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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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2
examples/SharedMemory/grpc/premake4.lua
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@@ -5,7 +5,7 @@ project ("App_PhysicsServerSharedMemoryBridgeGRPC")
kind "ConsoleApp"
includedirs {"../../ThirdPartyLibs/clsocket/src","../../../src",".."}
includedirs {"../../../src",".."}
initGRPC()

33
examples/SharedMemory/grpc/pybullet.grpc.pb.cpp
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@@ -5,14 +5,14 @@
#include "pybullet.pb.h"
#include "pybullet.grpc.pb.h"
#include <grpcpp/impl/codegen/async_stream.h>
#include <grpcpp/impl/codegen/async_unary_call.h>
#include <grpcpp/impl/codegen/channel_interface.h>
#include <grpcpp/impl/codegen/client_unary_call.h>
#include <grpcpp/impl/codegen/method_handler_impl.h>
#include <grpcpp/impl/codegen/rpc_service_method.h>
#include <grpcpp/impl/codegen/service_type.h>
#include <grpcpp/impl/codegen/sync_stream.h>
#include <grpc++/impl/codegen/async_stream.h>
#include <grpc++/impl/codegen/async_unary_call.h>
#include <grpc++/impl/codegen/channel_interface.h>
#include <grpc++/impl/codegen/client_unary_call.h>
#include <grpc++/impl/codegen/method_handler_impl.h>
#include <grpc++/impl/codegen/rpc_service_method.h>
#include <grpc++/impl/codegen/service_type.h>
#include <grpc++/impl/codegen/sync_stream.h>
namespace pybullet_grpc {
static const char* PyBulletAPI_method_names[] = {
@@ -20,32 +20,27 @@ static const char* PyBulletAPI_method_names[] = {
};
std::unique_ptr< PyBulletAPI::Stub> PyBulletAPI::NewStub(const std::shared_ptr< ::grpc::ChannelInterface>& channel, const ::grpc::StubOptions& options) {
(void)options;
std::unique_ptr< PyBulletAPI::Stub> stub(new PyBulletAPI::Stub(channel));
return stub;
}
PyBulletAPI::Stub::Stub(const std::shared_ptr< ::grpc::ChannelInterface>& channel)
: channel_(channel), rpcmethod_SubmitCommand_(PyBulletAPI_method_names[0], ::grpc::internal::RpcMethod::NORMAL_RPC, channel)
: channel_(channel), rpcmethod_SubmitCommand_(PyBulletAPI_method_names[0], ::grpc::RpcMethod::NORMAL_RPC, channel)
{}
::grpc::Status PyBulletAPI::Stub::SubmitCommand(::grpc::ClientContext* context, const ::pybullet_grpc::PyBulletCommand& request, ::pybullet_grpc::PyBulletStatus* response) {
return ::grpc::internal::BlockingUnaryCall(channel_.get(), rpcmethod_SubmitCommand_, context, request, response);
return ::grpc::BlockingUnaryCall(channel_.get(), rpcmethod_SubmitCommand_, context, request, response);
}
::grpc::ClientAsyncResponseReader< ::pybullet_grpc::PyBulletStatus>* PyBulletAPI::Stub::AsyncSubmitCommandRaw(::grpc::ClientContext* context, const ::pybullet_grpc::PyBulletCommand& request, ::grpc::CompletionQueue* cq) {
return ::grpc::internal::ClientAsyncResponseReaderFactory< ::pybullet_grpc::PyBulletStatus>::Create(channel_.get(), cq, rpcmethod_SubmitCommand_, context, request, true);
}
::grpc::ClientAsyncResponseReader< ::pybullet_grpc::PyBulletStatus>* PyBulletAPI::Stub::PrepareAsyncSubmitCommandRaw(::grpc::ClientContext* context, const ::pybullet_grpc::PyBulletCommand& request, ::grpc::CompletionQueue* cq) {
return ::grpc::internal::ClientAsyncResponseReaderFactory< ::pybullet_grpc::PyBulletStatus>::Create(channel_.get(), cq, rpcmethod_SubmitCommand_, context, request, false);
return new ::grpc::ClientAsyncResponseReader< ::pybullet_grpc::PyBulletStatus>(channel_.get(), cq, rpcmethod_SubmitCommand_, context, request);
}
PyBulletAPI::Service::Service() {
AddMethod(new ::grpc::internal::RpcServiceMethod(
AddMethod(new ::grpc::RpcServiceMethod(
PyBulletAPI_method_names[0],
::grpc::internal::RpcMethod::NORMAL_RPC,
new ::grpc::internal::RpcMethodHandler< PyBulletAPI::Service, ::pybullet_grpc::PyBulletCommand, ::pybullet_grpc::PyBulletStatus>(
::grpc::RpcMethod::NORMAL_RPC,
new ::grpc::RpcMethodHandler< PyBulletAPI::Service, ::pybullet_grpc::PyBulletCommand, ::pybullet_grpc::PyBulletStatus>(
