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prepare state logging system (log state of robot, vr controllers after each stepSimulation)

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This commit is contained in:
Erwin Coumans
2017-02-17 10:47:55 -08:00
parent 6db217b36a
commit 34c3fca8d5
18 changed files with 330 additions and 8 deletions
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2
examples/ExampleBrowser/CMakeLists.txt
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@@ -317,6 +317,8 @@ SET(BulletExampleBrowser_SRCS
../Importers/ImportURDFDemo/MyMultiBodyCreator.cpp
../Importers/ImportURDFDemo/MyMultiBodyCreator.h
../Importers/ImportURDFDemo/UrdfParser.cpp
../Utils/RobotLoggingUtil.cpp
../Utils/RobotLoggingUtil.h
../Importers/ImportURDFDemo/urdfStringSplit.cpp
../Importers/ImportURDFDemo/urdfStringSplit.h
../Importers/ImportURDFDemo/BulletUrdfImporter.cpp

3
examples/ExampleBrowser/premake4.lua
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@@ -97,6 +97,8 @@ project "App_BulletExampleBrowser"
"../BasicDemo/BasicExample.*",
"../Tutorial/*",
"../ExtendedTutorials/*",
"../Utils/RobotLoggingUtil.cpp",
"../Utils/RobotLoggingUtil.h",
"../Evolution/NN3DWalkers.cpp",
"../Evolution/NN3DWalkers.h",
"../Collision/*",
@@ -193,6 +195,7 @@ project "BulletExampleBrowserLib"
"OpenGLGuiHelper.cpp",
"OpenGLExampleBrowser.cpp",
"../Utils/b3Clock.cpp",
"../Utils/b3Clock.h",
"../Utils/ChromeTraceUtil.cpp",
"../Utils/ChromeTraceUtil.h",
"*.h",

2
examples/SharedMemory/CMakeLists.txt
View File

@@ -61,6 +61,8 @@ SET(SharedMemory_SRCS
../Importers/ImportMJCFDemo/BulletMJCFImporter.h
../Utils/b3ResourcePath.cpp
../Utils/b3Clock.cpp
../Utils/RobotLoggingUtil.cpp
../Utils/RobotLoggingUtil.h
../Utils/ChromeTraceUtil.cpp
../Utils/ChromeTraceUtil.h
../Importers/ImportURDFDemo/URDFImporterInterface.h

39
examples/SharedMemory/PhysicsClientC_API.cpp
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@@ -2457,3 +2457,42 @@ int b3SetVRCameraTrackingObject(b3SharedMemoryCommandHandle commandHandle, int o
return 0;
}
b3SharedMemoryCommandHandle b3RobotLoggingCommandInit(b3PhysicsClientHandle physClient)
{
PhysicsClient* cl = (PhysicsClient*)physClient;
b3Assert(cl);
b3Assert(cl->canSubmitCommand());
struct SharedMemoryCommand* command = cl->getAvailableSharedMemoryCommand();
b3Assert(command);
command->m_type = CMD_ROBOT_LOGGING;
command->m_updateFlags = 0;
return (b3SharedMemoryCommandHandle)command;
}
int b3RobotLoggingStartMinitaurLog(b3SharedMemoryCommandHandle commandHandle, const char* fileName, int objectUniqueId)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
b3Assert(command);
b3Assert(command->m_type == CMD_ROBOT_LOGGING);
if (command->m_type == CMD_ROBOT_LOGGING)
{
command->m_updateFlags |= ROBOT_LOGGING_START_MINITAUR_LOG;
}
return 0;
}
int b3RobotLoggingStopMinitaurLog(b3SharedMemoryCommandHandle commandHandle)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
b3Assert(command);
b3Assert(command->m_type == CMD_ROBOT_LOGGING);
if (command->m_type == CMD_ROBOT_LOGGING)
{
command->m_updateFlags |= ROBOT_LOGGING_STOP_MINITAUR_LOG;
}
return 0;
}

6
examples/SharedMemory/PhysicsClientC_API.h
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@@ -343,8 +343,10 @@ int b3SetVRCameraRootPosition(b3SharedMemoryCommandHandle commandHandle, double
int b3SetVRCameraRootOrientation(b3SharedMemoryCommandHandle commandHandle, double rootOrn[4]);
int b3SetVRCameraTrackingObject(b3SharedMemoryCommandHandle commandHandle, int objectUniqueId);
b3SharedMemoryCommandHandle b3RobotLoggingCommandInit(b3PhysicsClientHandle physClient);
int b3RobotLoggingStart(b3SharedMemoryCommandHandle commandHandle, int loggingType, const char* fileName);
int b3RobotLoggingAddLoggingObjectUniqueId(b3SharedMemoryCommandHandle commandHandle, int loggingType, const char* fileName);
int b3RobotLoggingStop(b3SharedMemoryCommandHandle commandHandle);
#ifdef __cplusplus
}

