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allow pybullet to connect to GRPC server. (need to use flag --enable_grpc in premake build system)

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add grpcPlugin, it can work in GUI, SHARED_MEMORY_SERVER, DIRECT and other modes.
example script to start server from pybullet:
import pybullet as p
p.connect(p.GUI)
#if statically linked plugin
id = p.loadPlugin("grpcPlugin")
#dynamics loading the plugin
#id = p.loadPlugin("E:/develop/bullet3/bin/pybullet_grpcPlugin_vs2010_x64_debug.dll", postFix="_grpcPlugin")

#start the GRPC server at hostname, port
if (id>=0):
	p.executePluginCommand(id, "localhost:1234")

Only in DIRECT mode, since there is no 'ping' you need to call to handle RCPs:
numRPC = 10
while (1):
	p.executePluginCommand(id, intArgs=[numRPC])
This commit is contained in:
erwincoumans
2018-09-05 17:58:14 -07:00
parent 31b06f508a
commit 0efc67841d
22 changed files with 11620 additions and 8387 deletions
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103
build3/premake4.lua
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@@ -23,6 +23,9 @@
act = _ACTION
end
projectRootDir = os.getcwd() .. "/../"
print("Project root directory: " .. projectRootDir);
newoption {
trigger = "ios",
description = "Enable iOS target (requires xcode4)"
@@ -79,19 +82,23 @@
if os.is("Linux") then
default_grpc_include_dir = "usr/local/include/GRPC"
default_grpc_lib_dir = "/usr/local/lib/"
default_grpc_lib_dir = "/usr/local/lib"
default_protobuf_include_dir = "/usr/local/include/protobuf"
default_protobuf_lib_dir = "/usr/local/lib"
end
if os.is("macosx") then
default_grpc_include_dir = "/usr/local/Cellar/grpc/1.14.1/include"
default_grpc_lib_dir = "/usr/local/Cellar/grpc/1.14.1/lib"
default_protobuf_include_dir = "/usr/local/Cellar/protobuf/3.6.0/include/"
default_protobuf_include_dir = "/usr/local/Cellar/protobuf/3.6.0/include"
default_protobuf_lib_dir = "/usr/local/Cellar/protobuf/3.6.0/lib"
end
if os.is("Windows") then
default_grpc_include_dir = "c:/grpc/include"
default_grpc_lib_dir = "c:/grpc/lib"
default_grpc_include_dir = projectRootDir .. "examples/ThirdPartyLibs/grpc/include"
default_grpc_lib_dir = projectRootDir .. "examples/ThirdPartyLibs/grpc/lib"
default_protobuf_include_dir =projectRootDir .. "examples/ThirdPartyLibs/grpc/include"
default_protobuf_lib_dir = projectRootDir .. "examples/ThirdPartyLibs/grpc/lib"
end
newoption
@@ -124,27 +131,80 @@
}
if not _OPTIONS["grpc_lib_dir"] then
_OPTIONS["grpc_lib_dir"] = default_grpc_lib_dir
end
if not _OPTIONS["grpc_include_dir"] then
_OPTIONS["grpc_include_dir"] = default_grpc_include_dir
end
if not _OPTIONS["protobuf_include_dir"] then
_OPTIONS["protobuf_include_dir"] = default_protobuf_include_dir
end
if not _OPTIONS["protobuf_lib_dir"] then
_OPTIONS["protobuf_lib_dir"] = default_protobuf_lib_dir
end
if _OPTIONS["enable_grpc"] then
function initGRPC()
print "BT_ENABLE_GRPC"
print("grpc_include_dir=")
print(_OPTIONS["grpc_include_dir"])
print("grpc_lib_dir=")
print(_OPTIONS["grpc_lib_dir"])
print("protobuf_include_dir=")
print(_OPTIONS["protobuf_include_dir"])
print("protobuf_lib_dir=")
print(_OPTIONS["protobuf_lib_dir"])
defines {"BT_ENABLE_GRPC"}
if os.is("macosx") then
buildoptions { "-std=c++11" }
links{ "dl"}
end
if os.is("Linux") then
buildoptions { "-std=c++11" }
links{ "dl"}
end
if os.is("Windows") then
defines {"_WIN32_WINNT=0x0600"}
links{ "zlibstatic","ssl","crypto"}
end
defines {"BT_ENABLE_GRPC"}
includedirs {
projectRootDir .. "examples/SharedMemory", _OPTIONS["grpc_include_dir"], _OPTIONS["protobuf_include_dir"],
}
includedirs {
_OPTIONS["grpc_include_dir"], _OPTIONS["protobuf_include_dir"],
}
libdirs {
_OPTIONS["grpc_lib_dir"], _OPTIONS["protobuf_lib_dir"],
}
links { "grpc","grpc++", "grpc++_reflection", "gpr", "protobuf", "dl"}
files { projectRootDir .. "examples/SharedMemory/grpc/ConvertGRPCBullet.cpp",
projectRootDir .. "examples/SharedMemory/grpc/ConvertGRPCBullet.h",
projectRootDir .. "examples/SharedMemory/grpc/pybullet.grpc.pb.cpp",
projectRootDir .. "examples/SharedMemory/grpc/pybullet.grpc.pb.h",
projectRootDir .. "examples/SharedMemory/grpc/pybullet.pb.cpp",
projectRootDir .. "examples/SharedMemory/grpc/pybullet.pb.h", }
end
if os.is("Windows") then
configuration {"x64", "debug"}
libdirs {_OPTIONS["grpc_lib_dir"] .. "/win64_debug" , _OPTIONS["protobuf_lib_dir"] .. "win64_debug",}
configuration {"x86", "debug"}
libdirs {_OPTIONS["grpc_lib_dir"] .. "/win32_debug" , _OPTIONS["protobuf_lib_dir"] .. "win32_debug",}
configuration {"x64", "release"}
libdirs {_OPTIONS["grpc_lib_dir"] .. "/win64_release", _OPTIONS["protobuf_lib_dir"] .. "win64_release",}
configuration {"x86", "release"}
libdirs {_OPTIONS["grpc_lib_dir"] .. "/win32_release" , _OPTIONS["protobuf_lib_dir"] .. "win32_release",}
configuration{}
else
libdirs {_OPTIONS["grpc_lib_dir"], _OPTIONS["protobuf_lib_dir"],}
end
links { "grpc","grpc++", "grpc++_reflection", "gpr", "protobuf"}
files { projectRootDir .. "examples/SharedMemory/grpc/ConvertGRPCBullet.cpp",
projectRootDir .. "examples/SharedMemory/grpc/ConvertGRPCBullet.h",
projectRootDir .. "examples/SharedMemory/grpc/pybullet.grpc.pb.cpp",
projectRootDir .. "examples/SharedMemory/grpc/pybullet.grpc.pb.h",
projectRootDir .. "examples/SharedMemory/grpc/pybullet.pb.cpp",
projectRootDir .. "examples/SharedMemory/grpc/pybullet.pb.h", }
end
end
@@ -337,8 +397,7 @@ end
targetdir( _OPTIONS["targetdir"] or "../bin" )
location("./" .. act .. postfix)
projectRootDir = os.getcwd() .. "/../"
print("Project root directory: " .. projectRootDir);
if not _OPTIONS["python_include_dir"] then
_OPTIONS["python_include_dir"] = default_python_include_dir