std::mem_fn(&PyBulletAPI::Service::SubmitCommand), this)));
}

61
examples/SharedMemory/grpc/pybullet.grpc.pb.h
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@@ -6,20 +6,20 @@
#include "pybullet.pb.h"
#include <grpcpp/impl/codegen/async_generic_service.h>
#include <grpcpp/impl/codegen/async_stream.h>
#include <grpcpp/impl/codegen/async_unary_call.h>
#include <grpcpp/impl/codegen/method_handler_impl.h>
#include <grpcpp/impl/codegen/proto_utils.h>
#include <grpcpp/impl/codegen/rpc_method.h>
#include <grpcpp/impl/codegen/service_type.h>
#include <grpcpp/impl/codegen/status.h>
#include <grpcpp/impl/codegen/stub_options.h>
#include <grpcpp/impl/codegen/sync_stream.h>
#include <grpc++/impl/codegen/async_stream.h>
#include <grpc++/impl/codegen/async_unary_call.h>
#include <grpc++/impl/codegen/method_handler_impl.h>
#include <grpc++/impl/codegen/proto_utils.h>
#include <grpc++/impl/codegen/rpc_method.h>
#include <grpc++/impl/codegen/service_type.h>
#include <grpc++/impl/codegen/status.h>
#include <grpc++/impl/codegen/stub_options.h>
#include <grpc++/impl/codegen/sync_stream.h>
namespace grpc {
class CompletionQueue;
class Channel;
class RpcService;
class ServerCompletionQueue;
class ServerContext;
} // namespace grpc
@@ -28,9 +28,6 @@ namespace pybullet_grpc {
class PyBulletAPI final {
public:
static constexpr char const* service_full_name() {
return "pybullet_grpc.PyBulletAPI";
}
class StubInterface {
public:
virtual ~StubInterface() {}
@@ -39,12 +36,8 @@ class PyBulletAPI final {
std::unique_ptr< ::grpc::ClientAsyncResponseReaderInterface< ::pybullet_grpc::PyBulletStatus>> AsyncSubmitCommand(::grpc::ClientContext* context, const ::pybullet_grpc::PyBulletCommand& request, ::grpc::CompletionQueue* cq) {
return std::unique_ptr< ::grpc::ClientAsyncResponseReaderInterface< ::pybullet_grpc::PyBulletStatus>>(AsyncSubmitCommandRaw(context, request, cq));
}
std::unique_ptr< ::grpc::ClientAsyncResponseReaderInterface< ::pybullet_grpc::PyBulletStatus>> PrepareAsyncSubmitCommand(::grpc::ClientContext* context, const ::pybullet_grpc::PyBulletCommand& request, ::grpc::CompletionQueue* cq) {
return std::unique_ptr< ::grpc::ClientAsyncResponseReaderInterface< ::pybullet_grpc::PyBulletStatus>>(PrepareAsyncSubmitCommandRaw(context, request, cq));
}
private:
virtual ::grpc::ClientAsyncResponseReaderInterface< ::pybullet_grpc::PyBulletStatus>* AsyncSubmitCommandRaw(::grpc::ClientContext* context, const ::pybullet_grpc::PyBulletCommand& request, ::grpc::CompletionQueue* cq) = 0;
virtual ::grpc::ClientAsyncResponseReaderInterface< ::pybullet_grpc::PyBulletStatus>* PrepareAsyncSubmitCommandRaw(::grpc::ClientContext* context, const ::pybullet_grpc::PyBulletCommand& request, ::grpc::CompletionQueue* cq) = 0;
};
class Stub final : public StubInterface {
public:
@@ -53,15 +46,11 @@ class PyBulletAPI final {
std::unique_ptr< ::grpc::ClientAsyncResponseReader< ::pybullet_grpc::PyBulletStatus>> AsyncSubmitCommand(::grpc::ClientContext* context, const ::pybullet_grpc::PyBulletCommand& request, ::grpc::CompletionQueue* cq) {
return std::unique_ptr< ::grpc::ClientAsyncResponseReader< ::pybullet_grpc::PyBulletStatus>>(AsyncSubmitCommandRaw(context, request, cq));
}
std::unique_ptr< ::grpc::ClientAsyncResponseReader< ::pybullet_grpc::PyBulletStatus>> PrepareAsyncSubmitCommand(::grpc::ClientContext* context, const ::pybullet_grpc::PyBulletCommand& request, ::grpc::CompletionQueue* cq) {
return std::unique_ptr< ::grpc::ClientAsyncResponseReader< ::pybullet_grpc::PyBulletStatus>>(PrepareAsyncSubmitCommandRaw(context, request, cq));
}
private:
std::shared_ptr< ::grpc::ChannelInterface> channel_;
::grpc::ClientAsyncResponseReader< ::pybullet_grpc::PyBulletStatus>* AsyncSubmitCommandRaw(::grpc::ClientContext* context, const ::pybullet_grpc::PyBulletCommand& request, ::grpc::CompletionQueue* cq) override;