93
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -757,6 +757,97 @@ PhysicsServerCommandProcessor::~PhysicsServerCommandProcessor()
delete m_data;
}
void logCallback(btDynamicsWorld *world, btScalar timeStep)
{
PhysicsServerCommandProcessor* proc = (PhysicsServerCommandProcessor*) world->getWorldUserInfo();
proc->logObjectStates(timeStep);
}
#include "../Utils/RobotLoggingUtil.h"
void PhysicsServerCommandProcessor::logObjectStates(btScalar timeStep)
{
//quick hack
static FILE* logFile = 0;
static btScalar logTime = 0;
//printf("log state at time %f\n",logTime);
btAlignedObjectArray<std::string> structNames;
std::string structTypes;
//'t', 'r', 'p', 'y', 'q0', 'q1', 'q2', 'q3', 'q4', 'q5', 'q6', 'q7', 'u0', 'u1', 'u2', 'u3', 'u4', 'u5', 'u6', 'u7', 'xd', 'mo'
structNames.push_back("t");
structNames.push_back("r");
structNames.push_back("p");
structNames.push_back("y");
structNames.push_back("q0");
structNames.push_back("q1");
structNames.push_back("q2");
structNames.push_back("q3");
structNames.push_back("q4");
structNames.push_back("q5");
structNames.push_back("q6");
structNames.push_back("q7");
structNames.push_back("u0");
structNames.push_back("u1");
structNames.push_back("u2");
structNames.push_back("u3");
structNames.push_back("u4");
structNames.push_back("u5");
structNames.push_back("u6");
structNames.push_back("u7");
structNames.push_back("dx");
structNames.push_back("mo");
/* structNames.push_back("timeStamp");
structNames.push_back("objectId");
structNames.push_back("posX");
structNames.push_back("posY");
structNames.push_back("posZ");
*/
structTypes = "fIfff";//I = int, f = float, B char
if (logFile==0)
{
logFile = createMinitaurLogFile("d:/logTest.txt", structNames, structTypes);
}
if (logFile)
{
for (int i=0;i<m_data->m_dynamicsWorld->getNumMultibodies();i++)
{
btMultiBody* mb = m_data->m_dynamicsWorld->getMultiBody(i);
btVector3 pos = mb->getBasePos();
MinitaurLogRecord logData;
float timeStamp = logTime;
int objectUniqueId = mb->getUserIndex2();
float posX = pos[0];
float posY = pos[1];
float posZ = pos[2];
logData.m_values.push_back(timeStamp);
logData.m_values.push_back(objectUniqueId);
logData.m_values.push_back(posX);
logData.m_values.push_back(posY);
logData.m_values.push_back(posZ);
//at the moment, appendMinitaurLogData will directly write to disk (potential delay)
//better to fill a huge memory buffer and once in a while write it to disk
appendMinitaurLogData(logFile, structTypes, logData);
}
fflush(logFile);
}
//void closeMinitaurLogFile(FILE* f);
logTime += timeStep;
}
void PhysicsServerCommandProcessor::createEmptyDynamicsWorld()
{
@@ -803,6 +894,8 @@ void PhysicsServerCommandProcessor::createEmptyDynamicsWorld()
// m_data->m_dynamicsWorld->getSolverInfo().m_minimumSolverBatchSize = 2;
//todo: islands/constraints are buggy in btMultiBodyDynamicsWorld! (performance + see slipping grasp)
m_data->m_dynamicsWorld->setInternalTickCallback(logCallback,this);
}
void PhysicsServerCommandProcessor::deleteCachedInverseKinematicsBodies()

9
examples/SharedMemory/PhysicsServerCommandProcessor.h
View File

@@ -20,6 +20,8 @@ class PhysicsServerCommandProcessor : public PhysicsCommandProcessorInterface
struct PhysicsServerCommandProcessorInternalData* m_data;
//todo: move this to physics client side / Python
void createDefaultRobotAssets();
@@ -84,10 +86,15 @@ public:
virtual bool pickBody(const btVector3& rayFromWorld, const btVector3& rayToWorld);
virtual bool movePickedBody(const btVector3& rayFromWorld, const btVector3& rayToWorld);
virtual void removePickingConstraint();
//logging /playback the shared memory commands
void enableCommandLogging(bool enable, const char* fileName);
void replayFromLogFile(const char* fileName);
void replayLogCommand(char* bufferServerToClient, int bufferSizeInBytes );
//logging of object states (position etc)
void logObjectStates(btScalar timeStep);
void stepSimulationRealTime(double dtInSec, const struct b3VRControllerEvent* vrEvents, int numVREvents);
void enableRealTimeSimulation(bool enableRealTimeSim);
void applyJointDamping(int bodyUniqueId);

