diff --git a/build3/premake4.lua b/build3/premake4.lua index 967f326ec..f8f4e532f 100644 --- a/build3/premake4.lua +++ b/build3/premake4.lua @@ -126,7 +126,7 @@ if _OPTIONS["enable_grpc"] then function initGRPC() - buildoptions { "-std=c++11", "-stdlib=libc++" } + buildoptions { "-std=c++11" } defines {"BT_ENABLE_GRPC"} @@ -137,7 +137,7 @@ libdirs { _OPTIONS["grpc_lib_dir"], _OPTIONS["protobuf_lib_dir"], } - links { "grpc","grpc++", "grpc++_reflection", "gpr", "protobuf"} + 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", diff --git a/examples/SharedMemory/grpc/ConvertGRPCBullet.cpp b/examples/SharedMemory/grpc/ConvertGRPCBullet.cpp index d45621dc5..f5a4b792e 100644 --- a/examples/SharedMemory/grpc/ConvertGRPCBullet.cpp +++ b/examples/SharedMemory/grpc/ConvertGRPCBullet.cpp @@ -510,6 +510,10 @@ SharedMemoryCommand* convertGRPCToBulletCommand(const PyBulletCommand& grpcComma { cmd.m_type = CMD_CHANGE_DYNAMICS_INFO; } + if (grpcCommand.has_resetsimulationcommand()) + { + cmd.m_type = CMD_RESET_SIMULATION; + } if (grpcCommand.has_loadurdfcommand()) { cmd.m_type = CMD_LOAD_URDF; diff --git a/examples/SharedMemory/grpc/proto/pybullet.proto b/examples/SharedMemory/grpc/proto/pybullet.proto index 9c9b6aebc..721c74fe6 100644 --- a/examples/SharedMemory/grpc/proto/pybullet.proto +++ b/examples/SharedMemory/grpc/proto/pybullet.proto @@ -397,6 +397,9 @@ message RequestCameraImageStatus int32 numRemainingPixels=5; }; +message ResetSimulationCommand +{ +}; // The request message containing the command message PyBulletCommand { @@ -426,6 +429,7 @@ message PyBulletCommand { CheckVersionCommand checkVersionCommand=19; RequestKeyboardEventsCommand requestKeyboardEventsCommand=20; RequestCameraImageCommand requestCameraImageCommand=21; + ResetSimulationCommand resetSimulationCommand=22; } diff --git a/examples/SharedMemory/grpc/pybullet.pb.cpp b/examples/SharedMemory/grpc/pybullet.pb.cpp index 5f56e6332..d579881da 100644 --- a/examples/SharedMemory/grpc/pybullet.pb.cpp +++ b/examples/SharedMemory/grpc/pybullet.pb.cpp @@ -35,6 +35,7 @@ extern PROTOBUF_INTERNAL_EXPORT_protobuf_pybullet_2eproto ::google::protobuf::in extern PROTOBUF_INTERNAL_EXPORT_protobuf_pybullet_2eproto ::google::protobuf::internal::SCCInfo<0> scc_info_RequestBodyInfoStatus; extern PROTOBUF_INTERNAL_EXPORT_protobuf_pybullet_2eproto ::google::protobuf::internal::SCCInfo<0> scc_info_RequestCameraImageStatus; extern PROTOBUF_INTERNAL_EXPORT_protobuf_pybullet_2eproto ::google::protobuf::internal::SCCInfo<0> scc_info_RequestKeyboardEventsCommand; +extern PROTOBUF_INTERNAL_EXPORT_protobuf_pybullet_2eproto ::google::protobuf::internal::SCCInfo<0> scc_info_ResetSimulationCommand; extern PROTOBUF_INTERNAL_EXPORT_protobuf_pybullet_2eproto ::google::protobuf::internal::SCCInfo<0> scc_info_SdfLoadedStatus; extern PROTOBUF_INTERNAL_EXPORT_protobuf_pybullet_2eproto ::google::protobuf::internal::SCCInfo<0> scc_info_SendActualStateStatus; extern PROTOBUF_INTERNAL_EXPORT_protobuf_pybullet_2eproto ::google::protobuf::internal::SCCInfo<0> scc_info_StepSimulationCommand; @@ -262,6 +263,11 @@ class RequestCameraImageStatusDefaultTypeInternal { ::google::protobuf::internal::ExplicitlyConstructed _instance; } _RequestCameraImageStatus_default_instance_; +class ResetSimulationCommandDefaultTypeInternal { + public: + ::google::protobuf::internal::ExplicitlyConstructed + _instance; +} _ResetSimulationCommand_default_instance_; class PyBulletCommandDefaultTypeInternal { public: ::google::protobuf::internal::ExplicitlyConstructed @@ -284,6 +290,7 @@ class PyBulletCommandDefaultTypeInternal { const ::pybullet_grpc::CheckVersionCommand* checkversioncommand_; const ::pybullet_grpc::RequestKeyboardEventsCommand* requestkeyboardeventscommand_; const ::pybullet_grpc::RequestCameraImageCommand* requestcameraimagecommand_; + const ::pybullet_grpc::ResetSimulationCommand* resetsimulationcommand_; } _PyBulletCommand_default_instance_; class PyBulletStatusDefaultTypeInternal { public: @@ -838,6 +845,20 @@ static void InitDefaultsRequestCameraImageStatus() { ::google::protobuf::internal::SCCInfo<0> scc_info_RequestCameraImageStatus = {{ATOMIC_VAR_INIT(::google::protobuf::internal::SCCInfoBase::kUninitialized), 0, InitDefaultsRequestCameraImageStatus}, {}}; +static void InitDefaultsResetSimulationCommand() { + GOOGLE_PROTOBUF_VERIFY_VERSION; + + { + void* ptr = &::pybullet_grpc::_ResetSimulationCommand_default_instance_; + new (ptr) ::pybullet_grpc::ResetSimulationCommand(); + ::google::protobuf::internal::OnShutdownDestroyMessage(ptr); + } + ::pybullet_grpc::ResetSimulationCommand::InitAsDefaultInstance(); +} + +::google::protobuf::internal::SCCInfo<0> scc_info_ResetSimulationCommand = + {{ATOMIC_VAR_INIT(::google::protobuf::internal::SCCInfoBase::kUninitialized), 0, InitDefaultsResetSimulationCommand}, {}}; + static void InitDefaultsPyBulletCommand() { GOOGLE_PROTOBUF_VERIFY_VERSION; @@ -849,8 +870,8 @@ static void InitDefaultsPyBulletCommand() { ::pybullet_grpc::PyBulletCommand::InitAsDefaultInstance(); } -::google::protobuf::internal::SCCInfo<18> scc_info_PyBulletCommand = - {{ATOMIC_VAR_INIT(::google::protobuf::internal::SCCInfoBase::kUninitialized), 18, InitDefaultsPyBulletCommand}, { +::google::protobuf::internal::SCCInfo<19> scc_info_PyBulletCommand = + {{ATOMIC_VAR_INIT(::google::protobuf::internal::SCCInfoBase::kUninitialized), 19, InitDefaultsPyBulletCommand}, { &protobuf_pybullet_2eproto::scc_info_LoadUrdfCommand.base, &protobuf_pybullet_2eproto::scc_info_TerminateServerCommand.base, &protobuf_pybullet_2eproto::scc_info_StepSimulationCommand.base, @@ -868,7 +889,8 @@ static void InitDefaultsPyBulletCommand() { &protobuf_pybullet_2eproto::scc_info_UserConstraintCommand.base, &protobuf_pybullet_2eproto::scc_info_CheckVersionCommand.base, &protobuf_pybullet_2eproto::scc_info_RequestKeyboardEventsCommand.base, - &protobuf_pybullet_2eproto::scc_info_RequestCameraImageCommand.base,}}; + &protobuf_pybullet_2eproto::scc_info_RequestCameraImageCommand.base, + &protobuf_pybullet_2eproto::scc_info_ResetSimulationCommand.base,}}; static void InitDefaultsPyBulletStatus() { GOOGLE_PROTOBUF_VERIFY_VERSION; @@ -935,11 +957,12 @@ void