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Merge pull request #937 from erwincoumans/master

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improvements/fixes in pybullet/shmem UDP network handling
This commit is contained in:
erwincoumans
2017-01-29 10:24:41 -08:00
committed by GitHub
parent c0a9b9cf44 446cb77a5e
commit 12711a0226
10 changed files with 130 additions and 48 deletions
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66
examples/SharedMemory/PhysicsClientUDP.cpp
View File

@@ -184,7 +184,7 @@ struct UdpNetworkedInternalData
break;
case ENET_EVENT_TYPE_DISCONNECT:
printf("%s disconected.\n", m_event.peer->data);
printf("%s disconnected.\n", m_event.peer->data);
break;
default:
@@ -239,13 +239,24 @@ struct UdpNetworkedInternalData
{
SharedMemoryStatus* statPtr = (SharedMemoryStatus*)&m_event.packet->data[4];
m_lastStatus = *statPtr;
int streamOffsetInBytes = 4 + sizeof(SharedMemoryStatus);
int numStreamBytes = packetSizeInBytes - streamOffsetInBytes;
m_stream.resize(numStreamBytes);
for (int i = 0; i < numStreamBytes; i++)
if (statPtr->m_type == CMD_STEP_FORWARD_SIMULATION_COMPLETED)
{
m_stream[i] = m_event.packet->data[i + streamOffsetInBytes];
SharedMemoryStatus dummy;
dummy.m_type = CMD_STEP_FORWARD_SIMULATION_COMPLETED;
m_lastStatus = dummy;
m_stream.resize(0);
}
else
{
m_lastStatus = *statPtr;
int streamOffsetInBytes = 4 + sizeof(SharedMemoryStatus);
int numStreamBytes = packetSizeInBytes - streamOffsetInBytes;
m_stream.resize(numStreamBytes);
for (int i = 0; i < numStreamBytes; i++)
{
m_stream[i] = m_event.packet->data[i + streamOffsetInBytes];
}
}
}
else
@@ -258,7 +269,7 @@ struct UdpNetworkedInternalData
}
case ENET_EVENT_TYPE_DISCONNECT:
{
printf("%s disconected.\n", m_event.peer->data);
printf("%s disconnected.\n", m_event.peer->data);
break;
}
@@ -322,13 +333,10 @@ void UDPThreadFunc(void* userPtr, void* lsMemory)
do
{
b3Clock::usleep(0);
deltaTimeInSeconds += double(clock.getTimeMicroseconds()) / 1000000.;
if (deltaTimeInSeconds<(1. / 5000.))
{
// b3Clock::usleep(250);
}
else
{
clock.reset();
@@ -363,9 +371,19 @@ void UDPThreadFunc(void* userPtr, void* lsMemory)
if (hasCommand)
{
int sz = 0;
ENetPacket *packet = 0;
int sz = sizeof(SharedMemoryCommand);
ENetPacket *packet = enet_packet_create(&args->m_clientCmd, sz, ENET_PACKET_FLAG_RELIABLE);
if (args->m_clientCmd.m_type == CMD_STEP_FORWARD_SIMULATION)
{
sz = sizeof(int);
packet = enet_packet_create(&args->m_clientCmd.m_type, sz, ENET_PACKET_FLAG_RELIABLE);
}
else
{
sz = sizeof(SharedMemoryCommand);
packet = enet_packet_create(&args->m_clientCmd, sz, ENET_PACKET_FLAG_RELIABLE);
}
int res;
res = enet_peer_send(args->m_peer, 0, packet);
args->m_cs->lock();
@@ -441,6 +459,10 @@ UdpNetworkedPhysicsProcessor::~UdpNetworkedPhysicsProcessor()
bool UdpNetworkedPhysicsProcessor::processCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes)
{
if(gVerboseNetworkMessagesClient)
{
printf("PhysicsClientUDP::processCommand\n");
}
// int sz = sizeof(SharedMemoryCommand);
int timeout = 1024 * 1024 * 1024;
@@ -451,7 +473,7 @@ bool UdpNetworkedPhysicsProcessor::processCommand(const struct SharedMemoryComma
while (m_data->m_hasCommand && (timeout-- > 0))
{
// b3Clock::usleep(100);
b3Clock::usleep(0);
}
#if 0
@@ -478,6 +500,11 @@ bool UdpNetworkedPhysicsProcessor::receiveStatus(struct SharedMemoryStatus& serv
bool hasStatus = false;
if (m_data->m_hasStatus)
{
if (gVerboseNetworkMessagesClient)
{
printf("UdpNetworkedPhysicsProcessor::receiveStatus\n");
}
hasStatus = true;
serverStatusOut = m_data->m_lastStatus;
int numStreamBytes = m_data->m_stream.size();
@@ -548,9 +575,9 @@ bool UdpNetworkedPhysicsProcessor::connect()
}
}
return true;
unsigned int sharedParam = m_data->m_cs->getSharedParam(1);
bool isConnected = (sharedParam == eUDP_Connected);
return isConnected;
}
void UdpNetworkedPhysicsProcessor::disconnect()
@@ -581,6 +608,7 @@ void UdpNetworkedPhysicsProcessor::disconnect()
delete m_data->m_threadSupport;
m_data->m_threadSupport = 0;
m_data->m_isConnected = false;
}

