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some work towards streaming Bullet data over shared memory for client/server

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This commit is contained in:
erwincoumans
2015-07-09 14:04:58 -07:00
parent 7f4beba7ee
commit 285ac286fa
10 changed files with 179 additions and 79 deletions
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146
examples/SharedMemory/PhysicsClient.cpp
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@@ -6,7 +6,7 @@
#include "Win32SharedMemory.h"
#include "SharedMemoryCommon.h"
#include "../CommonInterfaces/CommonParameterInterface.h"
#include "../Utils/b3ResourcePath.h"
class PhysicsClient : public SharedMemoryCommon
{
@@ -24,6 +24,8 @@ protected:
void createClientCommand();
void createButton(const char* name, int id, bool isTrigger );
public:
PhysicsClient(GUIHelperInterface* helper);
@@ -57,23 +59,13 @@ void MyCallback(int buttonId, bool buttonState, void* userPtr)
switch (buttonId)
{
case CMD_LOAD_URDF:
{
cl->submitCommand(CMD_LOAD_URDF);
break;
}
case CMD_CREATE_BOX_COLLISION_SHAPE:
case CMD_REQUEST_ACTUAL_STATE:
{
cl->submitCommand(CMD_REQUEST_ACTUAL_STATE);
break;
}
case CMD_STEP_FORWARD_SIMULATION:
{
cl->submitCommand(CMD_STEP_FORWARD_SIMULATION);
break;
}
case CMD_SHUTDOWN:
case CMD_SEND_BULLET_DATA_STREAM:
{
cl->submitCommand(CMD_SHUTDOWN);
cl->submitCommand(buttonId);
break;
}
@@ -116,50 +108,26 @@ PhysicsClient::~PhysicsClient()
delete m_sharedMemory;
}
void PhysicsClient::createButton(const char* name, int buttonId, bool isTrigger )
{
ButtonParams button(name,buttonId, isTrigger);
button.m_callback = MyCallback;
button.m_userPointer = this;
m_guiHelper->getParameterInterface()->registerButtonParameter(button);
}
void PhysicsClient::initPhysics()
{
if (m_guiHelper && m_guiHelper->getParameterInterface())
{
{
bool isTrigger = false;
ButtonParams button("Load URDF",CMD_LOAD_URDF, isTrigger);
button.m_callback = MyCallback;
button.m_userPointer = this;
m_guiHelper->getParameterInterface()->registerButtonParameter(button);
}
{
bool isTrigger = false;
ButtonParams button("Step Sim",CMD_STEP_FORWARD_SIMULATION, isTrigger);
button.m_callback = MyCallback;
button.m_userPointer = this;
m_guiHelper->getParameterInterface()->registerButtonParameter(button);
}
{
bool isTrigger = false;
ButtonParams button("Get State",CMD_REQUEST_ACTUAL_STATE, isTrigger);
button.m_callback = MyCallback;
button.m_userPointer = this;
m_guiHelper->getParameterInterface()->registerButtonParameter(button);
}
bool isTrigger = false;
{
bool isTrigger = false;
ButtonParams button("Send Desired State",CMD_SEND_DESIRED_STATE, isTrigger);
button.m_callback = MyCallback;
button.m_userPointer = this;
m_guiHelper->getParameterInterface()->registerButtonParameter(button);
}
createButton("Load URDF",CMD_LOAD_URDF, isTrigger);
createButton("Step Sim",CMD_STEP_FORWARD_SIMULATION, isTrigger);
createButton("Send Bullet Stream",CMD_SEND_BULLET_DATA_STREAM, isTrigger);
createButton("Get State",CMD_REQUEST_ACTUAL_STATE, isTrigger);
createButton("Send Desired State",CMD_SEND_DESIRED_STATE, isTrigger);
createButton("Create Box Collider",CMD_CREATE_BOX_COLLISION_SHAPE,isTrigger);
{
bool isTrigger = false;
ButtonParams button("Shut Down",CMD_SHUTDOWN, isTrigger);
button.m_callback = MyCallback;
button.m_userPointer = this;
m_guiHelper->getParameterInterface()->registerButtonParameter(button);
}
} else
{
m_userCommandRequests.push_back(CMD_LOAD_URDF);
@@ -167,7 +135,7 @@ void PhysicsClient::initPhysics()
//m_userCommandRequests.push_back(CMD_SEND_DESIRED_STATE);
m_userCommandRequests.push_back(CMD_REQUEST_ACTUAL_STATE);
//m_userCommandRequests.push_back(CMD_SET_JOINT_FEEDBACK);
//m_userCommandRequests.push_back(CMD_CREATE_BOX_COLLISION_SHAPE);
m_userCommandRequests.push_back(CMD_CREATE_BOX_COLLISION_SHAPE);
//m_userCommandRequests.push_back(CMD_CREATE_RIGID_BODY);
m_userCommandRequests.push_back(CMD_STEP_FORWARD_SIMULATION);
m_userCommandRequests.push_back(CMD_REQUEST_ACTUAL_STATE);
@@ -225,6 +193,17 @@ void PhysicsClient::processServerCommands()
m_serverLoadUrdfOK = false;
break;
}
case CMD_BULLET_DATA_STREAM_RECEIVED_COMPLETED:
{
break;
}
case CMD_BULLET_DATA_STREAM_RECEIVED_FAILED:
{
break;
}
case CMD_ACTUAL_STATE_UPDATE_COMPLETED:
{
b3Printf("Received actual state\n");
@@ -312,6 +291,67 @@ void PhysicsClient::createClientCommand()
{
b3Warning("Server already loaded URDF, no client command submitted\n");
}
break;
}
case CMD_CREATE_BOX_COLLISION_SHAPE:
{
if (m_serverLoadUrdfOK)
{
b3Printf("Requesting create box collision shape\n");
m_testBlock1->m_clientCommands[0].m_type =CMD_CREATE_BOX_COLLISION_SHAPE;
m_testBlock1->m_numClientCommands++;
} else
{
b3Warning("No URDF loaded\n");
}
break;
}
case CMD_SEND_BULLET_DATA_STREAM:
{
b3Printf("Sending a Bullet Data Stream\n");
///The idea is to pass a stream of chunks from client to server
///over shared memory. The server will process it
///Initially we will just copy an entire .bullet file into shared
///memory but we can also send individual chunks one at a time
///so it becomes a streaming solution
///In addition, we can make a separate API to create those chunks
///if needed, instead of using a 3d modeler or the Bullet SDK btSerializer
char relativeFileName[1024];
const char* fileName = "slope.bullet";
bool fileFound = b3ResourcePath::findResourcePath(fileName,relativeFileName,1024);
if (fileFound)
{
FILE *fp = fopen(relativeFileName, "rb");
if (fp)
{
fseek(fp, 0L, SEEK_END);
int mFileLen = ftell(fp);
fseek(fp, 0L, SEEK_SET);
if (mFileLen<SHARED_MEMORY_MAX_STREAM_CHUNK_SIZE)
{
fread(m_testBlock1->m_bulletStreamDataClientToServer, mFileLen, 1, fp);
fclose(fp);
m_testBlock1->m_clientCommands[0].m_type =CMD_SEND_BULLET_DATA_STREAM;
m_testBlock1->m_clientCommands[0].m_dataStreamArguments.m_streamChunkLength = mFileLen;
m_testBlock1->m_numClientCommands++;
b3Printf("Send bullet data stream command\n");
} else
{
b3Warning("Bullet file size (%d) exceeds of streaming memory chunk size (%d)\n", mFileLen,SHARED_MEMORY_MAX_STREAM_CHUNK_SIZE);
}
} else
{
b3Warning("Cannot open file %s\n", relativeFileName);
}
} else
{
b3Warning("Cannot find file %s\n", fileName);
}
break;
}
case CMD_REQUEST_ACTUAL_STATE:

41
examples/SharedMemory/PhysicsServer.cpp
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@@ -7,6 +7,7 @@
#include "../Importers/ImportURDFDemo/BulletUrdfImporter.h"
#include "../Importers/ImportURDFDemo/MyMultiBodyCreator.h"
#include "../Importers/ImportURDFDemo/URDF2Bullet.h"
#include "../Extras/Serialize/BulletWorldImporter/btBulletWorldImporter.h"
#include "SharedMemoryCommon.h"
@@ -17,6 +18,8 @@ class PhysicsServer : public SharedMemoryCommon
SharedMemoryExampleData* m_testBlock1;
btAlignedObjectArray<btJointFeedback*> m_jointFeedbacks;
btAlignedObjectArray<btBulletWorldImporter*> m_worldImporters;
bool m_wantsShutdown;
public:
@@ -196,6 +199,29 @@ void PhysicsServer::stepSimulation(float deltaTime)
//consume the command
switch (clientCmd.m_type)
{
case CMD_SEND_BULLET_DATA_STREAM:
{
b3Printf("Processed CMD_SEND_BULLET_DATA_STREAM length %d",clientCmd.m_dataStreamArguments.m_streamChunkLength);
btBulletWorldImporter* worldImporter = new btBulletWorldImporter(m_dynamicsWorld);
this->m_worldImporters.push_back(worldImporter);
bool completedOk = worldImporter->loadFileFromMemory(m_testBlock1->m_bulletStreamDataClientToServer,clientCmd.m_dataStreamArguments.m_streamChunkLength);
m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld);
SharedMemoryCommand& serverCmd =m_testBlock1->m_serverCommands[0];
if (completedOk)
{
serverCmd.m_type =CMD_BULLET_DATA_STREAM_RECEIVED_COMPLETED;
} else
{
serverCmd.m_type =CMD_BULLET_DATA_STREAM_RECEIVED_FAILED;
}
m_testBlock1->m_numServerCommands++;
break;
}
case CMD_LOAD_URDF:
{
b3Printf("Processed CMD_LOAD_URDF:%s",clientCmd.m_urdfArguments.m_urdfFileName);
@@ -330,6 +356,21 @@ void PhysicsServer::stepSimulation(float deltaTime)
wantsShutdown = true;
break;
}
case CMD_CREATE_BOX_COLLISION_SHAPE:
{
btVector3 halfExtents(30,30,1);
btTransform startTrans;
startTrans.setIdentity();
startTrans.setOrigin(btVector3(0,0,-4));
btCollisionShape* shape = createBoxShape(halfExtents);
btScalar mass = 0.f;
createRigidBody(mass,startTrans,shape);
this->m_guiHelper->autogenerateGraphicsObjects(this->m_dynamicsWorld);
SharedMemoryCommand& serverCmd =m_testBlock1->m_serverCommands[0];
serverCmd.m_type =CMD_STEP_FORWARD_SIMULATION_COMPLETED;
m_testBlock1->m_numServerCommands++;
break;
}
default:
{
b3Error("Unsupported command encountered");

