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small progress towards shared memory C-api and test.c.

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This commit is contained in:
erwincoumans
2015-07-30 23:22:44 -07:00
parent 26531f3fbc
commit 19c5be5646
11 changed files with 346 additions and 256 deletions
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193
examples/SharedMemory/PhysicsClient.cpp
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@@ -126,9 +126,20 @@ bool PhysicsClientSharedMemory::connect(bool allowSharedMemoryInitialization)
bool PhysicsClientSharedMemory::processServerStatus(SharedMemoryStatus& serverStatus)
{
btAssert(m_data->m_testBlock1);
bool hasStatus = false;
if (!m_data->m_testBlock1)
{
serverStatus.m_type = CMD_SHARED_MEMORY_NOT_INITIALIZED;
return true;
}
if (!m_data->m_waitingForServer)
{
serverStatus.m_type = CMD_WAITING_FOR_CLIENT_COMMAND;
return true;
}
if (m_data->m_testBlock1->m_numServerCommands> m_data->m_testBlock1->m_numProcessedServerCommands)
{
btAssert(m_data->m_testBlock1->m_numServerCommands==m_data->m_testBlock1->m_numProcessedServerCommands+1);
@@ -140,7 +151,11 @@ bool PhysicsClientSharedMemory::processServerStatus(SharedMemoryStatus& serverSt
//consume the command
switch (serverCmd.m_type)
{
case CMD_CLIENT_COMMAND_COMPLETED:
{
b3Printf("Server completed command");
break;
}
case CMD_URDF_LOADING_COMPLETED:
{
m_data->m_serverLoadUrdfOK = true;
@@ -240,10 +255,12 @@ bool PhysicsClientSharedMemory::processServerStatus(SharedMemoryStatus& serverSt
}
case CMD_DESIRED_STATE_RECEIVED_COMPLETED:
{
b3Printf("Server received desired state");
break;
}
case CMD_STEP_FORWARD_SIMULATION_COMPLETED:
{
b3Printf("Server completed step simulation");
break;
}
case CMD_URDF_LOADING_FAILED:
@@ -349,171 +366,15 @@ bool PhysicsClientSharedMemory::canSubmitCommand() const
bool PhysicsClientSharedMemory::submitClientCommand(const SharedMemoryCommand& command)
{
///at the moment we allow a maximum of 1 outstanding command, so we check for this
//once the server processed the command and returns a status, we clear the flag "m_data->m_waitingForServer" and allow submitting the next command
if (!m_data->m_waitingForServer)
{
//process command
{
m_data->m_waitingForServer = true;
switch (command.m_type)
{
case CMD_LOAD_URDF:
{
if (!m_data->m_serverLoadUrdfOK)
{
m_data->m_testBlock1->m_clientCommands[0] = command;
m_data->m_testBlock1->m_numClientCommands++;
b3Printf("Client created CMD_LOAD_URDF\n");
} else
{
b3Warning("Server already loaded URDF, no client command submitted\n");
}
break;
}
case CMD_CREATE_BOX_COLLISION_SHAPE:
{
if (m_data->m_serverLoadUrdfOK)
{
b3Printf("Requesting create box collision shape\n");
m_data->m_testBlock1->m_clientCommands[0].m_type =CMD_CREATE_BOX_COLLISION_SHAPE;
m_data->m_testBlock1->m_numClientCommands++;
} else
{
b3Warning("No URDF loaded\n");
}
break;
}
case CMD_SEND_BULLET_DATA_STREAM:
{
b3Printf("Sending a Bullet Data Stream\n");
///The idea is to pass a stream of chunks from client to server
///over shared memory. The server will process it
///Initially we will just copy an entire .bullet file into shared