8
examples/SharedMemory/SharedMemoryCommands.h
View File

@@ -611,6 +611,14 @@ enum eVRCameraEnums
VR_CAMERA_ROOT_TRACKING_OBJECT=4
};
enum eRobotLoggingEnums
{
ROBOT_LOGGING_START_MINITAUR_LOG=1,
ROBOT_LOGGING_STOP_MINITAUR_LOG=1,
ROBOT_LOGGING_START_GENERIC_LOG=1,
ROBOT_LOGGING_STOP_GENERIC_LOG=1,
};
struct VRCameraState
{
double m_rootPosition[3];

7
examples/SharedMemory/SharedMemoryPublic.h
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@@ -48,6 +48,7 @@ enum EnumSharedMemoryClientCommand
CMD_REQUEST_VR_EVENTS_DATA,
CMD_SET_VR_CAMERA_STATE,
CMD_SYNC_BODY_INFO,
CMD_ROBOT_LOGGING,
//don't go beyond this command!
CMD_MAX_CLIENT_COMMANDS,
@@ -301,6 +302,12 @@ enum
CONTACT_QUERY_MODE_COMPUTE_CLOSEST_POINTS = 1,
};
enum
{
ROBOT_LOGGING_MINITAUR = 0,
ROBOT_LOGGING_GENERIC_ROBOT = 1,
ROBOT_LOGGING_VR_CONTROLLERS = 2,
};
struct b3ContactInformation

4
examples/SharedMemory/premake4.lua
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@@ -76,7 +76,9 @@ myfiles =
"../Importers/ImportMJCFDemo/BulletMJCFImporter.cpp",
"../Importers/ImportMJCFDemo/BulletMJCFImporter.h",
"../Utils/b3ResourcePath.cpp",
"../Utils/b3Clock.cpp",
"../Utils/b3Clock.cpp",
"../Utils/RobotLoggingUtil.cpp",
"../Utils/RobotLoggingUtil.h",
"../Utils/ChromeTraceUtil.cpp",
"../Utils/ChromeTraceUtil.h",
"../../Extras/Serialize/BulletWorldImporter/*",

4
examples/SharedMemory/udp/premake4.lua
View File

@@ -103,7 +103,9 @@ myfiles =
"../../Importers/ImportURDFDemo/URDF2Bullet.cpp",
"../../Importers/ImportURDFDemo/URDF2Bullet.h",
"../../Utils/b3ResourcePath.cpp",
"../../Utils/b3Clock.cpp",
"../../Utils/b3Clock.cpp",
"../../Utils/RobotLoggingUtil.cpp",
"../../Utils/RobotLoggingUtil.h",
"../../../Extras/Serialize/BulletWorldImporter/*",
"../../../Extras/Serialize/BulletFileLoader/*",
"../../Importers/ImportURDFDemo/URDFImporterInterface.h",

3
examples/pybullet/CMakeLists.txt
View File

@@ -54,6 +54,9 @@ SET(pybullet_SRCS
../../examples/SharedMemory/PosixSharedMemory.h
../../examples/Utils/b3ResourcePath.cpp
../../examples/Utils/b3ResourcePath.h
../../examples/Utils/RobotLoggingUtil.cpp
../../examples/Utils/RobotLoggingUtil.h
../../examples/ThirdPartyLibs/tinyxml/tinystr.cpp
../../examples/ThirdPartyLibs/tinyxml/tinyxml.cpp
../../examples/ThirdPartyLibs/tinyxml/tinyxmlerror.cpp

2
examples/pybullet/premake4.lua
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@@ -101,6 +101,8 @@ if not _OPTIONS["no-enet"] then
"../../examples/SharedMemory/PosixSharedMemory.h",
"../../examples/Utils/b3ResourcePath.cpp",
"../../examples/Utils/b3ResourcePath.h",
"../../examples/Utils/RobotLoggingUtil.cpp",
"../../examples/Utils/RobotLoggingUtil.h",
"../../examples/ThirdPartyLibs/tinyxml/tinystr.cpp",
"../../examples/ThirdPartyLibs/tinyxml/tinyxml.cpp",
"../../examples/ThirdPartyLibs/tinyxml/tinyxmlerror.cpp",

