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export TCP connection mode to pybullet

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made TCP disconnection detection more reliable
This commit is contained in:
Erwin Coumans
2017-02-20 20:34:05 -08:00
parent 942015df9d
commit 28146e816f
4 changed files with 72 additions and 13 deletions
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36
examples/pybullet/pybullet.c
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@@ -5,6 +5,10 @@
#include "../SharedMemory/PhysicsClientUDP_C_API.h"
#endif //BT_ENABLE_ENET
#ifdef BT_ENABLE_CLSOCKET
#include "../SharedMemory/PhysicsClientTCP_C_API.h"
#endif //BT_ENABLE_CLSOCKET
#ifdef __APPLE__
#include <Python/Python.h>
#else
@@ -25,6 +29,7 @@ enum eCONNECT_METHOD {
eCONNECT_DIRECT = 2,
eCONNECT_SHARED_MEMORY = 3,
eCONNECT_UDP = 4,
eCONNECT_TCP = 5,
};
static PyObject* SpamError;
@@ -227,7 +232,9 @@ static PyObject* pybullet_connectPhysicsServer(PyObject* self, PyObject* args, P
{
int key = SHARED_MEMORY_KEY;
int port = 1234;
int udpPort = 1234;
int tcpPort = 6667;
const char* hostName = "localhost";
int size = PySequence_Size(args);
@@ -236,7 +243,7 @@ static PyObject* pybullet_connectPhysicsServer(PyObject* self, PyObject* args, P
if (!PyArg_ParseTuple(args, "i", &method)) {
PyErr_SetString(SpamError,
"connectPhysicsServer expected argument GUI, "
"DIRECT, SHARED_MEMORY or UDP");
"DIRECT, SHARED_MEMORY, UDP or TCP");
return NULL;
}
}
@@ -250,7 +257,7 @@ static PyObject* pybullet_connectPhysicsServer(PyObject* self, PyObject* args, P
if (sPhysicsClientsGUI[i] ==eCONNECT_GUI)
{
PyErr_SetString(SpamError,
"Only one local in-process GUI connection allowed. Use DIRECT connection mode or start a separate GUI physics server (ExampleBrowser, App_SharedMemoryPhysics_GUI, App_SharedMemoryPhysics_VR) and connect over SHARED_MEMORY or UDP instead.");
"Only one local in-process GUI connection allowed. Use DIRECT connection mode or start a separate GUI physics server (ExampleBrowser, App_SharedMemoryPhysics_GUI, App_SharedMemoryPhysics_VR) and connect over SHARED_MEMORY, UDP or TCP instead.");
return NULL;
}
}
@@ -275,12 +282,18 @@ static PyObject* pybullet_connectPhysicsServer(PyObject* self, PyObject* args, P
if (size == 3)
{
int port = -1;
if (!PyArg_ParseTuple(args, "isi", &method, &hostName, &port))
{
PyErr_SetString(SpamError,
"connectPhysicsServer 3 arguments: method, hostname, port");
return NULL;
}
if (port>=0)
{
udpPort = port;
tcpPort = port;
}
}
@@ -308,7 +321,7 @@ static PyObject* pybullet_connectPhysicsServer(PyObject* self, PyObject* args, P
{
#ifdef BT_ENABLE_ENET
sm = b3ConnectPhysicsUDP(hostName, port);
sm = b3ConnectPhysicsUDP(hostName, udpPort);
#else
PyErr_SetString(SpamError, "UDP is not enabled in this pybullet build");
return NULL;
@@ -316,6 +329,20 @@ static PyObject* pybullet_connectPhysicsServer(PyObject* self, PyObject* args, P
break;
}
case eCONNECT_TCP:
{
#ifdef BT_ENABLE_CLSOCKET
sm = b3ConnectPhysicsTCP(hostName, tcpPort);
#else
PyErr_SetString(SpamError, "TCP is not enabled in this pybullet build");
return NULL;
#endif //BT_ENABLE_CLSOCKET
break;
}
default: {
PyErr_SetString(SpamError, "connectPhysicsServer unexpected argument");
@@ -5126,6 +5153,7 @@ initpybullet(void)
PyModule_AddIntConstant(m, "DIRECT", eCONNECT_DIRECT); // user read
PyModule_AddIntConstant(m, "GUI", eCONNECT_GUI); // user read
PyModule_AddIntConstant(m, "UDP", eCONNECT_UDP); // user read
PyModule_AddIntConstant(m, "TCP", eCONNECT_TCP); // user read
PyModule_AddIntConstant(m, "JOINT_REVOLUTE", eRevoluteType); // user read
PyModule_AddIntConstant(m, "JOINT_PRISMATIC", ePrismaticType); // user read