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PyBullet: tweak in TCP server for VR - ROS bridge

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This commit is contained in:
Erwin Coumans
2018-07-03 16:30:54 -07:00
parent c0183d4834
commit 2ce1e65b53
1 changed files with 16 additions and 8 deletions
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12
examples/SharedMemory/tcp/main.cpp
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@@ -178,13 +178,16 @@ int main(int argc, char *argv[])
SharedMemoryCommand* cmdPtr = 0; SharedMemoryCommand* cmdPtr = 0;
int type = *(int*)&bytesReceived[0];
//performance test //performance test
if (numBytesRec == sizeof(int)) if (numBytesRec == sizeof(int))
{ {
cmdPtr = &cmd; cmdPtr = &cmd;
cmd.m_type = *(int*)&bytesReceived[0]; cmd.m_type = *(int*)&bytesReceived[0];
} }
else
{
if (numBytesRec == sizeof(SharedMemoryCommand)) if (numBytesRec == sizeof(SharedMemoryCommand))
{ {
@@ -192,7 +195,12 @@ int main(int argc, char *argv[])
} }
else else
{ {
cmdPtr = (SharedMemoryCommand*)&bytesReceived[0]; if (numBytesRec==36)
{
cmdPtr = &cmd;
memcpy(&cmd, &bytesReceived[0], numBytesRec);
}
}
} }
if (cmdPtr) if (cmdPtr)
{ {