::grpc::ClientAsyncResponseReader< ::pybullet_grpc::PyBulletStatus>* PrepareAsyncSubmitCommandRaw(::grpc::ClientContext* context, const ::pybullet_grpc::PyBulletCommand& request, ::grpc::CompletionQueue* cq) override;
const ::grpc::internal::RpcMethod rpcmethod_SubmitCommand_;
const ::grpc::RpcMethod rpcmethod_SubmitCommand_;
};
static std::unique_ptr<Stub> NewStub(const std::shared_ptr< ::grpc::ChannelInterface>& channel, const ::grpc::StubOptions& options = ::grpc::StubOptions());
@@ -84,7 +73,7 @@ class PyBulletAPI final {
BaseClassMustBeDerivedFromService(this);
}
// disable synchronous version of this method
::grpc::Status SubmitCommand(::grpc::ServerContext* context, const ::pybullet_grpc::PyBulletCommand* request, ::pybullet_grpc::PyBulletStatus* response) override {
::grpc::Status SubmitCommand(::grpc::ServerContext* context, const ::pybullet_grpc::PyBulletCommand* request, ::pybullet_grpc::PyBulletStatus* response) final override {
abort();
return ::grpc::Status(::grpc::StatusCode::UNIMPLEMENTED, "");
}
@@ -105,45 +94,25 @@ class PyBulletAPI final {
BaseClassMustBeDerivedFromService(this);
}
// disable synchronous version of this method
::grpc::Status SubmitCommand(::grpc::ServerContext* context, const ::pybullet_grpc::PyBulletCommand* request, ::pybullet_grpc::PyBulletStatus* response) override {
::grpc::Status SubmitCommand(::grpc::ServerContext* context, const ::pybullet_grpc::PyBulletCommand* request, ::pybullet_grpc::PyBulletStatus* response) final override {
abort();
return ::grpc::Status(::grpc::StatusCode::UNIMPLEMENTED, "");
}
};
template <class BaseClass>
class WithRawMethod_SubmitCommand : public BaseClass {
private:
void BaseClassMustBeDerivedFromService(const Service *service) {}
public:
WithRawMethod_SubmitCommand() {
::grpc::Service::MarkMethodRaw(0);
}
~WithRawMethod_SubmitCommand() override {
BaseClassMustBeDerivedFromService(this);
}
// disable synchronous version of this method
::grpc::Status SubmitCommand(::grpc::ServerContext* context, const ::pybullet_grpc::PyBulletCommand* request, ::pybullet_grpc::PyBulletStatus* response) override {
abort();
return ::grpc::Status(::grpc::StatusCode::UNIMPLEMENTED, "");
}
void RequestSubmitCommand(::grpc::ServerContext* context, ::grpc::ByteBuffer* request, ::grpc::ServerAsyncResponseWriter< ::grpc::ByteBuffer>* response, ::grpc::CompletionQueue* new_call_cq, ::grpc::ServerCompletionQueue* notification_cq, void *tag) {
::grpc::Service::RequestAsyncUnary(0, context, request, response, new_call_cq, notification_cq, tag);
}
};
template <class BaseClass>
class WithStreamedUnaryMethod_SubmitCommand : public BaseClass {
private:
void BaseClassMustBeDerivedFromService(const Service *service) {}
public:
WithStreamedUnaryMethod_SubmitCommand() {
::grpc::Service::MarkMethodStreamed(0,
new ::grpc::internal::StreamedUnaryHandler< ::pybullet_grpc::PyBulletCommand, ::pybullet_grpc::PyBulletStatus>(std::bind(&WithStreamedUnaryMethod_SubmitCommand<BaseClass>::StreamedSubmitCommand, this, std::placeholders::_1, std::placeholders::_2)));
new ::grpc::StreamedUnaryHandler< ::pybullet_grpc::PyBulletCommand, ::pybullet_grpc::PyBulletStatus>(std::bind(&WithStreamedUnaryMethod_SubmitCommand<BaseClass>::StreamedSubmitCommand, this, std::placeholders::_1, std::placeholders::_2)));
}
~WithStreamedUnaryMethod_SubmitCommand() override {
BaseClassMustBeDerivedFromService(this);
}
// disable regular version of this method
::grpc::Status SubmitCommand(::grpc::ServerContext* context, const ::pybullet_grpc::PyBulletCommand* request, ::pybullet_grpc::PyBulletStatus* response) override {
::grpc::Status SubmitCommand(::grpc::ServerContext* context, const ::pybullet_grpc::PyBulletCommand* request, ::pybullet_grpc::PyBulletStatus* response) final override {
abort();
return ::grpc::Status(::grpc::StatusCode::UNIMPLEMENTED, "");
}

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examples/SharedMemory/grpc/pybullet.pb.cpp
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