InitDefaults() { ::google::protobuf::internal::InitSCC(&scc_info_KeyboardEventsStatus.base); ::google::protobuf::internal::InitSCC(&scc_info_RequestCameraImageCommand.base); ::google::protobuf::internal::InitSCC(&scc_info_RequestCameraImageStatus.base); + ::google::protobuf::internal::InitSCC(&scc_info_ResetSimulationCommand.base); ::google::protobuf::internal::InitSCC(&scc_info_PyBulletCommand.base); ::google::protobuf::internal::InitSCC(&scc_info_PyBulletStatus.base); } -::google::protobuf::Metadata file_level_metadata[39]; +::google::protobuf::Metadata file_level_metadata[40]; const ::google::protobuf::uint32 TableStruct::offsets[] GOOGLE_PROTOBUF_ATTRIBUTE_SECTION_VARIABLE(protodesc_cold) = { ~0u, // no _has_bits_ @@ -1328,6 +1351,11 @@ const ::google::protobuf::uint32 TableStruct::offsets[] GOOGLE_PROTOBUF_ATTRIBUT GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::pybullet_grpc::RequestCameraImageStatus, numpixelscopied_), GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::pybullet_grpc::RequestCameraImageStatus, numremainingpixels_), ~0u, // no _has_bits_ + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::pybullet_grpc::ResetSimulationCommand, _internal_metadata_), + ~0u, // no _extensions_ + ~0u, // no _oneof_case_ + ~0u, // no _weak_field_map_ + ~0u, // no _has_bits_ GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::pybullet_grpc::PyBulletCommand, _internal_metadata_), ~0u, // no _extensions_ GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::pybullet_grpc::PyBulletCommand, _oneof_case_[0]), @@ -1353,6 +1381,7 @@ const ::google::protobuf::uint32 TableStruct::offsets[] GOOGLE_PROTOBUF_ATTRIBUT offsetof(::pybullet_grpc::PyBulletCommandDefaultTypeInternal, checkversioncommand_), offsetof(::pybullet_grpc::PyBulletCommandDefaultTypeInternal, requestkeyboardeventscommand_), offsetof(::pybullet_grpc::PyBulletCommandDefaultTypeInternal, requestcameraimagecommand_), + offsetof(::pybullet_grpc::PyBulletCommandDefaultTypeInternal, resetsimulationcommand_), GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::pybullet_grpc::PyBulletCommand, commands_), ~0u, // no _has_bits_ GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::pybullet_grpc::PyBulletStatus, _internal_metadata_), @@ -1415,8 +1444,9 @@ static const ::google::protobuf::internal::MigrationSchema schemas[] GOOGLE_PROT { 348, -1, sizeof(::pybullet_grpc::KeyboardEventsStatus)}, { 354, -1, sizeof(::pybullet_grpc::RequestCameraImageCommand)}, { 375, -1, sizeof(::pybullet_grpc::RequestCameraImageStatus)}, - { 385, -1, sizeof(::pybullet_grpc::PyBulletCommand)}, - { 412, -1, sizeof(::pybullet_grpc::PyBulletStatus)}, + { 385, -1, sizeof(::pybullet_grpc::ResetSimulationCommand)}, + { 390, -1, sizeof(::pybullet_grpc::PyBulletCommand)}, + { 418, -1, sizeof(::pybullet_grpc::PyBulletStatus)}, }; static ::google::protobuf::Message const * const file_default_instances[] = { @@ -1457,6 +1487,7 @@ static ::google::protobuf::Message const * const file_default_instances[] = { reinterpret_cast(&::pybullet_grpc::_KeyboardEventsStatus_default_instance_), reinterpret_cast(&::pybullet_grpc::_RequestCameraImageCommand_default_instance_), reinterpret_cast(&::pybullet_grpc::_RequestCameraImageStatus_default_instance_), + reinterpret_cast(&::pybullet_grpc::_ResetSimulationCommand_default_instance_), reinterpret_cast(&::pybullet_grpc::_PyBulletCommand_default_instance_), reinterpret_cast(&::pybullet_grpc::_PyBulletStatus_default_instance_), }; @@ -1476,7 +1507,7 @@ void protobuf_AssignDescriptorsOnce() { void protobuf_RegisterTypes(const ::std::string&) GOOGLE_PROTOBUF_ATTRIBUTE_COLD; void protobuf_RegisterTypes(const ::std::string&) { protobuf_AssignDescriptorsOnce(); - ::google::protobuf::internal::RegisterAllTypes(file_level_metadata, 39); + ::google::protobuf::internal::RegisterAllTypes(file_level_metadata, 40); } void AddDescriptorsImpl() { @@ -1634,74 +1665,76 @@ void AddDescriptorsImpl() { "RequestCameraImageStatus\022\022\n\nimageWidth\030\001" " \001(\005\022\023\n\013imageHeight\030\002 \001(\005\022\032\n\022startingPix" "elIndex\030\003 \001(\005\022\027\n\017numPixelsCopied\030\004 \001(\005\022\032" - "\n\022numRemainingPixels\030\005 \001(\005\"\375\n\n\017PyBulletC" - "ommand\022\023\n\013commandType\030\001 \001(\005\022\022\n\nbinaryBlo" - "b\030\002 \003(\014\022 \n\030unknownCommandBinaryBlob\030\003 \003(" - "\014\0229\n\017loadUrdfCommand\030\004 \001(\0132\036.pybullet_gr" - "pc.LoadUrdfCommandH\000\022G\n\026terminateServerC" - "ommand\030\005 \001(\0132%.pybullet_grpc.TerminateSe" - "rverCommandH\000\022E\n\025stepSimulationCommand\030\006" - " \001(\0132$.pybullet_grpc.StepSimulationComma" - "ndH\000\0227\n\016loadSdfCommand\030\007 \001(\0132\035.pybullet_" - "grpc.LoadSdfCommandH\000\0229\n\017loadMjcfCommand" - "\030\010 \001(\0132\036.pybullet_grpc.LoadMjcfCommandH\000" - "\022E\n\025changeDynamicsCommand\030\t \001(\0132$.pybull" - "et_grpc.ChangeDynamicsCommandH\000\022\?\n\022getDy" - "namicsCommand\030\n \001(\0132!.pybullet_grpc.GetD" - "ynamicsCommandH\000\0229\n\017initPoseCommand\030\013 \001(" - "\0132\036.pybullet_grpc.InitPoseCommandH\000\022M\n\031r" - "equestActualStateCommand\030\014 \001(\0132(.pybulle" - "t_grpc.RequestActualStateCommandH\000\022[\n co" - "nfigureOpenGLVisualizerCommand\030\r \001(\0132/.p" - "ybullet_grpc.ConfigureOpenGLVisualizerCo" - "mmandH\000\022=\n\021syncBodiesCommand\030\016 \001(\0132 .pyb" - "ullet_grpc.SyncBodiesCommandH\000\022G\n\026reques" - "tBodyInfoCommand\030\017 \001(\0132%.pybullet_grpc.R" - "equestBodyInfoCommandH\000\022b\n%setPhysicsSim" - "ulationParametersCommand\030\020 \001(\01321.pybulle" - "t_grpc.PhysicsSimulationParametersComman" - "dH\000\022K\n\030jointMotorControlCommand\030\021 \001(\0132\'." - "pybullet_grpc.JointMotorControlCommandH\000" - "\022E\n\025userConstraintCommand\030\022 \001(\0132$.pybull" - "et_grpc.UserConstraintCommandH\000\022A\n\023check" - "VersionCommand\030\023 \001(\0132\".pybullet_grpc.Che" - "ckVersionCommandH\000\022S\n\034requestKeyboardEve" - "ntsCommand\030\024 \001(\0132+.pybullet_grpc.Request" - "KeyboardEventsCommandH\000\022M\n\031requestCamera" - "ImageCommand\030\025 \001(\0132(.pybullet_grpc.Reque" - "stCameraImageCommandH\000B\n\n\010commands\"\321\007\n\016P" - "yBulletStatus\022\022\n\nstatusType\030\001 \001(\005\022\022\n\nbin" - "aryBlob\030\002 \003(\014\022\037\n\027unknownStatusBinaryBlob" - "\030\003 \003(\014\0223\n\nurdfStatus\030\004 \001(\0132\035.pybullet_gr" - "pc.LoadUrdfStatusH\000\0223\n\tsdfStatus\030\005 \001(\0132\036" - ".pybullet_grpc.SdfLoadedStatusH\000\0225\n\nmjcf" - "Status\030\006 \001(\0132\037.pybullet_grpc.MjcfLoadedS" - "tatusH\000\022=\n\021getDynamicsStatus\030\007 \001(\0132 .pyb" - "ullet_grpc.GetDynamicsStatusH\000\022A\n\021actual" - "StateStatus\030\010 \001(\0132$.pybullet_grpc.SendAc" - "tualStateStatusH\000\022;\n\020syncBodiesStatus\030\t " - "\001(\0132\037.pybullet_grpc.SyncBodiesStatusH\000\022E" - "\n\025requestBodyInfoStatus\030\n \001(\0132$.pybullet" - "_grpc.RequestBodyInfoStatusH\000\022^\n(request" - "PhysicsSimulationParametersStatus\030\013 \001(\0132" - "*.pybullet_grpc.PhysicsSimulationParamet" - "ersH\000\022\?