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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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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)));
}