65
examples/pybullet/pybullet.c
View File

@@ -2583,6 +2583,58 @@ static PyObject* pybullet_removeAllUserDebugItems(PyObject* self, PyObject* args
return Py_None;
}
static PyObject* pybullet_startStateLogging(PyObject* self, PyObject* args, PyObject *keywds)
{
b3SharedMemoryCommandHandle commandHandle;
b3SharedMemoryStatusHandle statusHandle;
int statusType;
b3PhysicsClientHandle sm = 0;
int loggingType = -1;
char* fileName = 0;
PyObject* objectUniqueIdsObj = 0;
static char *kwlist[] = { "loggingType", "fileName", "objectUniqueIds", "physicsClientId", NULL };
int physicsClientId = 0;
if (!PyArg_ParseTupleAndKeywords(args, keywds, "is|Oi", kwlist,
&loggingType, &fileName, &objectUniqueIdsObj,&physicsClientId))
return NULL;
sm = getPhysicsClient(physicsClientId);
if (sm == 0)
{
PyErr_SetString(SpamError, "Not connected to physics server.");
return NULL;
}
}
static PyObject* pybullet_stopStateLogging(PyObject* self, PyObject* args, PyObject *keywds)
{
b3SharedMemoryCommandHandle commandHandle;
b3SharedMemoryStatusHandle statusHandle;
int statusType;
PyObject* rayFromObj=0;
PyObject* rayToObj=0;
double from[3];
double to[3];
b3PhysicsClientHandle sm = 0;
static char *kwlist[] = { "loggingId", "physicsClientId", NULL };
int physicsClientId = 0;
if (!PyArg_ParseTupleAndKeywords(args, keywds, "OO|i", kwlist,
&rayFromObj, &rayToObj,&physicsClientId))
return NULL;
sm = getPhysicsClient(physicsClientId);
if (sm == 0)
{
PyErr_SetString(SpamError, "Not connected to physics server.");
return NULL;
}
}
static PyObject* pybullet_rayTest(PyObject* self, PyObject* args, PyObject *keywds)
{
@@ -4960,8 +5012,14 @@ static PyMethodDef SpamMethods[] = {
"Set properties of the VR Camera such as its root transform "
"for teleporting or to track objects (camera inside a vehicle for example)."
},
{ "startRobotStateLogging", (PyCFunction)pybullet_startStateLogging, METH_VARARGS | METH_KEYWORDS,
"Start logging of state, such as robot base position, orientation, joint positions etc. "
"Specify loggingType (ROBOT_LOG_MINITAUR, ROBOT_LOG_GENERIC_ROBOT, ROBOT_LOG_VR_CONTROLLERS etc), "
"fileName, optional objectUniqueId. Function returns int loggingUniqueId"
},
{ "stopRobotStateLogging", (PyCFunction)pybullet_stopStateLogging, METH_VARARGS | METH_KEYWORDS,
"Stop logging of robot state, given a loggingUniqueId."
},
{ "rayTest", (PyCFunction)pybullet_rayTest, METH_VARARGS | METH_KEYWORDS,
"Cast a ray and return the first object hit, if any. "
"Takes two arguments (from position [x,y,z] and to position [x,y,z] in Cartesian world coordinates"
@@ -5047,6 +5105,9 @@ initpybullet(void)
PyModule_AddIntConstant(m, "VR_MAX_CONTROLLERS", MAX_VR_CONTROLLERS);
PyModule_AddIntConstant(m, "VR_MAX_BUTTONS", MAX_VR_BUTTONS);
PyModule_AddIntConstant(m, "ROBOT_LOGGING_MINITAUR", ROBOT_LOGGING_MINITAUR);
PyModule_AddIntConstant(m, "ROBOT_LOGGING_GENERIC_ROBOT", ROBOT_LOGGING_GENERIC_ROBOT);
PyModule_AddIntConstant(m, "ROBOT_LOGGING_VR_CONTROLLERS", ROBOT_LOGGING_VR_CONTROLLERS);
SpamError = PyErr_NewException("pybullet.error", NULL, NULL);
Py_INCREF(SpamError);

2
test/CMakeLists.txt
View File

@@ -3,5 +3,5 @@ IF(BUILD_BULLET3)
SUBDIRS( InverseDynamics SharedMemory )
ENDIF(BUILD_BULLET3)
SUBDIRS( gtest-1.7.0 collision BulletDynamics/pendulum )
SUBDIRS( gtest-1.7.0 collision RobotLogging BulletDynamics/pendulum )