\n\022checkVersionStatus\030\014 \001(\0132!.pybu" - "llet_grpc.CheckVersionStatusH\000\022C\n\024userCo" - "nstraintStatus\030\r \001(\0132#.pybullet_grpc.Use" - "rConstraintStatusH\000\022M\n\031userConstraintSta" - "teStatus\030\016 \001(\0132(.pybullet_grpc.UserConst" - "raintStateStatusH\000\022C\n\024keyboardEventsStat" - "us\030\017 \001(\0132#.pybullet_grpc.KeyboardEventsS" - "tatusH\000\022K\n\030requestCameraImageStatus\030\020 \001(" - "\0132\'.pybullet_grpc.RequestCameraImageStat" - "usH\000B\010\n\006status2_\n\013PyBulletAPI\022P\n\rSubmitC" - "ommand\022\036.pybullet_grpc.PyBulletCommand\032\035" - ".pybullet_grpc.PyBulletStatus\"\000B.\n\025io.gr" - "pc.pybullet_grpcB\rPyBulletProtoP\001\242\002\003PBGb" - "\006proto3" + "\n\022numRemainingPixels\030\005 \001(\005\"\030\n\026ResetSimul" + "ationCommand\"\306\013\n\017PyBulletCommand\022\023\n\013comm" + "andType\030\001 \001(\005\022\022\n\nbinaryBlob\030\002 \003(\014\022 \n\030unk" + "nownCommandBinaryBlob\030\003 \003(\014\0229\n\017loadUrdfC" + "ommand\030\004 \001(\0132\036.pybullet_grpc.LoadUrdfCom" + "mandH\000\022G\n\026terminateServerCommand\030\005 \001(\0132%" + ".pybullet_grpc.TerminateServerCommandH\000\022" + "E\n\025stepSimulationCommand\030\006 \001(\0132$.pybulle" + "t_grpc.StepSimulationCommandH\000\0227\n\016loadSd" + "fCommand\030\007 \001(\0132\035.pybullet_grpc.LoadSdfCo" + "mmandH\000\0229\n\017loadMjcfCommand\030\010 \001(\0132\036.pybul" + "let_grpc.LoadMjcfCommandH\000\022E\n\025changeDyna" + "micsCommand\030\t \001(\0132$.pybullet_grpc.Change" + "DynamicsCommandH\000\022\?\n\022getDynamicsCommand\030" + "\n \001(\0132!.pybullet_grpc.GetDynamicsCommand" + "H\000\0229\n\017initPoseCommand\030\013 \001(\0132\036.pybullet_g" + "rpc.InitPoseCommandH\000\022M\n\031requestActualSt" + "ateCommand\030\014 \001(\0132(.pybullet_grpc.Request" + "ActualStateCommandH\000\022[\n configureOpenGLV" + "isualizerCommand\030\r \001(\0132/.pybullet_grpc.C" + "onfigureOpenGLVisualizerCommandH\000\022=\n\021syn" + "cBodiesCommand\030\016 \001(\0132 .pybullet_grpc.Syn" + "cBodiesCommandH\000\022G\n\026requestBodyInfoComma" + "nd\030\017 \001(\0132%.pybullet_grpc.RequestBodyInfo" + "CommandH\000\022b\n%setPhysicsSimulationParamet" + "ersCommand\030\020 \001(\01321.pybullet_grpc.Physics" + "SimulationParametersCommandH\000\022K\n\030jointMo" + "torControlCommand\030\021 \001(\0132\'.pybullet_grpc." + "JointMotorControlCommandH\000\022E\n\025userConstr" + "aintCommand\030\022 \001(\0132$.pybullet_grpc.UserCo" + "nstraintCommandH\000\022A\n\023checkVersionCommand" + "\030\023 \001(\0132\".pybullet_grpc.CheckVersionComma" + "ndH\000\022S\n\034requestKeyboardEventsCommand\030\024 \001" + "(\0132+.pybullet_grpc.RequestKeyboardEvents" + "CommandH\000\022M\n\031requestCameraImageCommand\030\025" + " \001(\0132(.pybullet_grpc.RequestCameraImageC" + "ommandH\000\022G\n\026resetSimulationCommand\030\026 \001(\013" + "2%.pybullet_grpc.ResetSimulationCommandH" + "\000B\n\n\010commands\"\321\007\n\016PyBulletStatus\022\022\n\nstat" + "usType\030\001 \001(\005\022\022\n\nbinaryBlob\030\002 \003(\014\022\037\n\027unkn" + "ownStatusBinaryBlob\030\003 \003(\014\0223\n\nurdfStatus\030" + "\004 \001(\0132\035.pybullet_grpc.LoadUrdfStatusH\000\0223" + "\n\tsdfStatus\030\005 \001(\0132\036.pybullet_grpc.SdfLoa" + "dedStatusH\000\0225\n\nmjcfStatus\030\006 \001(\0132\037.pybull" + "et_grpc.MjcfLoadedStatusH\000\022=\n\021getDynamic" + "sStatus\030\007 \001(\0132 .pybullet_grpc.GetDynamic" + "sStatusH\000\022A\n\021actualStateStatus\030\010 \001(\0132$.p" + "ybullet_grpc.SendActualStateStatusH\000\022;\n\020" + "syncBodiesStatus\030\t \001(\0132\037.pybullet_grpc.S" + "yncBodiesStatusH\000\022E\n\025requestBodyInfoStat" + "us\030\n \001(\0132$.pybullet_grpc.RequestBodyInfo" + "StatusH\000\022^\n(requestPhysicsSimulationPara" + "metersStatus\030\013 \001(\0132*.pybullet_grpc.Physi" + "csSimulationParametersH\000\022\?\n\022checkVersion" + "Status\030\014 \001(\0132!.pybullet_grpc.CheckVersio" + "nStatusH\000\022C\n\024userConstraintStatus\030\r \001(\0132" + "#.pybullet_grpc.UserConstraintStatusH\000\022M" + "\n\031userConstraintStateStatus\030\016 \001(\0132(.pybu" + "llet_grpc.UserConstraintStateStatusH\000\022C\n" + "\024keyboardEventsStatus\030\017 \001(\0132#.pybullet_g" + "rpc.KeyboardEventsStatusH\000\022K\n\030requestCam" + "eraImageStatus\030\020 \001(\0132\'.pybullet_grpc.Req" + "uestCameraImageStatusH\000B\010\n\006status2_\n\013PyB" + "ulletAPI\022P\n\rSubmitCommand\022\036.pybullet_grp" + "c.PyBulletCommand\032\035.pybullet_grpc.PyBull" + "etStatus\"\000B.\n\025io.grpc.pybullet_grpcB\rPyB" + "ulletProtoP\001\242\002\003PBGb\006proto3" }; ::google::protobuf::DescriptorPool::InternalAddGeneratedFile( - descriptor, 8647); + descriptor, 8746); ::google::protobuf::MessageFactory::InternalRegisterGeneratedFile( "pybullet.proto", &protobuf_RegisterTypes); } @@ -16976,6 +17009,185 @@ void RequestCameraImageStatus::InternalSwap(RequestCameraImageStatus* other) { } +// =================================================================== + +void ResetSimulationCommand::InitAsDefaultInstance() { +} +#if !defined(_MSC_VER) || _MSC_VER >= 1900 +#endif // !defined(_MSC_VER) || _MSC_VER >= 1900 + +ResetSimulationCommand::ResetSimulationCommand() + : ::google::protobuf::Message(), _internal_metadata_(NULL) { + ::google::protobuf::internal::InitSCC( + &protobuf_pybullet_2eproto::scc_info_ResetSimulationCommand.base); + SharedCtor(); + // @@protoc_insertion_point(constructor:pybullet_grpc.ResetSimulationCommand) +} +ResetSimulationCommand::ResetSimulationCommand(const