10
examples/SharedMemory/SharedMemoryCommands.h
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@@ -8,6 +8,8 @@ enum SharedMemoryServerCommand
{
CMD_URDF_LOADING_COMPLETED,
CMD_URDF_LOADING_FAILED,
CMD_BULLET_DATA_STREAM_RECEIVED_COMPLETED,
CMD_BULLET_DATA_STREAM_RECEIVED_FAILED,
CMD_BOX_COLLISION_SHAPE_CREATION_COMPLETED,
CMD_RIGID_BODY_CREATION_COMPLETED,
CMD_SET_JOINT_FEEDBACK_COMPLETED,
@@ -20,6 +22,7 @@ enum SharedMemoryServerCommand
enum SharedMemoryClientCommand
{
CMD_LOAD_URDF,
CMD_SEND_BULLET_DATA_STREAM,
CMD_CREATE_BOX_COLLISION_SHAPE,
CMD_DELETE_BOX_COLLISION_SHAPE,
CMD_CREATE_RIGID_BODY,
@@ -45,6 +48,12 @@ struct UrdfArgs
bool m_useFixedBase;
};
struct BulletDataStreamArgs
{
int m_streamChunkLength;
};
struct SetJointFeedbackArgs
{
int m_bodyUniqueId;
@@ -96,6 +105,7 @@ struct SharedMemoryCommand
union
{
UrdfArgs m_urdfArguments;
BulletDataStreamArgs m_dataStreamArguments;
StepSimulationArgs m_stepSimulationArguments;
SendDesiredStateArgs m_sendDesiredQandUStateCommandArgument;
RequestActualStateArgs m_requestActualStateInformationCommandArgument;

3
examples/SharedMemory/SharedMemoryInterface.h
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@@ -4,6 +4,7 @@
#define SHARED_MEMORY_KEY 12347
#define SHARED_MEMORY_MAGIC_NUMBER 64738
#define SHARED_MEMORY_MAX_COMMANDS 64
#define SHARED_MEMORY_MAX_STREAM_CHUNK_SIZE (256*1024)
#include "SharedMemoryCommands.h"
@@ -31,6 +32,8 @@ struct SharedMemoryExampleData
double m_actualStateQdot[MAX_DEGREE_OF_FREEDOM];
double m_actualStateSensors[MAX_NUM_SENSORS];//these are force sensors and IMU information
char m_bulletStreamDataClientToServer[SHARED_MEMORY_MAX_STREAM_CHUNK_SIZE];
char m_bulletStreamDataServerToClient[SHARED_MEMORY_MAX_STREAM_CHUNK_SIZE];
};
#define SHARED_MEMORY_SIZE sizeof(SharedMemoryExampleData)

2
examples/SharedMemory/premake4.lua
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@@ -33,6 +33,8 @@ files {
"../Importers/ImportURDFDemo/URDF2Bullet.cpp",
"../Importers/ImportURDFDemo/URDF2Bullet.h",
"../Utils/b3ResourcePath.cpp",
"../../Extras/Serialize/BulletWorldImporter/*",
"../../Extras/Serialize/BulletFileLoader/*",
"../Importers/ImportURDFDemo/URDFImporterInterface.h",
"../Importers/ImportURDFDemo/URDFJointTypes.h",
"../Importers/ImportObjDemo/Wavefront2GLInstanceGraphicsShape.cpp",