///memory but we can also send individual chunks one at a time
///so it becomes a streaming solution
///In addition, we can make a separate API to create those chunks
///if needed, instead of using a 3d modeler or the Bullet SDK btSerializer
char relativeFileName[1024];
const char* fileName = "slope.bullet";
bool fileFound = b3ResourcePath::findResourcePath(fileName,relativeFileName,1024);
if (fileFound)
{
FILE *fp = fopen(relativeFileName, "rb");
if (fp)
{
fseek(fp, 0L, SEEK_END);
int mFileLen = ftell(fp);
fseek(fp, 0L, SEEK_SET);
if (mFileLen<SHARED_MEMORY_MAX_STREAM_CHUNK_SIZE)
{
fread(m_data->m_testBlock1->m_bulletStreamDataClientToServer, mFileLen, 1, fp);
fclose(fp);
m_data->m_testBlock1->m_clientCommands[0].m_type =CMD_SEND_BULLET_DATA_STREAM;
m_data->m_testBlock1->m_clientCommands[0].m_dataStreamArguments.m_streamChunkLength = mFileLen;
m_data->m_testBlock1->m_numClientCommands++;
b3Printf("Send bullet data stream command\n");
} else
{
b3Warning("Bullet file size (%d) exceeds of streaming memory chunk size (%d)\n", mFileLen,SHARED_MEMORY_MAX_STREAM_CHUNK_SIZE);
}
} else
{
b3Warning("Cannot open file %s\n", relativeFileName);
}
} else
{
b3Warning("Cannot find file %s\n", fileName);
}
break;
}
case CMD_INIT_POSE:
{
if (m_data->m_serverLoadUrdfOK)
{
b3Printf("Initialize Pose");
m_data->m_testBlock1->m_clientCommands[0] = command;
m_data->m_testBlock1->m_numClientCommands++;
}
break;
}
case CMD_SEND_PHYSICS_SIMULATION_PARAMETERS:
{
b3Printf("Send Physics Simulation Parameters");
m_data->m_testBlock1->m_clientCommands[0] = command;
m_data->m_testBlock1->m_numClientCommands++;
break;
}
case CMD_REQUEST_ACTUAL_STATE:
{
if (m_data->m_serverLoadUrdfOK)
{
b3Printf("Requesting actual state\n");
m_data->m_testBlock1->m_clientCommands[0].m_type =CMD_REQUEST_ACTUAL_STATE;
m_data->m_testBlock1->m_numClientCommands++;
} else
{
b3Warning("No URDF loaded\n");
}
break;
}
case CMD_SEND_DESIRED_STATE:
{
if (m_data->m_serverLoadUrdfOK)
{
b3Printf("Sending desired state (pos, vel, torque)\n");
m_data->m_testBlock1->m_clientCommands[0] = command;
m_data->m_testBlock1->m_numClientCommands++;
} else
{
b3Warning("Cannot send CMD_SEND_DESIRED_STATE, no URDF loaded\n");
}
break;
}
case CMD_STEP_FORWARD_SIMULATION:
{
if (m_data->m_serverLoadUrdfOK)
{
m_data->m_testBlock1->m_clientCommands[0].m_type =CMD_STEP_FORWARD_SIMULATION;
// m_data->m_testBlock1->m_clientCommands[0].m_stepSimulationArguments.m_deltaTimeInSeconds = 1./60.;
m_data->m_testBlock1->m_numClientCommands++;
b3Printf("client created CMD_STEP_FORWARD_SIMULATION %d\n", m_data->m_counter++);
} else
{
b3Warning("No URDF loaded yet, no client CMD_STEP_FORWARD_SIMULATION submitted\n");
}
break;
}
case CMD_SHUTDOWN:
{
m_data->m_testBlock1->m_clientCommands[0].m_type =CMD_SHUTDOWN;
m_data->m_testBlock1->m_numClientCommands++;
m_data->m_serverLoadUrdfOK = false;
b3Printf("client created CMD_SHUTDOWN\n");
break;
}
default:
{
b3Error("unknown command requested\n");
}
}
}
}
{
m_data->m_testBlock1->m_clientCommands[0] = command;
m_data->m_testBlock1->m_numClientCommands++;
m_data->m_waitingForServer = true;
return true;
}
return false;
}