ResetSimulationCommand& from) + : ::google::protobuf::Message(), + _internal_metadata_(NULL) { + _internal_metadata_.MergeFrom(from._internal_metadata_); + // @@protoc_insertion_point(copy_constructor:pybullet_grpc.ResetSimulationCommand) +} + +void ResetSimulationCommand::SharedCtor() { +} + +ResetSimulationCommand::~ResetSimulationCommand() { + // @@protoc_insertion_point(destructor:pybullet_grpc.ResetSimulationCommand) + SharedDtor(); +} + +void ResetSimulationCommand::SharedDtor() { +} + +void ResetSimulationCommand::SetCachedSize(int size) const { + _cached_size_.Set(size); +} +const ::google::protobuf::Descriptor* ResetSimulationCommand::descriptor() { + ::protobuf_pybullet_2eproto::protobuf_AssignDescriptorsOnce(); + return ::protobuf_pybullet_2eproto::file_level_metadata[kIndexInFileMessages].descriptor; +} + +const ResetSimulationCommand& ResetSimulationCommand::default_instance() { + ::google::protobuf::internal::InitSCC(&protobuf_pybullet_2eproto::scc_info_ResetSimulationCommand.base); + return *internal_default_instance(); +} + + +void ResetSimulationCommand::Clear() { +// @@protoc_insertion_point(message_clear_start:pybullet_grpc.ResetSimulationCommand) + ::google::protobuf::uint32 cached_has_bits = 0; + // Prevent compiler warnings about cached_has_bits being unused + (void) cached_has_bits; + + _internal_metadata_.Clear(); +} + +bool ResetSimulationCommand::MergePartialFromCodedStream( + ::google::protobuf::io::CodedInputStream* input) { +#define DO_(EXPRESSION) if (!GOOGLE_PREDICT_TRUE(EXPRESSION)) goto failure + ::google::protobuf::uint32 tag; + // @@protoc_insertion_point(parse_start:pybullet_grpc.ResetSimulationCommand) + for (;;) { + ::std::pair<::google::protobuf::uint32, bool> p = input->ReadTagWithCutoffNoLastTag(127u); + tag = p.first; + if (!p.second) goto handle_unusual; + handle_unusual: + if (tag == 0) { + goto success; + } + DO_(::google::protobuf::internal::WireFormat::SkipField( + input, tag, _internal_metadata_.mutable_unknown_fields())); + } +success: + // @@protoc_insertion_point(parse_success:pybullet_grpc.ResetSimulationCommand) + return true; +failure: + // @@protoc_insertion_point(parse_failure:pybullet_grpc.ResetSimulationCommand) + return false; +#undef DO_ +} + +void ResetSimulationCommand::SerializeWithCachedSizes( + ::google::protobuf::io::CodedOutputStream* output) const { + // @@protoc_insertion_point(serialize_start:pybullet_grpc.ResetSimulationCommand) + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + ::google::protobuf::internal::WireFormat::SerializeUnknownFields( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance()), output); + } + // @@protoc_insertion_point(serialize_end:pybullet_grpc.ResetSimulationCommand) +} + +::google::protobuf::uint8* ResetSimulationCommand::InternalSerializeWithCachedSizesToArray( + bool deterministic, ::google::protobuf::uint8* target) const { + (void)deterministic; // Unused + // @@protoc_insertion_point(serialize_to_array_start:pybullet_grpc.ResetSimulationCommand) + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + target = ::google::protobuf::internal::WireFormat::SerializeUnknownFieldsToArray( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance()), target); + } + // @@protoc_insertion_point(serialize_to_array_end:pybullet_grpc.ResetSimulationCommand) + return target; +} + +size_t ResetSimulationCommand::ByteSizeLong() const { +// @@protoc_insertion_point(message_byte_size_start:pybullet_grpc.ResetSimulationCommand) + size_t total_size = 0; + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + total_size += + ::google::protobuf::internal::WireFormat::ComputeUnknownFieldsSize( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance())); + } + int cached_size = ::google::protobuf::internal::ToCachedSize(total_size); + SetCachedSize(cached_size); + return total_size; +} + +void ResetSimulationCommand::MergeFrom(const ::google::protobuf::Message& from) { +// @@protoc_insertion_point(generalized_merge_from_start:pybullet_grpc.ResetSimulationCommand) + GOOGLE_DCHECK_NE(&from, this); + const ResetSimulationCommand* source = + ::google::protobuf::internal::DynamicCastToGenerated( + &from); + if (source == NULL) { + // @@protoc_insertion_point(generalized_merge_from_cast_fail:pybullet_grpc.ResetSimulationCommand) + ::google::protobuf::internal::ReflectionOps::Merge(from, this); + } else { + // @@protoc_insertion_point(generalized_merge_from_cast_success:pybullet_grpc.ResetSimulationCommand) + MergeFrom(*source); + } +} + +void ResetSimulationCommand::MergeFrom(const ResetSimulationCommand& from) { +// @@protoc_insertion_point(class_specific_merge_from_start:pybullet_grpc.ResetSimulationCommand) + GOOGLE_DCHECK_NE(&from, this); + _internal_metadata_.MergeFrom(from._internal_metadata_); + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + +} + +void ResetSimulationCommand::CopyFrom(const ::google::protobuf::Message& from) { +// @@protoc_insertion_point(generalized_copy_from_start:pybullet_grpc.ResetSimulationCommand) + if (&from == this) return; + Clear(); + MergeFrom(from); +} + +void ResetSimulationCommand::CopyFrom(const ResetSimulationCommand& from) { +// @@protoc_insertion_point(class_specific_copy_from_start:pybullet_grpc.ResetSimulationCommand) + if (&from == this) return; + Clear(); + MergeFrom(from); +} + +bool ResetSimulationCommand::IsInitialized() const { + return true; +} + +void ResetSimulationCommand::Swap(ResetSimulationCommand* other) { + if (other == this) return; + InternalSwap(other); +} +void ResetSimulationCommand::InternalSwap(ResetSimulationCommand* other) { + using std::swap; + _internal_metadata_.Swap(&other->_internal_metadata_); +} + +::google::protobuf::Metadata ResetSimulationCommand::GetMetadata() const { + protobuf_pybullet_2eproto::protobuf_AssignDescriptorsOnce(); + return ::protobuf_pybullet_2eproto::file_level_metadata[kIndexInFileMessages]; +} + + // =================================================================== void PyBulletCommand::InitAsDefaultInstance() { @@ -17015,6 +17227,8 @@ void PyBulletCommand::InitAsDefaultInstance() { ::pybullet_grpc::RequestKeyboardEventsCommand::internal_default_instance()); ::pybullet_grpc::_PyBulletCommand_default_instance_.requestcameraimagecommand_ = const_cast< ::pybullet_grpc::RequestCameraImageCommand*>( ::pybullet_grpc::RequestCameraImageCommand::internal_default_instance()); + ::pybullet_grpc::_PyBulletCommand_default_instance_.resetsimulationcommand_ = const_cast< ::pybullet_grpc::ResetSimulationCommand*>( + ::pybullet_grpc::ResetSimulationCommand::internal_default_instance()); } void PyBulletCommand::set_allocated_loadurdfcommand(::pybullet_grpc::LoadUrdfCommand* loadurdfcommand) { ::google::protobuf::Arena* message_arena = GetArenaNoVirtual(); @@ -17268,6 +17482,20 @@ void PyBulletCommand::set_allocated_requestcameraimagecommand(::pybullet_grpc::R } // @@protoc_insertion_point(field_set_allocated:pybullet_grpc.PyBulletCommand.requestCameraImageCommand) } +void PyBulletCommand::set_allocated_resetsimulationcommand(::pybullet_grpc::ResetSimulationCommand* resetsimulationcommand) { + ::google::protobuf::Arena* message_arena = GetArenaNoVirtual(); + clear_commands(); + if (resetsimulationcommand) { + ::google::protobuf::Arena* submessage_arena = NULL; + if (message_arena != submessage_arena) { + resetsimulationcommand = ::google::protobuf::internal::GetOwnedMessage( + message_arena, resetsimulationcommand, submessage_arena); + } + set_has_resetsimulationcommand(); + commands_.resetsimulationcommand_ = resetsimulationcommand; + } + // @@protoc_insertion_point(field_set_allocated:pybullet_grpc.PyBulletCommand.resetSimulationCommand) +} #if !defined(_MSC_VER) || _MSC_VER >= 1900 const int PyBulletCommand::kCommandTypeFieldNumber; const int PyBulletCommand::kBinaryBlobFieldNumber; @@ -17290,6 +17518,7 @@ const int PyBulletCommand::kUserConstraintCommandFieldNumber; const int PyBulletCommand::kCheckVersionCommandFieldNumber; const int PyBulletCommand::kRequestKeyboardEventsCommandFieldNumber; const int PyBulletCommand::kRequestCameraImageCommandFieldNumber; +const int PyBulletCommand::kResetSimulationCommandFieldNumber; #endif // !defined(_MSC_VER) || _MSC_VER >= 1900 PyBulletCommand::PyBulletCommand() @@ -17380,6 +17609,10 @@ PyBulletCommand::PyBulletCommand(const PyBulletCommand& from) mutable_requestcameraimagecommand()->::pybullet_grpc::RequestCameraImageCommand::MergeFrom(from.requestcameraimagecommand()); break; } + case kResetSimulationCommand: { + mutable_resetsimulationcommand()->::pybullet_grpc::ResetSimulationCommand::MergeFrom(from.resetsimulationcommand()); + break; + } case COMMANDS_NOT_SET: { break; } @@ -17492,6 +17725,10 @@ void PyBulletCommand::clear_commands() { delete commands_.requestcameraimagecommand_; break; } + case kResetSimulationCommand: { + delete commands_.resetsimulationcommand_; + break; + } case COMMANDS_NOT_SET: { break; } @@ -17777,6 +18014,18 @@ bool PyBulletCommand::MergePartialFromCodedStream( break; } + // .pybullet_grpc.ResetSimulationCommand resetSimulationCommand = 22; + case 22: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(178u /* 178 & 0xFF */)) { + DO_(::google::protobuf::internal::WireFormatLite::ReadMessage( + input, mutable_resetsimulationcommand())); + } else { + goto handle_unusual; + } + break; + } + default: { handle_unusual: if (tag == 0) { @@ -17928,6 +18177,12 @@ void PyBulletCommand::SerializeWithCachedSizes( 21, this->_internal_requestcameraimagecommand(), output); } + // .pybullet_grpc.ResetSimulationCommand resetSimulationCommand = 22; + if (has_resetsimulationcommand()) { + ::google::protobuf::internal::WireFormatLite::WriteMessageMaybeToArray( + 22, this->_internal_resetsimulationcommand(), output); + } + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { ::google::protobuf::internal::WireFormat::SerializeUnknownFields( (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance()), output); @@ -18085,6 +18340,13 @@ void PyBulletCommand::SerializeWithCachedSizes( 21, this->_internal_requestcameraimagecommand(), deterministic, target); } + // .pybullet_grpc.ResetSimulationCommand resetSimulationCommand = 22; + if (has_resetsimulationcommand()) { + target = ::google::protobuf::internal::WireFormatLite:: + InternalWriteMessageToArray( + 22, this->_internal_resetsimulationcommand(), deterministic, target); + } + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { target = ::google::protobuf::internal::WireFormat::SerializeUnknownFieldsToArray( (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance()), target); @@ -18252,6 +18514,13 @@ size_t PyBulletCommand::ByteSizeLong() const { *commands_.requestcameraimagecommand_); break; } + // .pybullet_grpc.ResetSimulationCommand resetSimulationCommand = 22; + case kResetSimulationCommand: { + total_size += 2 + + ::google::protobuf::internal::WireFormatLite::MessageSize( + *commands_.resetsimulationcommand_); + break; + } case COMMANDS_NOT_SET: { break; } @@ -18361,6 +18630,10 @@ void PyBulletCommand::MergeFrom(const PyBulletCommand& from) { mutable_requestcameraimagecommand()->::pybullet_grpc::RequestCameraImageCommand::MergeFrom(from.requestcameraimagecommand()); break; } + case kResetSimulationCommand: { + mutable_resetsimulationcommand()->::pybullet_grpc::ResetSimulationCommand::MergeFrom(from.resetsimulationcommand()); + break; + } case COMMANDS_NOT_SET: { break; } @@ -19644,6 +19917,9 @@ template<> GOOGLE_PROTOBUF_ATTRIBUTE_NOINLINE ::pybullet_grpc::RequestCameraImag template<> GOOGLE_PROTOBUF_ATTRIBUTE_NOINLINE ::pybullet_grpc::RequestCameraImageStatus* Arena::CreateMaybeMessage< ::pybullet_grpc::RequestCameraImageStatus >(Arena* arena) { return Arena::CreateInternal< ::pybullet_grpc::RequestCameraImageStatus >(arena); } +template<> GOOGLE_PROTOBUF_ATTRIBUTE_NOINLINE ::pybullet_grpc::ResetSimulationCommand* Arena::CreateMaybeMessage< ::pybullet_grpc::ResetSimulationCommand >(Arena* arena) { + return Arena::CreateInternal< ::pybullet_grpc::ResetSimulationCommand >(arena); +} template<> GOOGLE_PROTOBUF_ATTRIBUTE_NOINLINE ::pybullet_grpc::PyBulletCommand* Arena::CreateMaybeMessage< ::pybullet_grpc::PyBulletCommand >(Arena* arena) { return Arena::CreateInternal< ::pybullet_grpc::PyBulletCommand >(arena); } diff --git a/examples/SharedMemory/grpc/pybullet.pb.h b/examples/SharedMemory/grpc/pybullet.pb.h index a6fd3a603..5909ea7d0 100644 --- a/examples/SharedMemory/grpc/pybullet.pb.h +++ b/examples/SharedMemory/grpc/pybullet.pb.h @@ -8,12 +8,12 @@ #include -#if GOOGLE_PROTOBUF_VERSION < 3006000 +#if GOOGLE_PROTOBUF_VERSION < 3006001 #error This file was generated by a newer