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Update GRPC conversion of SDF and State Update

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This commit is contained in:
mbennice
2019-05-07 11:18:11 -07:00
parent cf16c5c51f
commit 1d2a1c093d
1 changed files with 20 additions and 1 deletions
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21
examples/SharedMemory/grpc/ConvertGRPCBullet.cpp
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@@ -1413,6 +1413,22 @@ bool convertGRPCToStatus(const PyBulletStatus& grpcReply, SharedMemoryStatus& se
break;
}
case CMD_SDF_LOADING_COMPLETED:
{
converted = true;
const ::pybullet_grpc::SdfLoadedStatus* stat = &grpcReply.sdfstatus();
int numBodies = stat->bodyuniqueids_size();
if (numBodies > MAX_SDF_BODIES)
{
printf("SDF exceeds body capacity: %d > %d", numBodies, MAX_SDF_BODIES);
}
serverStatus.m_sdfLoadedArgs.m_numBodies = numBodies;
for (int i = 0; i < numBodies; i++)
{
serverStatus.m_sdfLoadedArgs.m_bodyUniqueIds[i] = stat->bodyuniqueids(i);
}
break;
}
case CMD_DESIRED_STATE_RECEIVED_COMPLETED:
{
converted = true;
@@ -1681,7 +1697,10 @@ bool convertStatusToGRPC(const SharedMemoryStatus& serverStatus, char* bufferSer
case CMD_ACTUAL_STATE_UPDATE_COMPLETED:
{
converted = true;
b3SharedMemoryStatusHandle statusHandle = (b3SharedMemoryStatusHandle)&serverStatus;
SharedMemoryStatus* status = (SharedMemoryStatus*)&serverStatus;
status->m_sendActualStateArgs.m_stateDetails = (SendActualStateSharedMemoryStorage*)bufferServerToClient;
b3SharedMemoryStatusHandle statusHandle = (b3SharedMemoryStatusHandle)status;
int bodyUniqueId;
int numLinks;