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add sigaction handler to Example Browser, to always shutdown shared memory

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make GUI_SERVER more reliable
next attempt to connect to SHARED_MEMORY in Gym envs, if available, before DIRECT/GUI
allow software rendering fallback, even if ER_BULLET_HARDWARE_OPENGL is chosen in getCameraImage
This commit is contained in:
Erwin Coumans
2017-09-13 13:30:16 -07:00
parent c250a5f0b9
commit 340a8f4704
6 changed files with 57 additions and 10 deletions
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46
examples/ExampleBrowser/main.cpp
View File

@@ -20,8 +20,51 @@
static double gMinUpdateTimeMicroSecs = 1000.;
static bool interrupted=false;
static OpenGLExampleBrowser* sExampleBrowser=0;
#ifndef _WIN32
#include <signal.h>
#include <err.h>
#include <unistd.h>
static void cleanup(int signo)
{
printf("SIG cleanup: %d\n", signo);
if (interrupted) { // this is the second time, we're hanging somewhere
// if (example) {
// example->abort();
// }
b3Printf("Aborting and deleting SharedMemoryCommon object");
sleep(1);
delete sExampleBrowser;
sExampleBrowser = 0;
errx(EXIT_FAILURE, "aborted example on signal %d", signo);
} else
{
b3Printf("no action");
}
interrupted = true;
warnx("caught signal %d", signo);
}
#endif//_WIN32
int main(int argc, char* argv[])
{
#ifndef _WIN32
struct sigaction action;
memset(&action, 0x0, sizeof(action));
action.sa_handler = cleanup;
static const int signos[] = { SIGHUP, SIGINT, SIGQUIT, SIGABRT, SIGSEGV, SIGPIPE, SIGTERM };
for (int ii(0); ii < sizeof(signos) / sizeof(*signos); ++ii) {
if (0 != sigaction(signos[ii], &action, NULL)) {
err(EXIT_FAILURE, "signal %d", signos[ii]);
}
}
#endif
{
b3CommandLineArgs args(argc, argv);
b3Clock clock;
@@ -31,6 +74,7 @@ int main(int argc, char* argv[])
examples.initExampleEntries();
OpenGLExampleBrowser* exampleBrowser = new OpenGLExampleBrowser(&examples);
sExampleBrowser = exampleBrowser;//for <CTRL-C> etc, cleanup shared memory
bool init = exampleBrowser->init(argc, argv);
exampleBrowser->registerFileImporter(".urdf", ImportURDFCreateFunc);
exampleBrowser->registerFileImporter(".sdf", ImportSDFCreateFunc);
@@ -57,7 +101,7 @@ int main(int argc, char* argv[])
clock.reset();
exampleBrowser->update(deltaTimeInSeconds);
}
} while (!exampleBrowser->requestedExit());
} while (!exampleBrowser->requestedExit() && !interrupted);
}
delete exampleBrowser;

4
examples/SharedMemory/SharedMemoryInProcessPhysicsC_API.cpp
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@@ -86,7 +86,7 @@ public:
b3PhysicsClientHandle b3CreateInProcessPhysicsServerAndConnectMainThread(int argc, char* argv[])
{
InProcessPhysicsClientSharedMemoryMainThread* cl = new InProcessPhysicsClientSharedMemoryMainThread(argc, argv, 1);
cl->setSharedMemoryKey(SHARED_MEMORY_KEY);
cl->setSharedMemoryKey(SHARED_MEMORY_KEY+1);
cl->connect();
return (b3PhysicsClientHandle ) cl;
}
@@ -94,7 +94,7 @@ b3PhysicsClientHandle b3CreateInProcessPhysicsServerAndConnectMainThread(int arg
b3PhysicsClientHandle b3CreateInProcessPhysicsServerAndConnectMainThreadSharedMemory(int argc, char* argv[])
{
InProcessPhysicsClientSharedMemoryMainThread* cl = new InProcessPhysicsClientSharedMemoryMainThread(argc, argv, 0);
cl->setSharedMemoryKey(SHARED_MEMORY_KEY);
cl->setSharedMemoryKey(SHARED_MEMORY_KEY+1);
cl->connect();
return (b3PhysicsClientHandle ) cl;
}

2
examples/pybullet/gym/pybullet_envs/bullet/minitaur_gym_env.py
View File

@@ -278,7 +278,7 @@ class MinitaurBulletEnv(gym.Env):
nearVal=0.1, farVal=100.0)
(_, _, px, _, _) = self._pybullet_client.getCameraImage(
width=RENDER_WIDTH, height=RENDER_HEIGHT, viewMatrix=view_matrix,
projectionMatrix=proj_matrix)
projectionMatrix=proj_matrix, renderer=pybullet.ER_BULLET_HARDWARE_OPENGL)
rgb_array = np.array(px)
rgb_array = rgb_array[:, :, :3]
return rgb_array

2
examples/pybullet/gym/pybullet_envs/env_bases.py
View File

@@ -82,7 +82,7 @@ class MJCFBaseBulletEnv(gym.Env):
(_, _, px, _, _) = p.getCameraImage(
width=self._render_width, height=self._render_height, viewMatrix=view_matrix,
projectionMatrix=proj_matrix,
#renderer=p.ER_BULLET_HARDWARE_OPENGL
renderer=p.ER_BULLET_HARDWARE_OPENGL
)
rgb_array = np.array(px)
rgb_array = rgb_array[:, :, :3]

11
examples/pybullet/pybullet.c
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@@ -440,13 +440,16 @@ static PyObject* pybullet_connectPhysicsServer(PyObject* self, PyObject* args, P
command = b3InitSyncBodyInfoCommand(sm);
statusHandle = b3SubmitClientCommandAndWaitStatus(sm, command);
statusType = b3GetStatusType(statusHandle);
#if 0
if (statusType != CMD_BODY_INFO_COMPLETED)
{
PyErr_SetString(SpamError, "b3InitSyncBodyInfoCommand failed.");
return NULL;
printf("Connection terminated, couldn't get body info\n");
b3DisconnectSharedMemory(sm);
sm = 0;
sPhysicsClients1[freeIndex] = 0;
sPhysicsClientsGUI[freeIndex] = 0;
sNumPhysicsClients++;
return -1;
}
#endif
}
}
return PyInt_FromLong(freeIndex);