81
test/RobotLogging/main.cpp Normal file
View File

@@ -0,0 +1,81 @@
#include "Utils/RobotLoggingUtil.h"
#ifndef ENABLE_GTEST
#include <assert.h>
#define ASSERT_EQ(a,b) assert((a)==(b));
#else
#include <gtest/gtest.h>
#define printf
#endif
void testMinitaurLogging()
{
const char* fileName = "d:/logTest.txt";
btAlignedObjectArray<std::string> structNames;
std::string structTypes;
btAlignedObjectArray<MinitaurLogRecord> logRecords;
bool verbose = false;
int status = readMinitaurLogFile(fileName, structNames, structTypes, logRecords, verbose);
for (int i=0;i<logRecords.size();i++)
{
for (int j=0;j<structTypes.size();j++)
{
switch (structTypes[j])
{
case 'I':
{
int v = logRecords[i].m_values[j].m_intVal;
printf("record %d, %s = %d\n",i,structNames[j].c_str(),v);
break;
}
case 'f':
{
float v = logRecords[i].m_values[j].m_floatVal;
printf("record %d, %s = %f\n",i,structNames[j].c_str(),v);
break;
}
case 'B':
{
int v = logRecords[i].m_values[j].m_charVal;
printf("record %d, %s = %d\n",i,structNames[j].c_str(),v);
break;
}
default:
{
}
}
}
}
}
#ifdef ENABLE_GTEST
TEST(RobotLoggingTest, LogMinitaur) {
testMinitaurLogging();
}
#endif
int main(int argc, char* argv[])
{
//b3SetCustomPrintfFunc(myprintf);
//b3SetCustomWarningMessageFunc(myprintf);
#ifdef ENABLE_GTEST
#if _MSC_VER
_CrtSetDbgFlag ( _CRTDBG_ALLOC_MEM_DF | _CRTDBG_LEAK_CHECK_DF );
//void *testWhetherMemoryLeakDetectionWorks = malloc(1);
#endif
::testing::InitGoogleTest(&argc, argv);
return RUN_ALL_TESTS();
#else
testMinitaurLogging();
#endif
}

2
test/SharedMemory/CMakeLists.txt
View File

@@ -56,6 +56,8 @@ ENDIF()
../../examples/SharedMemory/PosixSharedMemory.h
../../examples/Utils/b3ResourcePath.cpp
../../examples/Utils/b3ResourcePath.h
../../examples/Utils/RobotLoggingUtil.cpp
../../examples/Utils/RobotLoggingUtil.h
../../examples/SharedMemory/TinyRendererVisualShapeConverter.cpp
../../examples/SharedMemory/TinyRendererVisualShapeConverter.h
../../examples/OpenGLWindow/SimpleCamera.cpp

6
test/SharedMemory/premake4.lua
View File

@@ -84,6 +84,8 @@ project ("Test_PhysicsServerLoopBack")
"../../examples/TinyRenderer/TinyRenderer.cpp",
"../../examples/Utils/b3ResourcePath.cpp",
"../../examples/Utils/b3ResourcePath.h",
"../../examples/Utils/RobotLoggingUtil.cpp",
"../../examples/Utils/RobotLoggingUtil.h",
"../../examples/ThirdPartyLibs/tinyxml/tinystr.cpp",
"../../examples/ThirdPartyLibs/tinyxml/tinyxml.cpp",
"../../examples/ThirdPartyLibs/tinyxml/tinyxmlerror.cpp",
@@ -158,6 +160,8 @@ project ("Test_PhysicsServerLoopBack")
"../../examples/OpenGLWindow/SimpleCamera.h",
"../../examples/Utils/b3ResourcePath.cpp",
"../../examples/Utils/b3ResourcePath.h",
"../../examples/Utils/RobotLoggingUtil.cpp",
"../../examples/Utils/RobotLoggingUtil.h",
"../../examples/ThirdPartyLibs/tinyxml/tinystr.cpp",
"../../examples/ThirdPartyLibs/tinyxml/tinyxml.cpp",
"../../examples/ThirdPartyLibs/tinyxml/tinyxmlerror.cpp",
@@ -259,6 +263,8 @@ project ("Test_PhysicsServerInProcessExampleBrowser")
"../../examples/TinyRenderer/TinyRenderer.cpp",
"../../examples/Utils/b3ResourcePath.cpp",
"../../examples/Utils/b3ResourcePath.h",
"../../examples/Utils/RobotLoggingUtil.cpp",
"../../examples/Utils/RobotLoggingUtil.h",
"../../examples/ThirdPartyLibs/tinyxml/tinystr.cpp",
"../../examples/ThirdPartyLibs/tinyxml/tinyxml.cpp",
"../../examples/ThirdPartyLibs/tinyxml/tinyxmlerror.cpp",