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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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28
examples/SharedMemory/tcp/main.cpp
View File

@@ -74,8 +74,10 @@ int main(int argc, char *argv[])
socket.Initialize();
socket.Listen("localhost", port);
socket.SetBlocking();
int curNumErr = 0;
b3AlignedObjectArray<char> bytesReceived;
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();
@@ -221,8 +244,7 @@ int main(int argc, char *argv[])
}
if (!receivedData)
{
printf("Didn't receive data.\n");
break;
//printf("Didn't receive data.\n");
}
}
printf("Disconnecting client.\n");

8
examples/ThirdPartyLibs/clsocket/src/SimpleSocket.h
View File

@@ -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.

7
examples/pybullet/CMakeLists.txt
View File

@@ -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 "")

36
examples/pybullet/pybullet.c
View File

@@ -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