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Add a "add button" option in the CommonParameterInterface and implement it for Gwen.

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Add some buttons for shared memory requests in the PhysicsClient
This commit is contained in:
erwin coumans
2015-06-09 16:51:55 -07:00
parent 92a612a146
commit 2c3db1c631
5 changed files with 233 additions and 32 deletions
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190
examples/SharedMemory/PhysicsClient.cpp
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@@ -5,6 +5,8 @@
#include "PosixSharedMemory.h"
#include "Win32SharedMemory.h"
#include "SharedMemoryCommon.h"
#include "../CommonInterfaces/CommonParameterInterface.h"
class PhysicsClient : public SharedMemoryCommon
{
@@ -12,6 +14,13 @@ class PhysicsClient : public SharedMemoryCommon
SharedMemoryExampleData* m_testBlock1;
int m_counter;
bool m_wantsTermination;
btAlignedObjectArray<int> m_userCommandRequests;
bool m_serverLoadUrdfOK;
bool m_waitingForServer;
public:
@@ -35,13 +44,56 @@ public:
{
return m_wantsTermination;
}
void submitCommand(int command);
};
void MyCallback(int buttonId, bool buttonState, void* userPtr)
{
PhysicsClient* cl = (PhysicsClient*) userPtr;
switch (buttonId)
{
case CMD_LOAD_URDF:
{
cl->submitCommand(CMD_LOAD_URDF);
break;
}
case CMD_STEP_FORWARD_SIMULATION:
{
cl->submitCommand(CMD_STEP_FORWARD_SIMULATION);
break;
}
case CMD_SHUTDOWN:
{
cl->submitCommand(CMD_SHUTDOWN);
break;
}
default:
{
b3Error("Unknown buttonId");
btAssert(0);
}
};
}
void PhysicsClient::submitCommand(int command)
{
m_userCommandRequests.push_back(command);
b3Printf("User submitted command request %d (outstanding %d)\n",command, m_userCommandRequests.size());
}
PhysicsClient::PhysicsClient(GUIHelperInterface* helper)
:SharedMemoryCommon(helper),
m_testBlock1(0),
m_counter(0),
m_wantsTermination(false)
m_wantsTermination(false),
m_serverLoadUrdfOK(false),
m_waitingForServer(false)
{
b3Printf("Started PhysicsClient");
#ifdef _WIN32
@@ -58,8 +110,34 @@ PhysicsClient::~PhysicsClient()
delete m_sharedMemory;
}
void PhysicsClient::initPhysics()
{
{
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("Shut Down",CMD_SHUTDOWN, isTrigger);
button.m_callback = MyCallback;
button.m_userPointer = this;
m_guiHelper->getParameterInterface()->registerButtonParameter(button);
}
m_testBlock1 = (SharedMemoryExampleData*)m_sharedMemory->allocateSharedMemory(SHARED_MEMORY_KEY, SHARED_MEMORY_SIZE);
if (m_testBlock1)
{
@@ -69,16 +147,10 @@ void PhysicsClient::initPhysics()
b3Error("Error: please start server before client");
m_sharedMemory->releaseSharedMemory(SHARED_MEMORY_KEY, SHARED_MEMORY_SIZE);
m_testBlock1 = 0;
} else
{
//submit a 'load urdf' command to get things started
b3Printf("Client created CMD_LOAD_URDF");
m_testBlock1->m_clientCommands[0].m_type =CMD_LOAD_URDF;
sprintf(m_testBlock1->m_clientCommands[0].m_urdfArguments.m_urdfFileName,"r2d2.urdf");
m_testBlock1->m_numClientCommands++;
}
{
b3Printf("Shared Memory status is OK");
}
}
}
@@ -102,30 +174,20 @@ void PhysicsClient::stepSimulation(float deltaTime)
switch (serverCmd.m_type)
{
case CMD_URDF_LOADING_COMPLETED:
{
m_serverLoadUrdfOK = true;
b3Printf("Server loading the URDF OK");
break;
}
case CMD_STEP_FORWARD_SIMULATION_COMPLETED:
case CMD_URDF_LOADING_COMPLETED:
{
//submit a 'step simulation' request
if (m_counter<10)
{
m_testBlock1->m_clientCommands[0].m_type =CMD_STEP_FORWARD_SIMULATION;
m_testBlock1->m_clientCommands[0].m_stepSimulationArguments.m_deltaTimeInSeconds = 1./60.;
m_testBlock1->m_numClientCommands++;
m_counter++;
} else
{
m_wantsTermination = true;
m_testBlock1->m_clientCommands[0].m_type =CMD_SHUTDOWN;
m_testBlock1->m_numClientCommands++;
}
break;
}
case CMD_URDF_LOADING_FAILED:
{
b3Printf("Server failed loading the URDF...");
m_serverLoadUrdfOK = false;
break;
}
default:
@@ -134,12 +196,80 @@ void PhysicsClient::stepSimulation(float deltaTime)
btAssert(0);
}
};
m_testBlock1->m_numProcessedServerCommands++;
if (m_testBlock1->m_numServerCommands == m_testBlock1->m_numProcessedServerCommands)
{
m_waitingForServer = false;
} else
{
m_waitingForServer = true;
}
}
}
if (!m_waitingForServer)
{
//process outstanding requests
if (m_userCommandRequests.size())
{
b3Printf("Outstanding user command requests: %d\n", m_userCommandRequests.size());
int command = m_userCommandRequests[0];
m_userCommandRequests.remove(command);
switch (command)
{
case CMD_LOAD_URDF:
{
if (!m_serverLoadUrdfOK)
{
m_testBlock1->m_clientCommands[0].m_type =CMD_LOAD_URDF;
sprintf(m_testBlock1->m_clientCommands[0].m_urdfArguments.m_urdfFileName,"r2d2.urdf");
m_testBlock1->m_numClientCommands++;
b3Printf("Client created CMD_LOAD_URDF");
m_waitingForServer = true;
} else
{
b3Warning("Server already loaded URDF, no client command submitted");
}
break;
}
case CMD_STEP_FORWARD_SIMULATION:
{
if (m_serverLoadUrdfOK)
{
m_testBlock1->m_clientCommands[0].m_type =CMD_STEP_FORWARD_SIMULATION;
m_testBlock1->m_clientCommands[0].m_stepSimulationArguments.m_deltaTimeInSeconds = 1./60.;
m_testBlock1->m_numClientCommands++;
b3Printf("client created CMD_STEP_FORWARD_SIMULATION %d\n", m_counter++);
m_waitingForServer = true;
} else
{
b3Warning("No URDF loaded yet, no client CMD_STEP_FORWARD_SIMULATION submitted");
}
break;
}
case CMD_SHUTDOWN:
{
m_wantsTermination = true;
m_testBlock1->m_clientCommands[0].m_type =CMD_SHUTDOWN;
m_testBlock1->m_numClientCommands++;
m_waitingForServer = true;
m_serverLoadUrdfOK = false;
b3Printf("client created CMD_SHUTDOWN\n");
break;
}
default:
{
b3Error("unknown command requested");
}
}
}
}
}
}

11
examples/SharedMemory/PhysicsServer.cpp
View File

@@ -34,10 +34,10 @@ public:
virtual void resetCamera()
{
float dist = 1;
float dist = 5;
float pitch = 50;
float yaw = 35;
float targetPos[3]={-3,2.8,-2.5};
float targetPos[3]={0,0,0};//-3,2.8,-2.5};
m_guiHelper->resetCamera(dist,pitch,yaw,targetPos[0],targetPos[1],targetPos[2]);
}
@@ -83,7 +83,14 @@ PhysicsServer::~PhysicsServer()
void PhysicsServer::initPhysics()
{
///for this testing we use Z-axis up
int upAxis = 2;
m_guiHelper->setUpAxis(upAxis);
createEmptyDynamicsWorld();
btVector3 grav(0,0,0);
grav[upAxis] = -10;
this->m_dynamicsWorld->setGravity(grav);
m_testBlock1 = (SharedMemoryExampleData*) m_sharedMemory->allocateSharedMemory(SHARED_MEMORY_KEY, SHARED_MEMORY_SIZE);