version of protoc which is #error incompatible with your Protocol Buffer headers. Please update #error your headers. #endif -#if 3006000 < GOOGLE_PROTOBUF_MIN_PROTOC_VERSION +#if 3006001 < GOOGLE_PROTOBUF_MIN_PROTOC_VERSION #error This file was generated by an older version of protoc which is #error incompatible with your Protocol Buffer headers. Please #error regenerate this file with a newer version of protoc. @@ -38,7 +38,7 @@ namespace protobuf_pybullet_2eproto { struct TableStruct { static const ::google::protobuf::internal::ParseTableField entries[]; static const ::google::protobuf::internal::AuxillaryParseTableField aux[]; - static const ::google::protobuf::internal::ParseTable schema[39]; + static const ::google::protobuf::internal::ParseTable schema[40]; static const ::google::protobuf::internal::FieldMetadata field_metadata[]; static const ::google::protobuf::internal::SerializationTable serialization_table[]; static const ::google::protobuf::uint32 offsets[]; @@ -121,6 +121,9 @@ extern RequestCameraImageStatusDefaultTypeInternal _RequestCameraImageStatus_def class RequestKeyboardEventsCommand; class RequestKeyboardEventsCommandDefaultTypeInternal; extern RequestKeyboardEventsCommandDefaultTypeInternal _RequestKeyboardEventsCommand_default_instance_; +class ResetSimulationCommand; +class ResetSimulationCommandDefaultTypeInternal; +extern ResetSimulationCommandDefaultTypeInternal _ResetSimulationCommand_default_instance_; class SdfLoadedStatus; class SdfLoadedStatusDefaultTypeInternal; extern SdfLoadedStatusDefaultTypeInternal _SdfLoadedStatus_default_instance_; @@ -191,6 +194,7 @@ template<> ::pybullet_grpc::RequestBodyInfoStatus* Arena::CreateMaybeMessage<::p template<> ::pybullet_grpc::RequestCameraImageCommand* Arena::CreateMaybeMessage<::pybullet_grpc::RequestCameraImageCommand>(Arena*); template<> ::pybullet_grpc::RequestCameraImageStatus* Arena::CreateMaybeMessage<::pybullet_grpc::RequestCameraImageStatus>(Arena*); template<> ::pybullet_grpc::RequestKeyboardEventsCommand* Arena::CreateMaybeMessage<::pybullet_grpc::RequestKeyboardEventsCommand>(Arena*); +template<> ::pybullet_grpc::ResetSimulationCommand* Arena::CreateMaybeMessage<::pybullet_grpc::ResetSimulationCommand>(Arena*); template<> ::pybullet_grpc::SdfLoadedStatus* Arena::CreateMaybeMessage<::pybullet_grpc::SdfLoadedStatus>(Arena*); template<> ::pybullet_grpc::SendActualStateStatus* Arena::CreateMaybeMessage<::pybullet_grpc::SendActualStateStatus>(Arena*); template<> ::pybullet_grpc::StepSimulationCommand* Arena::CreateMaybeMessage<::pybullet_grpc::StepSimulationCommand>(Arena*); @@ -5706,6 +5710,102 @@ class RequestCameraImageStatus : public ::google::protobuf::Message /* @@protoc_ }; // ------------------------------------------------------------------- +class ResetSimulationCommand : public ::google::protobuf::Message /* @@protoc_insertion_point(class_definition:pybullet_grpc.ResetSimulationCommand) */ { + public: + ResetSimulationCommand(); + virtual ~ResetSimulationCommand(); + + ResetSimulationCommand(const ResetSimulationCommand& from); + + inline ResetSimulationCommand& operator=(const ResetSimulationCommand& from) { + CopyFrom(from); + return *this; + } + #if LANG_CXX11 + ResetSimulationCommand(ResetSimulationCommand&& from) noexcept + : ResetSimulationCommand() { + *this = ::std::move(from); + } + + inline ResetSimulationCommand& operator=(ResetSimulationCommand&& from) noexcept { + if (GetArenaNoVirtual() == from.GetArenaNoVirtual()) { + if (this != &from) InternalSwap(&from); + } else { + CopyFrom(from); + } + return *this; + } + #endif + static const ::google::protobuf::Descriptor* descriptor(); + static const ResetSimulationCommand& default_instance(); + + static void InitAsDefaultInstance(); // FOR INTERNAL USE ONLY + static inline const ResetSimulationCommand* internal_default_instance() { + return reinterpret_cast( + &_ResetSimulationCommand_default_instance_); + } + static constexpr int kIndexInFileMessages = + 37; + + void Swap(ResetSimulationCommand* other); + friend void swap(ResetSimulationCommand& a, ResetSimulationCommand& b) { + a.Swap(&b); + } + + // implements Message ---------------------------------------------- + + inline ResetSimulationCommand* New() const final { + return CreateMaybeMessage(NULL); + } + + ResetSimulationCommand* New(::google::protobuf::Arena* arena) const final { + return CreateMaybeMessage(arena); + } + void CopyFrom(const ::google::protobuf::Message& from) final; + void MergeFrom(const ::google::protobuf::Message& from) final; + void CopyFrom(const ResetSimulationCommand& from); + void MergeFrom(const ResetSimulationCommand& from); + void Clear() final; + bool IsInitialized() const final; + + size_t ByteSizeLong() const final; + bool MergePartialFromCodedStream( + ::google::protobuf::io::CodedInputStream* input) final; + void SerializeWithCachedSizes( + ::google::protobuf::io::CodedOutputStream* output) const final; + ::google::protobuf::uint8* InternalSerializeWithCachedSizesToArray( + bool deterministic, ::google::protobuf::uint8* target) const final; + int GetCachedSize() const final { return _cached_size_.Get(); } + + private: + void SharedCtor(); + void SharedDtor(); + void SetCachedSize(int size) const final; + void InternalSwap(ResetSimulationCommand* other); + private: + inline ::google::protobuf::Arena* GetArenaNoVirtual() const { + return NULL; + } + inline void* MaybeArenaPtr() const { + return NULL; + } + public: + + ::google::protobuf::Metadata GetMetadata() const final; + + // nested types ---------------------------------------------------- + + // accessors ------------------------------------------------------- + + // @@protoc_insertion_point(class_scope:pybullet_grpc.ResetSimulationCommand) + private: + + ::google::protobuf::internal::InternalMetadataWithArena _internal_metadata_; + mutable ::google::protobuf::internal::CachedSize _cached_size_; + friend struct ::protobuf_pybullet_2eproto::TableStruct; +}; +// ------------------------------------------------------------------- + class PyBulletCommand : public ::google::protobuf::Message /* @@protoc_insertion_point(class_definition:pybullet_grpc.PyBulletCommand) */ { public: PyBulletCommand(); @@ -5754,6 +5854,7 @@ class PyBulletCommand : public ::google::protobuf::Message /* @@protoc_insertion kCheckVersionCommand = 19, kRequestKeyboardEventsCommand = 20, kRequestCameraImageCommand = 21, + kResetSimulationCommand = 22, COMMANDS_NOT_SET = 0, }; @@ -5763,7 +5864,7 @@ class PyBulletCommand : public ::google::protobuf::Message /* @@protoc_insertion &_PyBulletCommand_default_instance_); } static constexpr int kIndexInFileMessages = - 37; + 38; void Swap(PyBulletCommand* other); friend void swap(PyBulletCommand& a, PyBulletCommand& b) { @@ -6081,6 +6182,18 @@ class PyBulletCommand : public ::google::protobuf::Message /* @@protoc_insertion ::pybullet_grpc::RequestCameraImageCommand* mutable_requestcameraimagecommand(); void set_allocated_requestcameraimagecommand(::pybullet_grpc::RequestCameraImageCommand* requestcameraimagecommand); + // .pybullet_grpc.ResetSimulationCommand resetSimulationCommand = 22; + bool has_resetsimulationcommand() const; + void clear_resetsimulationcommand(); + static const int kResetSimulationCommandFieldNumber = 22; + private: + const ::pybullet_grpc::ResetSimulationCommand& _internal_resetsimulationcommand() const; + public: + const ::pybullet_grpc::ResetSimulationCommand& resetsimulationcommand() const; + ::pybullet_grpc::ResetSimulationCommand* release_resetsimulationcommand(); + ::pybullet_grpc::ResetSimulationCommand* mutable_resetsimulationcommand(); + void set_allocated_resetsimulationcommand(::pybullet_grpc::ResetSimulationCommand* resetsimulationcommand); + void clear_commands(); CommandsCase commands_case() const; // @@protoc_insertion_point(class_scope:pybullet_grpc.PyBulletCommand) @@ -6103,6 +6216,7 @@ class PyBulletCommand : public ::google::protobuf::Message /* @@protoc_insertion void set_has_checkversioncommand(); void set_has_requestkeyboardeventscommand(); void set_has_requestcameraimagecommand(); + void set_has_resetsimulationcommand(); inline bool has_commands() const; inline void clear_has_commands(); @@ -6131,6 +6245,7 @@ class PyBulletCommand : public ::google::protobuf::Message /* @@protoc_insertion ::pybullet_grpc::CheckVersionCommand* checkversioncommand_; ::pybullet_grpc::RequestKeyboardEventsCommand* requestkeyboardeventscommand_; ::pybullet_grpc::RequestCameraImageCommand* requestcameraimagecommand_; + ::pybullet_grpc::ResetSimulationCommand* resetsimulationcommand_; } commands_; mutable ::google::protobuf::internal::CachedSize _cached_size_; ::google::protobuf::uint32 _oneof_case_[1]; @@ -6191,7 +6306,7 @@ class PyBulletStatus : public ::google::protobuf::Message /* @@protoc_insertion_ &_PyBulletStatus_default_instance_); } static constexpr int kIndexInFileMessages = - 38; + 39; void Swap(PyBulletStatus* other); friend void swap(PyBulletStatus& a, PyBulletStatus& b) { @@ -11090,6 +11205,10 @@ inline void RequestCameraImageStatus::set_numremainingpixels(::google::protobuf: // ------------------------------------------------------------------- +// ResetSimulationCommand + +// ------------------------------------------------------------------- + // PyBulletCommand // int32 commandType = 1; @@ -12036,6 +12155,50 @@ inline ::pybullet_grpc::RequestCameraImageCommand* PyBulletCommand::mutable_requ return commands_.requestcameraimagecommand_; } +// .pybullet_grpc.ResetSimulationCommand resetSimulationCommand = 22; +inline bool PyBulletCommand::has_resetsimulationcommand() const { + return commands_case() == kResetSimulationCommand; +} +inline void PyBulletCommand::set_has_resetsimulationcommand() { + _oneof_case_[0] = kResetSimulationCommand; +} +inline void PyBulletCommand::clear_resetsimulationcommand() { + if (has_resetsimulationcommand()) { + delete commands_.resetsimulationcommand_; + clear_has_commands(); + } +} +inline const ::pybullet_grpc::ResetSimulationCommand& PyBulletCommand::_internal_resetsimulationcommand() const { + return *commands_.resetsimulationcommand_; +} +inline ::pybullet_grpc::ResetSimulationCommand* PyBulletCommand::release_resetsimulationcommand() { + // @@protoc_insertion_point(field_release:pybullet_grpc.PyBulletCommand.resetSimulationCommand) + if (has_resetsimulationcommand()) { + clear_has_commands(); + ::pybullet_grpc::ResetSimulationCommand* temp = commands_.resetsimulationcommand_; + commands_.resetsimulationcommand_ = NULL; + return temp; + } else { + return NULL; + } +} +inline const ::pybullet_grpc::ResetSimulationCommand& PyBulletCommand::resetsimulationcommand() const { + // @@protoc_insertion_point(field_get:pybullet_grpc.PyBulletCommand.resetSimulationCommand) + return has_resetsimulationcommand() + ? *commands_.resetsimulationcommand_ + : *reinterpret_cast< ::pybullet_grpc::ResetSimulationCommand*>(&::pybullet_grpc::_ResetSimulationCommand_default_instance_); +} +inline ::pybullet_grpc::ResetSimulationCommand* PyBulletCommand::mutable_resetsimulationcommand() { + if (!has_resetsimulationcommand()) { + clear_commands(); + set_has_resetsimulationcommand(); + commands_.resetsimulationcommand_ = CreateMaybeMessage< ::pybullet_grpc::ResetSimulationCommand >( + GetArenaNoVirtual()); + } + // @@protoc_insertion_point(field_mutable:pybullet_grpc.PyBulletCommand.resetSimulationCommand) + return commands_.resetsimulationcommand_; +} + inline bool PyBulletCommand::has_commands() const { return commands_case() != COMMANDS_NOT_SET; } @@ -12861,6 +13024,8 @@ inline PyBulletStatus::StatusCase PyBulletStatus::status_case() const { // ------------------------------------------------------------------- +// ------------------------------------------------------------------- + // @@protoc_insertion_point(namespace_scope) diff --git a/examples/SharedMemory/grpc/pybullet_client.py b/examples/SharedMemory/grpc/pybullet_client.py index 0dd7a64bb..ab189ecca 100644 --- a/examples/SharedMemory/grpc/pybullet_client.py +++ b/examples/SharedMemory/grpc/pybullet_client.py @@ -22,6 +22,11 @@ def run(): print("PyBullet client received: " , response) + print("submit_ResetSimulationCommand") + response = stub.SubmitCommand(pybullet_pb2.PyBulletCommand(resetSimulationCommand=pybullet_pb2.ResetSimulationCommand())) + print("PyBullet client received: ", response) + + print("submit LoadUrdfCommand ") response = stub.SubmitCommand(pybullet_pb2.PyBulletCommand(loadUrdfCommand=pybullet_pb2.LoadUrdfCommand(fileName="door.urdf", initialPosition=pybullet_pb2.vec3(x=0,y=0,z=0), useMultiBody=True, useFixedBase=True, globalScaling=2, flags = 1))) print("PyBullet client received: " , response) diff --git a/examples/SharedMemory/grpc/pybullet_pb2.py b/examples/SharedMemory/grpc/pybullet_pb2.py index 61c5bbeef..0f884c4be 100644 --- a/examples/SharedMemory/grpc/pybullet_pb2.py +++ b/examples/SharedMemory/grpc/pybullet_pb2.py @@ -19,7 +19,7 @@ DESCRIPTOR = _descriptor.FileDescriptor( name='pybullet.proto', package='pybullet_grpc', syntax='proto3', - serialized_pb=_b('\n\x0epybullet.proto\x12\rpybullet_grpc\"\'\n\x04vec3\x12\t\n\x01x\x18\x01 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\x01(\x0b\x32$.pybullet_grpc.RequestBodyInfoStatusH\x00\x12^\n(requestPhysicsSimulationParametersStatus\x18\x0b \x01(\x0b\x32*.pybullet_grpc.PhysicsSimulationParametersH\x00\x12?