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Merge branch 'master' of https://github.com/erwincoumans/bullet3

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This commit is contained in:
Erwin Coumans
2019-05-08 12:03:46 -07:00
parent 577dd16299 1ae63d097d
commit 2b9bece2c8
3 changed files with 97 additions and 44 deletions
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3
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -6337,6 +6337,7 @@ bool PhysicsServerCommandProcessor::processRequestActualStateCommand(const struc
serverCmd.m_sendActualStateArgs.m_bodyUniqueId = bodyUniqueId;
serverCmd.m_sendActualStateArgs.m_numLinks = body->m_multiBody->getNumLinks();
serverCmd.m_numDataStreamBytes = sizeof(SendActualStateSharedMemoryStorage);
serverCmd.m_sendActualStateArgs.m_stateDetails = 0;
int totalDegreeOfFreedomQ = 0;
int totalDegreeOfFreedomU = 0;
@@ -6548,6 +6549,7 @@ bool PhysicsServerCommandProcessor::processRequestActualStateCommand(const struc
serverCmd.m_sendActualStateArgs.m_bodyUniqueId = bodyUniqueId;
serverCmd.m_sendActualStateArgs.m_numLinks = 0;
serverCmd.m_numDataStreamBytes = sizeof(SendActualStateSharedMemoryStorage);
serverCmd.m_sendActualStateArgs.m_stateDetails = 0;
int totalDegreeOfFreedomQ = 0;
@@ -6590,6 +6592,7 @@ bool PhysicsServerCommandProcessor::processRequestActualStateCommand(const struc
serverCmd.m_type = CMD_ACTUAL_STATE_UPDATE_COMPLETED;
serverCmd.m_sendActualStateArgs.m_bodyUniqueId = bodyUniqueId;
serverCmd.m_sendActualStateArgs.m_numLinks = 0;
serverCmd.m_numDataStreamBytes = sizeof(SendActualStateSharedMemoryStorage);
serverCmd.m_sendActualStateArgs.m_stateDetails = 0;
serverCmd.m_sendActualStateArgs.m_rootLocalInertialFrame[0] =

21
examples/SharedMemory/grpc/ConvertGRPCBullet.cpp
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@@ -1413,6 +1413,22 @@ bool convertGRPCToStatus(const PyBulletStatus& grpcReply, SharedMemoryStatus& se
break;
}
case CMD_SDF_LOADING_COMPLETED:
{
converted = true;
const ::pybullet_grpc::SdfLoadedStatus* stat = &grpcReply.sdfstatus();
int numBodies = stat->bodyuniqueids_size();
if (numBodies > MAX_SDF_BODIES)
{
printf("SDF exceeds body capacity: %d > %d", numBodies, MAX_SDF_BODIES);
}
serverStatus.m_sdfLoadedArgs.m_numBodies = numBodies;
for (int i = 0; i < numBodies; i++)
{
serverStatus.m_sdfLoadedArgs.m_bodyUniqueIds[i] = stat->bodyuniqueids(i);
}
break;
}
case CMD_DESIRED_STATE_RECEIVED_COMPLETED:
{
converted = true;
@@ -1681,7 +1697,10 @@ bool convertStatusToGRPC(const SharedMemoryStatus& serverStatus, char* bufferSer
case CMD_ACTUAL_STATE_UPDATE_COMPLETED:
{
converted = true;
b3SharedMemoryStatusHandle statusHandle = (b3SharedMemoryStatusHandle)&serverStatus;
SharedMemoryStatus* status = (SharedMemoryStatus*)&serverStatus;
status->m_sendActualStateArgs.m_stateDetails = (SendActualStateSharedMemoryStorage*)bufferServerToClient;
b3SharedMemoryStatusHandle statusHandle = (b3SharedMemoryStatusHandle)status;
int bodyUniqueId;
int numLinks;

67
examples/SharedMemory/plugins/grpcPlugin/grpcPlugin.cpp
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@@ -11,6 +11,9 @@
#include <stdio.h>
#include <mutex>
#include <thread>
#include <grpc++/grpc++.h>
#include <grpc/support/log.h>
#include "../../../Utils/b3Clock.h"
@@ -44,6 +47,9 @@ public:
if (server_)
{
server_->Shutdown();
m_requestThreadCancelled = true;
m_requestThread->join();
delete m_requestThread;
// Always shutdown the completion queue after the server.
cq_->Shutdown();
server_ = 0;
@@ -64,6 +70,10 @@ public:
server_ = m_builder.BuildAndStart();
std::cout << "grpcPlugin Bullet Physics GRPC server listening on " << hostNamePort << std::endl;
//Start the thread to gather the requests.
m_requestThreadCancelled = false;
m_requestThread = new std::thread(&ServerImpl::GatherRequests, this);
// Proceed to the server's main loop.
InitRpcs(comProc);
}
@@ -72,25 +82,13 @@ public:
bool HandleSingleRpc()
{
CallData::CallStatus status = CallData::CallStatus::CREATE;
std::lock_guard<std::mutex> guard(m_queueMutex);
if (!m_requestQueue.empty()) {
void* tag = m_requestQueue.front();
m_requestQueue.pop_front();
status = static_cast<CallData*>(tag)->Proceed();
}
{
void* tag; // uniquely identifies a request.
bool ok;
// Block waiting to read the next event from the completion queue. The
// event is uniquely identified by its tag, which in this case is the
// memory address of a CallData instance.
// The return value of Next should always be checked. This return value
// tells us whether there is any kind of event or cq_ is shutting down.
grpc::CompletionQueue::NextStatus nextStatus = cq_->AsyncNext(&tag, &ok, gpr_now(GPR_CLOCK_MONOTONIC));
if (nextStatus == grpc::CompletionQueue::NextStatus::GOT_EVENT)
{
//GPR_ASSERT(cq_->Next(&tag, &ok));
GPR_ASSERT(ok);
status = static_cast<CallData*>(tag)->Proceed();
}
}
return status == CallData::CallStatus::TERMINATE;
}
@@ -252,6 +250,39 @@ private:
std::unique_ptr<ServerCompletionQueue> cq_;
PyBulletAPI::AsyncService service_;
std::unique_ptr<Server> server_;
// Mutex to protect access to the request queue variables (m_requestQueue,
// m_requestThread, m_requestThreadCancelled).
std::mutex m_queueMutex;
// List of outstanding request tags.
std::list<void*> m_requestQueue;
// Whether or not the gathering thread is cancelled.
bool m_requestThreadCancelled;
// Thread to gather requests from the completion queue.
std::thread* m_requestThread;
void GatherRequests() {
void* tag; // uniquely identifies a request.
bool ok;
while(!m_requestThreadCancelled) {
// Block waiting to read the next event from the completion queue. The
// event is uniquely identified by its tag, which in this case is the
// memory address of a CallData instance.
// The return value of Next should always be checked. This return value
// tells us whether there is any kind of event or cq_ is shutting down.
grpc::CompletionQueue::NextStatus nextStatus = cq_->AsyncNext(&tag, &ok, gpr_now(GPR_CLOCK_MONOTONIC));
if (nextStatus == grpc::CompletionQueue::NextStatus::GOT_EVENT)
{
GPR_ASSERT(ok);
std::lock_guard<std::mutex> guard(m_queueMutex);
m_requestQueue.push_back(tag);
}
}
}
};
struct grpcMyClass