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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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41
examples/SharedMemory/SharedMemoryCommands.h
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@@ -35,13 +35,21 @@ enum EnumSharedMemoryClientCommand
CMD_SEND_PHYSICS_SIMULATION_PARAMETERS,
CMD_SEND_DESIRED_STATE,
CMD_REQUEST_ACTUAL_STATE,
CMD_STEP_FORWARD_SIMULATION, //includes CMD_REQUEST_STATE
CMD_STEP_FORWARD_SIMULATION,
CMD_SHUTDOWN,
CMD_MAX_CLIENT_COMMANDS
};
enum EnumSharedMemoryServerStatus
{
CMD_SHARED_MEMORY_NOT_INITIALIZED,
CMD_WAITING_FOR_CLIENT_COMMAND,
//CMD_CLIENT_COMMAND_COMPLETED is a generic 'completed' status that doesn't need special handling on the client
CMD_CLIENT_COMMAND_COMPLETED,
//the server will skip unknown command and report a status 'CMD_UNKNOWN_COMMAND_FLUSHED'
CMD_UNKNOWN_COMMAND_FLUSHED,
CMD_URDF_LOADING_COMPLETED,
CMD_URDF_LOADING_FAILED,
CMD_BULLET_DATA_STREAM_RECEIVED_COMPLETED,
@@ -50,6 +58,7 @@ enum EnumSharedMemoryServerStatus
CMD_RIGID_BODY_CREATION_COMPLETED,
CMD_SET_JOINT_FEEDBACK_COMPLETED,
CMD_ACTUAL_STATE_UPDATE_COMPLETED,
CMD_ACTUAL_STATE_UPDATE_FAILED,
CMD_DESIRED_STATE_RECEIVED_COMPLETED,
CMD_STEP_FORWARD_SIMULATION_COMPLETED,
CMD_MAX_SERVER_COMMANDS
@@ -60,6 +69,15 @@ enum EnumSharedMemoryServerStatus
#define MAX_NUM_SENSORS 1024
#define MAX_URDF_FILENAME_LENGTH 1024
enum EnumUrdfArgsUpdateFlags
{
URDF_ARGS_FILE_NAME=1,
URDF_ARGS_INITIAL_POSITION=2,
URDF_ARGS_INITIAL_ORIENTATION=4,
URDF_ARGS_USE_MULTIBODY=8,
URDF_ARGS_USE_FIXED_BASE=16,
};
struct UrdfArgs
{
@@ -120,7 +138,7 @@ struct SendDesiredStateArgs
};
enum EnumUpdateFlags
enum EnumSimParamUpdateFlags
{
SIM_PARAM_UPDATE_DELTA_TIME=1,
SIM_PARAM_UPDATE_GRAVITY=2,
@@ -168,18 +186,19 @@ struct SharedMemoryCommand
int m_type;
smUint64_t m_timeStamp;
int m_sequenceNumber;
//a bit fields to tell which parameters need updating
//for example m_updateFlags = SIM_PARAM_UPDATE_DELTA_TIME | SIM_PARAM_UPDATE_NUM_SOLVER_ITERATIONS;
int m_updateFlags;
//m_updateFlags is a bit fields to tell which parameters need updating
//for example m_updateFlags = SIM_PARAM_UPDATE_DELTA_TIME | SIM_PARAM_UPDATE_NUM_SOLVER_ITERATIONS;
int m_updateFlags;
union
{
struct UrdfArgs m_urdfArguments;
struct InitPoseArgs m_initPoseArgs;
struct SendPhysicsSimulationParameters m_physSimParamArgs;
struct BulletDataStreamArgs m_dataStreamArguments;
struct SendDesiredStateArgs m_sendDesiredStateCommandArgument;
struct RequestActualStateArgs m_requestActualStateInformationCommandArgument;
struct InitPoseArgs m_initPoseArgs;
struct SendPhysicsSimulationParameters m_physSimParamArgs;
struct BulletDataStreamArgs m_dataStreamArguments;
struct SendDesiredStateArgs m_sendDesiredStateCommandArgument;
struct RequestActualStateArgs m_requestActualStateInformationCommandArgument;
};
};
@@ -198,6 +217,8 @@ struct SharedMemoryStatus
};
};
typedef struct SharedMemoryStatus SharedMemoryStatus_t;
struct PoweredJointInfo
{
char* m_linkName;