export TCP connection mode to pybullet

made TCP disconnection detection more reliable

examples/SharedMemory/tcp/main.cpp

@@ -74,8 +74,10 @@ int main(int argc, char *argv[])
         socket.Initialize();
         
         socket.Listen("localhost", port);
-
+        socket.SetBlocking();
-		b3AlignedObjectArray<char> bytesReceived;
+        
+        int curNumErr = 0;
+        
         
         while (!exitRequested)
         {
@@ -83,9 +85,12 @@ int main(int argc, char *argv[])
 
             if ((pClient = socket.Accept()) != NULL)
             {
+                b3AlignedObjectArray<char> bytesReceived;
+
                 int clientPort = socket.GetClientPort();
                 printf("connected from %s:%d\n", socket.GetClientAddr(),clientPort);
                 
+                
                 //----------------------------------------------------------------------
                 // Receive request from the client.
                 //----------------------------------------------------------------------
@@ -96,9 +101,27 @@ int main(int argc, char *argv[])
                     
 					int maxLen = 4 + sizeof(SharedMemoryStatus)+SHARED_MEMORY_MAX_STREAM_CHUNK_SIZE;
        
+
+                    //heuristic to detect disconnected clients
+                    CSimpleSocket::CSocketError err = pClient->GetSocketError();
+                    if (err != CSimpleSocket::SocketSuccess)
+                    {
+                        b3Clock::usleep(100);
+                        
+                        curNumErr++;
+                       
+                        if (curNumErr>100)
+                        {
+                            printf("TCP Connection error = %d, curNumErr = %d\n", (int)err, curNumErr);
+                            
+                            break;
+                        }
+                    }
+                    
                     if (pClient->Receive(maxLen))
                     {
-						
+					
+                        curNumErr = 0;
                         char* msg2 = (char*) pClient->GetData();
                         int numBytesRec2 = pClient->GetBytesReceived();
 
@@ -221,9 +244,8 @@ int main(int argc, char *argv[])
                     }
                     if (!receivedData)
                     {
-                        printf("Didn't receive data.\n");
+                        //printf("Didn't receive data.\n");
-                        break;
+                    }
-                    } 
                 }
                 printf("Disconnecting client.\n");
                 pClient->Close();

examples/ThirdPartyLibs/clsocket/src/SimpleSocket.h

@@ -413,6 +413,14 @@ public:
     CSocketError GetSocketError(void) {
         return m_socketErrno;
     };
+    /*
+     CSocketError GetSocketError(void) {
+     CSocketError err = m_socketErrno;
+     m_socketErrno = SocketSuccess;
+     return err;
+     
+     };
+     */
 
     /// Get the total time the of the last operation in milliseconds.
     ///  @return number of milliseconds of last operation.

examples/pybullet/CMakeLists.txt

@@ -95,7 +95,7 @@ ENDIF(WIN32)
 
 
 IF(BUILD_PYBULLET_ENET)
-	ADD_LIBRARY(pybullet SHARED ${pybullet_SRCS} 
+	set(pybullet_SRCS ${pybullet_SRCS} 
 		../../examples/SharedMemory/PhysicsClientUDP.cpp
 		../../examples/SharedMemory/PhysicsClientUDP_C_API.cpp
 		../../examples/SharedMemory/PhysicsClientUDP.h		
@@ -110,10 +110,11 @@ IF(BUILD_PYBULLET_ENET)
 		../../examples/ThirdPartyLibs/enet/peer.c
 		../../examples/ThirdPartyLibs/enet/protocol.c
 	)
-ELSE(BUILD_PYBULLET_ENET)
-	ADD_LIBRARY(pybullet SHARED ${pybullet_SRCS})
 ENDIF(BUILD_PYBULLET_ENET)
 
+
+ADD_LIBRARY(pybullet SHARED ${pybullet_SRCS})
+
 SET_TARGET_PROPERTIES(pybullet PROPERTIES PREFIX "")
 SET_TARGET_PROPERTIES(pybullet PROPERTIES POSTFIX "")
 

examples/pybullet/pybullet.c

@@ -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