Merge pull request #1313 from erwincoumans/master

pybullet: remove memory of loadTexture, more reliable shutdown of shared memory when CTRL-C is used in ExampleBrowser

examples/ExampleBrowser/main.cpp

@@ -20,8 +20,50 @@
 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)
+{
+
+    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 +73,7 @@ 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 +100,7 @@ int main(int argc, char* argv[])
 					clock.reset();
 					exampleBrowser->update(deltaTimeInSeconds);
 				}
-			} while (!exampleBrowser->requestedExit());
+			} while (!exampleBrowser->requestedExit() && !interrupted);
 		}
 		delete exampleBrowser;
 

examples/SharedMemory/PhysicsClientSharedMemory.cpp

@@ -78,7 +78,7 @@ struct PhysicsClientSharedMemoryInternalData {
           m_hasLastServerStatus(false),
           m_sharedMemoryKey(SHARED_MEMORY_KEY),
           m_verboseOutput(false),
-		  m_timeOutInSeconds(1e30)
+		  m_timeOutInSeconds(5)
 	{}
 
     void processServerStatus();
@@ -311,7 +311,7 @@ bool PhysicsClientSharedMemory::connect() {
             m_data->m_isConnected = true;
         }
     } else {
-        b3Warning("Cannot connect to shared memory");
+        //b3Warning("Cannot connect to shared memory");
         return false;
     }
 #if 0

examples/SharedMemory/PhysicsServerCommandProcessor.cpp

@@ -3541,6 +3541,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
 								}
 							}
 						 }
+                        bool handled = false;
                         
                         if ((clientCmd.m_updateFlags & ER_BULLET_HARDWARE_OPENGL)!=0)
 						{
@@ -3551,14 +3552,19 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
                                                 segmentationMaskBuffer, numRequestedPixels,
                                                 startPixelIndex,width,height,&numPixelsCopied);
 
+                            if (numPixelsCopied>0)
+                            {
+                                handled = true;
                                 m_data->m_guiHelper->debugDisplayCameraImageData(viewMat,
                                                 projMat,pixelRGBA,numRequestedPixels,
                                                 depthBuffer,numRequestedPixels,
                                                 0, numRequestedPixels,
                                                 startPixelIndex,width,height,&numPixelsCopied);
+                            }
 
 							
-						} else
+						}
+                        if (!handled)
 						{
 
                             if (clientCmd.m_requestPixelDataArguments.m_startPixelIndex==0)

examples/SharedMemory/PosixSharedMemory.cpp

@@ -91,7 +91,7 @@ void*   PosixSharedMemory::allocateSharedMemory(int key, int size,  bool allowCr
     int id = shmget((key_t) key, (size_t) size,flags);
     if (id < 0)
     {
-        b3Warning("shmget error");
+        //b3Warning("shmget error1");
     } else
     {
         btPointerCaster result;

examples/SharedMemory/SharedMemoryInProcessPhysicsC_API.cpp

@@ -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;
 }

examples/SharedMemory/TinyRendererVisualShapeConverter.cpp

@@ -1081,6 +1081,11 @@ void TinyRendererVisualShapeConverter::resetAll()
 		}
 	}
 
+	for (int i=0;i<m_data->m_textures.size();i++)
+	{
+		free(m_data->m_textures[i].textureData);
+	}
+	m_data->m_textures.clear();
 	m_data->m_swRenderInstances.clear();
 	m_data->m_visualShapes.clear();
 }

examples/pybullet/gym/pybullet_envs/bullet/bullet_client.py

@@ -8,7 +8,7 @@ class BulletClient(object):
 
   def __init__(self, connection_mode=pybullet.DIRECT):
     """Create a simulation and connect to it."""
-    self._client = -1 #pybullet.connect(pybullet.SHARED_MEMORY)
+    self._client = pybullet.connect(pybullet.SHARED_MEMORY)
     if(self._client<0):
       self._client = pybullet.connect(connection_mode)
     self._shapes = {}

examples/pybullet/gym/pybullet_envs/bullet/kukaCamGymEnv.py

@@ -40,6 +40,8 @@ class KukaCamGymEnv(gym.Env):
     self.terminated = 0
     self._p = p
     if self._renders:
+      cid = p.connect(p.SHARED_MEMORY)
+      if (cid<0):
          p.connect(p.GUI)
       p.resetDebugVisualizerCamera(1.3,180,-41,[0.52,-0.2,-0.33])
     else:

examples/pybullet/gym/pybullet_envs/bullet/kukaGymEnv.py

@@ -37,7 +37,7 @@ class KukaGymEnv(gym.Env):
     self.terminated = 0
     self._p = p
     if self._renders:
-      cid = -1 #p.connect(p.SHARED_MEMORY)
+      cid = p.connect(p.SHARED_MEMORY)
       if (cid<0):
          cid = p.connect(p.GUI)
       p.resetDebugVisualizerCamera(1.3,180,-41,[0.52,-0.2,-0.33])

examples/pybullet/gym/pybullet_envs/bullet/minitaur_gym_env.py

@@ -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

examples/pybullet/gym/pybullet_envs/env_bases.py

@@ -39,7 +39,7 @@ class MJCFBaseBulletEnv(gym.Env):
 
 	def _reset(self):
 		if (self.physicsClientId<0):
-			self.physicsClientId = -1 #p.connect(p.SHARED_MEMORY)
+			self.physicsClientId = p.connect(p.SHARED_MEMORY)
 			if (self.physicsClientId<0):
 				if (self.isRender):
 					self.physicsClientId = p.connect(p.GUI)
@@ -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]

examples/pybullet/gym/pybullet_envs/examples/runServer.py

@@ -13,6 +13,7 @@ p.connect(p.GUI_SERVER)
 p.setAdditionalSearchPath(pybullet_data.getDataPath())
 
 while(1):
+	#this is a no-op command, to allow GUI updates on Mac OSX (main thread)
+	p.setPhysicsEngineParameter()
 	time.sleep(0.01)
-	p.getNumBodies()
 	

examples/pybullet/pybullet.c

@@ -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.");
+				printf("Connection terminated, couldn't get body info\n");
-				return NULL;
+				b3DisconnectSharedMemory(sm);
+                		sm = 0;
+				sPhysicsClients1[freeIndex] = 0;
+                       		sPhysicsClientsGUI[freeIndex] = 0;
+                        	sNumPhysicsClients++;
+				return -1;
 			}
-#endif
 		}
 	}
 	return PyInt_FromLong(freeIndex);

setup.py

@@ -440,7 +440,7 @@ print("-----")
 
 setup(
 	name = 'pybullet',
-	version='1.3.8',
+	version='1.4.0',
 	description='Official Python Interface for the Bullet Physics SDK specialized for Robotics Simulation and Reinforcement Learning',
 	long_description='pybullet is an easy to use Python module for physics simulation, robotics and deep reinforcement learning based on the Bullet Physics SDK. With pybullet you can load articulated bodies from URDF, SDF and other file formats. pybullet provides forward dynamics simulation, inverse dynamics computation, forward and inverse kinematics and collision detection and ray intersection queries. Aside from physics simulation, pybullet supports to rendering, with a CPU renderer and OpenGL visualization and support for virtual reality headsets.',
 	url='https://github.com/bulletphysics/bullet3',

test/SharedMemory/test.c

@@ -258,6 +258,7 @@ void testSharedMemory(b3PhysicsClientHandle sm)
 			command = b3InitRequestCameraImage(sm);
 			
 			b3RequestCameraImageSetPixelResolution(command, width, height);
+            b3RequestCameraImageSelectRenderer(command,ER_BULLET_HARDWARE_OPENGL);
 			statusHandle = b3SubmitClientCommandAndWaitStatus(sm, command);
 		}
         
@@ -298,6 +299,9 @@ void testSharedMemory(b3PhysicsClientHandle sm)
             }
         }
         
+    } else
+    {
+        b3Warning("Cannot submit commands.\n");
     }