12
examples/SharedMemory/PhysicsClientUDP_C_API.cpp
View File

@@ -10,11 +10,19 @@ b3PhysicsClientHandle b3ConnectPhysicsUDP(const char* hostName, int port)
UdpNetworkedPhysicsProcessor* udp = new UdpNetworkedPhysicsProcessor(hostName, port);
PhysicsDirect* direct = new PhysicsDirect(udp,true);
PhysicsDirect* direct = new PhysicsDirect(udp, true);
bool connected;
connected = direct->connect();
printf("direct!\n");
if (connected)
{
printf("b3ConnectPhysicsUDP connected successfully.\n");
}
else
{
printf("b3ConnectPhysicsUDP connection failed.\n");
}
return (b3PhysicsClientHandle)direct;
}

3
examples/SharedMemory/PhysicsDirect.cpp
View File

@@ -125,6 +125,7 @@ bool PhysicsDirect::connect()
m_data->m_commandProcessor->setGuiHelper(&m_data->m_noGfx);
if (connected)
//also request serialization data
{
SharedMemoryCommand command;
@@ -211,7 +212,7 @@ SharedMemoryCommand* PhysicsDirect::getAvailableSharedMemoryCommand()
bool PhysicsDirect::canSubmitCommand() const
{
return true;
return m_data->m_commandProcessor->isConnected();
}
bool PhysicsDirect::processDebugLines(const struct SharedMemoryCommand& orgCommand)

84
examples/SharedMemory/udp/main.cpp
View File

@@ -15,7 +15,7 @@
#include "SharedMemoryCommands.h"
#include "Bullet3Common/b3AlignedObjectArray.h"
#include "PhysicsServerCommandProcessor.h"
#include "../Utils/b3Clock.h"
bool gVerboseNetworkMessagesServer = false;
@@ -36,6 +36,8 @@ void MySerializeInt(unsigned int sz, unsigned char* output)
int main(int argc, char *argv[])
{
b3CommandLineArgs parseArgs(argc,argv);
b3Clock clock;
double timeOutInSeconds = 10;
DummyGUIHelper guiHelper;
MyCommandProcessor* sm = new MyCommandProcessor;
@@ -102,6 +104,8 @@ int main(int argc, char *argv[])
while (true)
{
b3Clock::usleep(0);
serviceResult = 1;
/* Keep doing host_service until no events are left */
@@ -136,20 +140,36 @@ int main(int argc, char *argv[])
event.peer->data,
event.channelID);
}
SharedMemoryCommand cmd;
SharedMemoryCommand* cmdPtr = 0;
//performance test
if (event.packet->dataLength == sizeof(int))
{
cmdPtr = &cmd;
cmd.m_type = *(int*)event.packet->data;
}
if (event.packet->dataLength == sizeof(SharedMemoryCommand))
{
SharedMemoryCommand* cmdPtr = (SharedMemoryCommand*)event.packet->data;
cmdPtr = (SharedMemoryCommand*)event.packet->data;
}
if (cmdPtr)
{
SharedMemoryStatus serverStatus;
b3AlignedObjectArray<char> buffer;
buffer.resize(SHARED_MEMORY_MAX_STREAM_CHUNK_SIZE);
bool hasStatus = sm->processCommand(*cmdPtr,serverStatus, &buffer[0], buffer.size());
int timeout = 1024 * 1024 * 1024;
while ((!hasStatus) && (timeout-- > 0))
double startTimeSeconds = clock.getTimeInSeconds();
double curTimeSeconds = clock.getTimeInSeconds();
while ((!hasStatus) && ((curTimeSeconds - startTimeSeconds) <timeOutInSeconds))
{
hasStatus = sm->receiveStatus(serverStatus, &buffer[0], buffer.size());
curTimeSeconds = clock.getTimeInSeconds();
}
if (gVerboseNetworkMessagesServer)
{
@@ -158,29 +178,49 @@ int main(int argc, char *argv[])
}
if (hasStatus)
{
//create packetData with [int packetSizeInBytes, status, streamBytes)
unsigned char* statBytes = (unsigned char*)&serverStatus;
b3AlignedObjectArray<unsigned char> packetData;
packetData.resize(4 + sizeof(SharedMemoryStatus) + serverStatus.m_numDataStreamBytes);
int sz = packetData.size();
int curPos = 0;
unsigned char* statBytes = (unsigned char*)&serverStatus;
MySerializeInt(sz, &packetData[curPos]);
curPos += 4;
for (int i = 0; i < sizeof(SharedMemoryStatus); i++)
if (cmdPtr->m_type == CMD_STEP_FORWARD_SIMULATION)
{
packetData[i + curPos] = statBytes[i];
}
curPos += sizeof(SharedMemoryStatus);
packetData.resize(4 + sizeof(int));
int sz = packetData.size();
int curPos = 0;
for (int i = 0; i < serverStatus.m_numDataStreamBytes; i++)
MySerializeInt(sz, &packetData[curPos]);
curPos += 4;
for (int i = 0; i < sizeof(int); i++)
{
packetData[i + curPos] = statBytes[i];
}
curPos += sizeof(int);
ENetPacket *packet = enet_packet_create(&packetData[0], packetData.size(), ENET_PACKET_FLAG_RELIABLE);
enet_peer_send(event.peer, 0, packet);
}
else
{
packetData[i + curPos] = buffer[i];
}
//create packetData with [int packetSizeInBytes, status, streamBytes)
packetData.resize(4 + sizeof(SharedMemoryStatus) + serverStatus.m_numDataStreamBytes);
int sz = packetData.size();
int curPos = 0;
ENetPacket *packet = enet_packet_create(&packetData[0], packetData.size() , ENET_PACKET_FLAG_RELIABLE);
enet_peer_send(event.peer, 0, packet);
//enet_host_broadcast(server, 0, packet);
MySerializeInt(sz, &packetData[curPos]);
curPos += 4;
for (int i = 0; i < sizeof(SharedMemoryStatus); i++)
{
packetData[i + curPos] = statBytes[i];
}
curPos += sizeof(SharedMemoryStatus);
for (int i = 0; i < serverStatus.m_numDataStreamBytes; i++)
{
packetData[i + curPos] = buffer[i];
}
ENetPacket *packet = enet_packet_create(&packetData[0], packetData.size(), ENET_PACKET_FLAG_RELIABLE);
enet_peer_send(event.peer, 0, packet);
//enet_host_broadcast(server, 0, packet);
}
}
}
else