\n\x12\x63heckVersionStatus\x18\x0c \x01(\x0b\x32!.pybullet_grpc.CheckVersionStatusH\x00\x12\x43\n\x14userConstraintStatus\x18\r \x01(\x0b\x32#.pybullet_grpc.UserConstraintStatusH\x00\x12M\n\x19userConstraintStateStatus\x18\x0e \x01(\x0b\x32(.pybullet_grpc.UserConstraintStateStatusH\x00\x12\x43\n\x14keyboardEventsStatus\x18\x0f \x01(\x0b\x32#.pybullet_grpc.KeyboardEventsStatusH\x00\x12K\n\x18requestCameraImageStatus\x18\x10 \x01(\x0b\x32\'.pybullet_grpc.RequestCameraImageStatusH\x00\x42\x08\n\x06status2_\n\x0bPyBulletAPI\x12P\n\rSubmitCommand\x12\x1e.pybullet_grpc.PyBulletCommand\x1a\x1d.pybullet_grpc.PyBulletStatus\"\x00\x42.\n\x15io.grpc.pybullet_grpcB\rPyBulletProtoP\x01\xa2\x02\x03PBGb\x06proto3') ) @@ -2237,6 +2237,30 @@ _REQUESTCAMERAIMAGESTATUS = _descriptor.Descriptor( ) +_RESETSIMULATIONCOMMAND = _descriptor.Descriptor( + name='ResetSimulationCommand', + full_name='pybullet_grpc.ResetSimulationCommand', + filename=None, + file=DESCRIPTOR, + containing_type=None, + fields=[ + ], + extensions=[ + ], + nested_types=[], + enum_types=[ + ], + options=None, + is_extendable=False, + syntax='proto3', + extension_ranges=[], + oneofs=[ + ], + serialized_start=6108, + serialized_end=6132, +) + + _PYBULLETCOMMAND = _descriptor.Descriptor( name='PyBulletCommand', full_name='pybullet_grpc.PyBulletCommand', @@ -2391,6 +2415,13 @@ _PYBULLETCOMMAND = _descriptor.Descriptor( message_type=None, enum_type=None, containing_type=None, is_extension=False, extension_scope=None, options=None, file=DESCRIPTOR), + _descriptor.FieldDescriptor( + name='resetSimulationCommand', full_name='pybullet_grpc.PyBulletCommand.resetSimulationCommand', index=21, + number=22, type=11, cpp_type=10, label=1, + has_default_value=False, default_value=None, + message_type=None, enum_type=None, containing_type=None, + is_extension=False, extension_scope=None, + options=None, file=DESCRIPTOR), ], extensions=[ ], @@ -2406,8 +2437,8 @@ _PYBULLETCOMMAND = _descriptor.Descriptor( name='commands', full_name='pybullet_grpc.PyBulletCommand.commands', index=0, containing_type=None, fields=[]), ], - serialized_start=6109, - serialized_end=7514, + serialized_start=6135, + serialized_end=7613, ) @@ -2545,8 +2576,8 @@ _PYBULLETSTATUS = _descriptor.Descriptor( name='status', full_name='pybullet_grpc.PyBulletStatus.status', index=0, containing_type=None, fields=[]), ], - serialized_start=7517, - serialized_end=8494, + serialized_start=7616, + serialized_end=8593, ) _TRANSFORM.fields_by_name['origin'].message_type = _VEC3 @@ -2645,6 +2676,7 @@ _PYBULLETCOMMAND.fields_by_name['userConstraintCommand'].message_type = _USERCON _PYBULLETCOMMAND.fields_by_name['checkVersionCommand'].message_type = _CHECKVERSIONCOMMAND _PYBULLETCOMMAND.fields_by_name['requestKeyboardEventsCommand'].message_type = _REQUESTKEYBOARDEVENTSCOMMAND _PYBULLETCOMMAND.fields_by_name['requestCameraImageCommand'].message_type = _REQUESTCAMERAIMAGECOMMAND +_PYBULLETCOMMAND.fields_by_name['resetSimulationCommand'].message_type = _RESETSIMULATIONCOMMAND _PYBULLETCOMMAND.oneofs_by_name['commands'].fields.append( _PYBULLETCOMMAND.fields_by_name['loadUrdfCommand']) _PYBULLETCOMMAND.fields_by_name['loadUrdfCommand'].containing_oneof = _PYBULLETCOMMAND.oneofs_by_name['commands'] @@ -2699,6 +2731,9 @@ _PYBULLETCOMMAND.fields_by_name['requestKeyboardEventsCommand'].containing_oneof _PYBULLETCOMMAND.oneofs_by_name['commands'].fields.append( _PYBULLETCOMMAND.fields_by_name['requestCameraImageCommand']) _PYBULLETCOMMAND.fields_by_name['requestCameraImageCommand'].containing_oneof = _PYBULLETCOMMAND.oneofs_by_name['commands'] +_PYBULLETCOMMAND.oneofs_by_name['commands'].fields.append( + _PYBULLETCOMMAND.fields_by_name['resetSimulationCommand']) +_PYBULLETCOMMAND.fields_by_name['resetSimulationCommand'].containing_oneof = _PYBULLETCOMMAND.oneofs_by_name['commands'] _PYBULLETSTATUS.fields_by_name['urdfStatus'].message_type = _LOADURDFSTATUS _PYBULLETSTATUS.fields_by_name['sdfStatus'].message_type = _SDFLOADEDSTATUS _PYBULLETSTATUS.fields_by_name['mjcfStatus'].message_type = _MJCFLOADEDSTATUS @@ -2788,6 +2823,7 @@ DESCRIPTOR.message_types_by_name['KeyboardEvent'] = _KEYBOARDEVENT DESCRIPTOR.message_types_by_name['KeyboardEventsStatus'] = _KEYBOARDEVENTSSTATUS DESCRIPTOR.message_types_by_name['RequestCameraImageCommand'] = _REQUESTCAMERAIMAGECOMMAND DESCRIPTOR.message_types_by_name['RequestCameraImageStatus'] = _REQUESTCAMERAIMAGESTATUS +DESCRIPTOR.message_types_by_name['ResetSimulationCommand'] = _RESETSIMULATIONCOMMAND DESCRIPTOR.message_types_by_name['PyBulletCommand'] = _PYBULLETCOMMAND DESCRIPTOR.message_types_by_name['PyBulletStatus'] = _PYBULLETSTATUS _sym_db.RegisterFileDescriptor(DESCRIPTOR) @@ -3051,6 +3087,13 @@ RequestCameraImageStatus = _reflection.GeneratedProtocolMessageType('RequestCame )) _sym_db.RegisterMessage(RequestCameraImageStatus) +ResetSimulationCommand = _reflection.GeneratedProtocolMessageType('ResetSimulationCommand', (_message.Message,), dict( + DESCRIPTOR = _RESETSIMULATIONCOMMAND, + __module__ = 'pybullet_pb2' + # @@protoc_insertion_point(class_scope:pybullet_grpc.ResetSimulationCommand) + )) +_sym_db.RegisterMessage(ResetSimulationCommand) + PyBulletCommand = _reflection.GeneratedProtocolMessageType('PyBulletCommand', (_message.Message,), dict( DESCRIPTOR = _PYBULLETCOMMAND, __module__ = 'pybullet_pb2' @@ -3075,8 +3118,8 @@ _PYBULLETAPI = _descriptor.ServiceDescriptor( file=DESCRIPTOR, index=0, options=None, - serialized_start=8496, - serialized_end=8591, + serialized_start=8595, + serialized_end=8690, methods=[ _descriptor.MethodDescriptor( name='SubmitCommand',