOX_COLLISION_SHAPE,
// CMD_DELETE_BOX_COLLISION_SHAPE,
// CMD_CREATE_RIGID_BODY,
// CMD_DELETE_RIGID_BODY,
CMD_CREATE_SENSOR,///enable or disable joint feedback for force/torque sensors
// CMD_REQUEST_SENSOR_MEASUREMENTS,//see CMD_REQUEST_ACTUAL_STATE/CMD_ACTUAL_STATE_UPDATE_COMPLETED
CMD_INIT_POSE,
CMD_SEND_PHYSICS_SIMULATION_PARAMETERS,
CMD_SEND_DESIRED_STATE,//todo: reconsider naming, for example SET_JOINT_CONTROL_VARIABLE?
CMD_REQUEST_ACTUAL_STATE,
CMD_REQUEST_DEBUG_LINES,
CMD_STEP_FORWARD_SIMULATION,
CMD_RESET_SIMULATION,
CMD_MAX_CLIENT_COMMANDS
};
enum EnumSharedMemoryServerStatus
{
CMD_SHARED_MEMORY_NOT_INITIALIZED=0,
CMD_WAITING_FOR_CLIENT_COMMAND,
//CMD_CLIENT_COMMAND_COMPLETED is a generic 'completed' status that doesn't need special handling on the client
CMD_CLIENT_COMMAND_COMPLETED,
//the server will skip unknown command and report a status 'CMD_UNKNOWN_COMMAND_FLUSHED'
CMD_UNKNOWN_COMMAND_FLUSHED,
CMD_URDF_LOADING_COMPLETED,
CMD_URDF_LOADING_FAILED,
CMD_BULLET_DATA_STREAM_RECEIVED_COMPLETED,
CMD_BULLET_DATA_STREAM_RECEIVED_FAILED,
CMD_BOX_COLLISION_SHAPE_CREATION_COMPLETED,
CMD_RIGID_BODY_CREATION_COMPLETED,
CMD_SET_JOINT_FEEDBACK_COMPLETED,
CMD_ACTUAL_STATE_UPDATE_COMPLETED,
CMD_ACTUAL_STATE_UPDATE_FAILED,
CMD_DEBUG_LINES_COMPLETED,
CMD_DEBUG_LINES_OVERFLOW_FAILED,
CMD_DESIRED_STATE_RECEIVED_COMPLETED,
CMD_STEP_FORWARD_SIMULATION_COMPLETED,
CMD_MAX_SERVER_COMMANDS
};
#define SHARED_MEMORY_SERVER_TEST_C
#define MAX_DEGREE_OF_FREEDOM 256
@@ -108,13 +66,7 @@ struct SetJointFeedbackArgs
int m_isEnabled;
};
//todo: discuss and decide about control mode and combinations
enum {
// POSITION_CONTROL=0,
CONTROL_MODE_VELOCITY=0,
CONTROL_MODE_TORQUE,
CONTROL_MODE_POSITION_VELOCITY_PD,
};
///InitPoseArgs is mainly to initialize (teleport) the robot in a particular position
///No motors or controls are needed to initialize the pose. It is similar to
@@ -294,22 +246,6 @@ struct SharedMemoryStatus
typedef struct SharedMemoryStatus SharedMemoryStatus_t;
enum JointInfoFlags
{
JOINT_HAS_MOTORIZED_POWER=1,
};
struct b3JointInfo
{
char* m_linkName;
char* m_jointName;
int m_jointType;
int m_qIndex;
int m_uIndex;
///
int m_flags;
};
#endif //SHARED_MEMORY_COMMANDS_H