2
examples/SharedMemory/udp/premake4.lua
View File

@@ -43,6 +43,8 @@ project ("App_PhysicsServerSharedMemoryBridgeUDP")
"../PosixSharedMemory.h",
"../../Utils/b3ResourcePath.cpp",
"../../Utils/b3ResourcePath.h",
"../../Utils/b3Clock.cpp",
"../../Utils/b3Clock.h",
}

3
examples/pybullet/pybullet.c
View File

@@ -266,6 +266,9 @@ static PyObject* pybullet_connectPhysicsServer(PyObject* self, PyObject* args, P
"connectPhysicsServer cannot parse second argument (either integer or string)");
return NULL;
} else
{
PyErr_Clear();
}
}
}

2
test/enet/chat/client/main.cpp
View File

@@ -104,7 +104,7 @@ int main(int argc, char* argv[]) {
break;
case ENET_EVENT_TYPE_DISCONNECT:
printf("%s disconected.\n", event.peer->data);
printf("%s disconnected.\n", event.peer->data);
break;
}

2
test/enet/chat/server/main.cpp
View File

@@ -77,7 +77,7 @@ int main(int argc, char *argv[])
break;
case ENET_EVENT_TYPE_DISCONNECT:
printf("%s disconected.\n", event.peer->data);
printf("%s disconnected.\n", event.peer->data);
/* Reset the peer's client information. */

2
test/enet/nat_punchthrough/client/main.cpp
View File

@@ -139,7 +139,7 @@ int main(int argc, char* argv[])
break;
case ENET_EVENT_TYPE_DISCONNECT:
printf ("%s disconected.\n", event.peer -> data);
printf ("%s disconnected.\n", event.peer -> data);
/* Reset the peer's client information. */
event.peer -> data = NULL;
}

2
test/enet/nat_punchthrough/server/main.cpp
View File

@@ -93,7 +93,7 @@ int main(int argc, char* argv[])
break;
case ENET_EVENT_TYPE_DISCONNECT:
printf ("%s disconected.\n", event.peer -> data);
printf ("%s disconnected.\n", event.peer -> data);
/* Reset the peer's client information. */
event.peer -> data = NULL;
}