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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: