shmem preliminary TCP implementation (not working yet)
This commit is contained in:
Erwin Coumans
496
examples/SharedMemory/PhysicsClientTCP.cpp
Normal file
496
examples/SharedMemory/PhysicsClientTCP.cpp
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@@ -0,0 +1,496 @@
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#include "PhysicsClientTCP.h"
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#include "ActiveSocket.h"
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#include <stdio.h>
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#include <string.h>
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#include "../Utils/b3Clock.h"
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#include "PhysicsClient.h"
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//#include "LinearMath/btVector3.h"
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#include "SharedMemoryCommands.h"
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#include <string>
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#include "Bullet3Common/b3Logging.h"
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#include "../MultiThreading/b3ThreadSupportInterface.h"
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void TCPThreadFunc(void* userPtr, void* lsMemory);
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void* TCPlsMemoryFunc();
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bool gVerboseNetworkMessagesClient2 = false;
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#ifndef _WIN32
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#include "../MultiThreading/b3PosixThreadSupport.h"
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b3ThreadSupportInterface* createTCPThreadSupport(int numThreads)
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{
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b3PosixThreadSupport::ThreadConstructionInfo constructionInfo("TCPThread",
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TCPThreadFunc,
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TCPlsMemoryFunc,
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numThreads);
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b3ThreadSupportInterface* threadSupport = new b3PosixThreadSupport(constructionInfo);
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return threadSupport;
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}
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#elif defined( _WIN32)
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#include "../MultiThreading/b3Win32ThreadSupport.h"
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b3ThreadSupportInterface* createTCPThreadSupport(int numThreads)
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{
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b3Win32ThreadSupport::Win32ThreadConstructionInfo threadConstructionInfo("TCPThread", TCPThreadFunc, TCPlsMemoryFunc, numThreads);
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b3Win32ThreadSupport* threadSupport = new b3Win32ThreadSupport(threadConstructionInfo);
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return threadSupport;
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}
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#endif
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struct TCPThreadLocalStorage
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{
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int threadId;
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};
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unsigned int b3DeserializeInt2(const unsigned char* input)
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{
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unsigned int tmp = (input[3] << 24) + (input[2] << 16) + (input[1] << 8) + input[0];
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return tmp;
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}
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struct TcpNetworkedInternalData
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{
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/*
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ENetHost* m_client;
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ENetAddress m_address;
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ENetPeer* m_peer;
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ENetEvent m_event;
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*/
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CActiveSocket m_tcpSocket;
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bool m_isConnected;
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b3ThreadSupportInterface* m_threadSupport;
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b3CriticalSection* m_cs;
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TcpNetworkedInternalData* m_tcpInternalData;
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SharedMemoryCommand m_clientCmd;
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bool m_hasCommand;
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bool m_hasStatus;
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SharedMemoryStatus m_lastStatus;
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b3AlignedObjectArray<char> m_stream;
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std::string m_hostName;
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int m_port;
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TcpNetworkedInternalData()
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:
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m_isConnected(false),
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m_threadSupport(0),
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m_hasCommand(false),
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m_hasStatus(false)
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{
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}
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bool connectTCP()
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{
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if (m_isConnected)
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return true;
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m_tcpSocket.Initialize();
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m_isConnected = m_tcpSocket.Open(m_hostName.c_str(),m_port);
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m_isConnected = true;
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return m_isConnected;
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}
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bool checkData()
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{
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bool hasStatus = false;
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//int serviceResult = enet_host_service(m_client, &m_event, 0);
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int maxLen = 4 + sizeof(SharedMemoryStatus)+SHARED_MEMORY_MAX_STREAM_CHUNK_SIZE;
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int recBytes = m_tcpSocket.Receive(maxLen);
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if (gVerboseNetworkMessagesClient2)
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{
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printf("A packet of length %d bytes received\n", recBytes);
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}
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unsigned char* data = (unsigned char*)m_tcpSocket.GetData();
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int packetSizeInBytes = b3DeserializeInt2(data);
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if (packetSizeInBytes == recBytes)
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{
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SharedMemoryStatus* statPtr = (SharedMemoryStatus*)&data[4];
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if (statPtr->m_type == CMD_STEP_FORWARD_SIMULATION_COMPLETED)
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{
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SharedMemoryStatus dummy;
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dummy.m_type = CMD_STEP_FORWARD_SIMULATION_COMPLETED;
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m_lastStatus = dummy;
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m_stream.resize(0);
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}
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else
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{
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m_lastStatus = *statPtr;
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int streamOffsetInBytes = 4 + sizeof(SharedMemoryStatus);
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int numStreamBytes = packetSizeInBytes - streamOffsetInBytes;
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m_stream.resize(numStreamBytes);
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for (int i = 0; i < numStreamBytes; i++)
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{
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m_stream[i] = data[i + streamOffsetInBytes];
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}
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}
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}
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else
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{
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printf("unknown status message received\n");
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}
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return hasStatus;
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}
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};
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enum TCPThreadEnums
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{
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eTCPRequestTerminate = 13,
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eTCPIsUnInitialized,
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eTCPIsInitialized,
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eTCPInitializationFailed,
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eTCPHasTerminated
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};
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enum TCPCommandEnums
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{
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eTCPIdle = 13,
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eTCP_ConnectRequest,
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eTCP_Connected,
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eTCP_ConnectionFailed,
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eTCP_DisconnectRequest,
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eTCP_Disconnected,
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};
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void TCPThreadFunc(void* userPtr, void* lsMemory)
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{
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printf("TCPThreadFunc thread started\n");
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TcpNetworkedInternalData* args = (TcpNetworkedInternalData*)userPtr;
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// int workLeft = true;
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b3Clock clock;
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clock.reset();
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bool init = true;
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if (init)
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{
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args->m_cs->lock();
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args->m_cs->setSharedParam(0, eTCPIsInitialized);
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args->m_cs->unlock();
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double deltaTimeInSeconds = 0;
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do
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{
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b3Clock::usleep(0);
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deltaTimeInSeconds += double(clock.getTimeMicroseconds()) / 1000000.;
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{
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clock.reset();
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deltaTimeInSeconds = 0.f;
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switch (args->m_cs->getSharedParam(1))
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{
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case eTCP_ConnectRequest:
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{
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bool connected = args->connectTCP();
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if (connected)
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{
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args->m_cs->setSharedParam(1, eTCP_Connected);
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}
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else
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{
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args->m_cs->setSharedParam(1, eTCP_ConnectionFailed);
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}
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break;
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}
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default:
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{
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}
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};
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if (args->m_isConnected)
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{
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args->m_cs->lock();
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bool hasCommand = args->m_hasCommand;
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args->m_cs->unlock();
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if (hasCommand)
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{
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int sz = 0;
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unsigned char* data = 0;
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if (args->m_clientCmd.m_type == CMD_STEP_FORWARD_SIMULATION)
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{
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sz = sizeof(int);
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data = (unsigned char*) &args->m_clientCmd.m_type;
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}
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else
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{
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sz = sizeof(SharedMemoryCommand);
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data = (unsigned char*)&args->m_clientCmd;
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}
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int res;
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args->m_tcpSocket.Send((const uint8 *)data,sz);
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args->m_cs->lock();
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args->m_hasCommand = false;
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args->m_cs->unlock();
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}
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bool hasNewStatus = args->checkData();
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if (hasNewStatus)
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{
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if (args->m_hasStatus)
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{
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//overflow: last status hasn't been processed yet
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b3Assert(0);
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printf("Error: received new status but previous status not processed yet");
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}
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else
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{
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args->m_cs->lock();
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args->m_hasStatus = hasNewStatus;
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args->m_cs->unlock();
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}
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}
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}
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}
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} while (args->m_cs->getSharedParam(0) != eTCPRequestTerminate);
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}
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else
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{
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args->m_cs->lock();
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args->m_cs->setSharedParam(0, eTCPInitializationFailed);
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args->m_cs->unlock();
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}
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printf("finished\n");
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}
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void* TCPlsMemoryFunc()
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{
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//don't create local store memory, just return 0
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return new TCPThreadLocalStorage;
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}
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TcpNetworkedPhysicsProcessor::TcpNetworkedPhysicsProcessor(const char* hostName, int port)
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{
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m_data = new TcpNetworkedInternalData;
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if (hostName)
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{
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m_data->m_hostName = hostName;
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}
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m_data->m_port = port;
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}
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TcpNetworkedPhysicsProcessor::~TcpNetworkedPhysicsProcessor()
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{
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disconnect();
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delete m_data;
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}
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bool TcpNetworkedPhysicsProcessor::processCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes)
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{
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if(gVerboseNetworkMessagesClient2)
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{
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printf("PhysicsClientTCP::processCommand\n");
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}
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// int sz = sizeof(SharedMemoryCommand);
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int timeout = 1024 * 1024 * 1024;
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m_data->m_cs->lock();
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m_data->m_clientCmd = clientCmd;
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m_data->m_hasCommand = true;
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m_data->m_cs->unlock();
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while (m_data->m_hasCommand && (timeout-- > 0))
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{
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b3Clock::usleep(0);
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}
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#if 0
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timeout = 1024 * 1024 * 1024;
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bool hasStatus = false;
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const SharedMemoryStatus* stat = 0;
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while ((!hasStatus) && (timeout-- > 0))
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{
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hasStatus = receiveStatus(serverStatusOut, bufferServerToClient, bufferSizeInBytes);
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b3Clock::usleep(100);
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}
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return hasStatus;
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#endif
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return false;
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}
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bool TcpNetworkedPhysicsProcessor::receiveStatus(struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes)
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{
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bool hasStatus = false;
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if (m_data->m_hasStatus)
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{
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if (gVerboseNetworkMessagesClient2)
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{
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printf("TcpNetworkedPhysicsProcessor::receiveStatus\n");
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}
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hasStatus = true;
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serverStatusOut = m_data->m_lastStatus;
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int numStreamBytes = m_data->m_stream.size();
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if (numStreamBytes < bufferSizeInBytes)
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{
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for (int i = 0; i < numStreamBytes; i++)
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{
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bufferServerToClient[i] = m_data->m_stream[i];
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}
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}
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else
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{
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printf("Error: steam buffer overflow\n");
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}
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m_data->m_cs->lock();
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m_data->m_hasStatus = false;
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m_data->m_cs->unlock();
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}
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return hasStatus;
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}
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void TcpNetworkedPhysicsProcessor::renderScene()
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{
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}
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void TcpNetworkedPhysicsProcessor::physicsDebugDraw(int debugDrawFlags)
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{
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}
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void TcpNetworkedPhysicsProcessor::setGuiHelper(struct GUIHelperInterface* guiHelper)
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{
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}
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bool TcpNetworkedPhysicsProcessor::isConnected() const
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{
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return m_data->m_isConnected;
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}
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bool TcpNetworkedPhysicsProcessor::connect()
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{
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if (m_data->m_threadSupport==0)
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{
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m_data->m_threadSupport = createTCPThreadSupport(1);
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m_data->m_cs = m_data->m_threadSupport->createCriticalSection();
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m_data->m_cs->setSharedParam(0, eTCPIsUnInitialized);
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m_data->m_threadSupport->runTask(B3_THREAD_SCHEDULE_TASK, (void*) m_data, 0);
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while (m_data->m_cs->getSharedParam(0) == eTCPIsUnInitialized)
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{
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b3Clock::usleep(1000);
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}
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m_data->m_cs->lock();
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m_data->m_cs->setSharedParam(1, eTCP_ConnectRequest);
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m_data->m_cs->unlock();
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while (m_data->m_cs->getSharedParam(1) == eTCP_ConnectRequest)
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{
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b3Clock::usleep(1000);
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}
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}
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unsigned int sharedParam = m_data->m_cs->getSharedParam(1);
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bool isConnected = (sharedParam == eTCP_Connected);
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return isConnected;
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}
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void TcpNetworkedPhysicsProcessor::disconnect()
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{
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if (m_data->m_threadSupport)
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{
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m_data->m_cs->lock();
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m_data->m_cs->setSharedParam(0, eTCPRequestTerminate);
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m_data->m_cs->unlock();
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int numActiveThreads = 1;
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while (numActiveThreads)
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{
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int arg0, arg1;
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if (m_data->m_threadSupport->isTaskCompleted(&arg0, &arg1, 0))
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{
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numActiveThreads--;
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printf("numActiveThreads = %d\n", numActiveThreads);
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}
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else
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{
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b3Clock::usleep(1000);
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}
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};
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printf("stopping threads\n");
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delete m_data->m_threadSupport;
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m_data->m_threadSupport = 0;
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m_data->m_isConnected = false;
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}
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}
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37
examples/SharedMemory/PhysicsClientTCP.h
Normal file
37
examples/SharedMemory/PhysicsClientTCP.h
Normal file
@@ -0,0 +1,37 @@
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#ifndef PHYSICS_CLIENT_TCP_H
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#define PHYSICS_CLIENT_TCP_H
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#include "PhysicsDirect.h"
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#include "PhysicsServerCommandProcessor.h"
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class TcpNetworkedPhysicsProcessor : public PhysicsCommandProcessorInterface
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{
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struct TcpNetworkedInternalData* m_data;
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public:
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TcpNetworkedPhysicsProcessor(const char* hostName, int port);
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virtual ~TcpNetworkedPhysicsProcessor();
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virtual bool connect();
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virtual void disconnect();
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virtual bool isConnected() const;
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virtual bool processCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
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virtual bool receiveStatus(struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
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virtual void renderScene();
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virtual void physicsDebugDraw(int debugDrawFlags);
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virtual void setGuiHelper(struct GUIHelperInterface* guiHelper);
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};
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#endif //PHYSICS_CLIENT_TCP_H
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29
examples/SharedMemory/PhysicsClientTCP_C_API.cpp
Normal file
29
examples/SharedMemory/PhysicsClientTCP_C_API.cpp
Normal file
@@ -0,0 +1,29 @@
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#include "PhysicsClientTCP_C_API.h"
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#include "PhysicsClientTCP.h"
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#include "PhysicsDirect.h"
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#include <stdio.h>
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b3PhysicsClientHandle b3ConnectPhysicsTCP(const char* hostName, int port)
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{
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TcpNetworkedPhysicsProcessor* tcp = new TcpNetworkedPhysicsProcessor(hostName, port);
|
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PhysicsDirect* direct = new PhysicsDirect(tcp, true);
|
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bool connected;
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connected = direct->connect();
|
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if (connected)
|
||||
{
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printf("b3ConnectPhysicsTCP connected successfully.\n");
|
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}
|
||||
else
|
||||
{
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printf("b3ConnectPhysicsTCP connection failed.\n");
|
||||
|
||||
}
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return (b3PhysicsClientHandle)direct;
|
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}
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||||
|
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|
||||
|
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19
examples/SharedMemory/PhysicsClientTCP_C_API.h
Normal file
19
examples/SharedMemory/PhysicsClientTCP_C_API.h
Normal file
@@ -0,0 +1,19 @@
|
||||
#ifndef PHYSICS_CLIENT_TCP_C_API_H
|
||||
#define PHYSICS_CLIENT_TCP_C_API_H
|
||||
|
||||
#include "PhysicsClientC_API.h"
|
||||
|
||||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
#endif
|
||||
|
||||
|
||||
///send physics commands using TCP networking
|
||||
b3PhysicsClientHandle b3ConnectPhysicsTCP(const char* hostName, int port);
|
||||
|
||||
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif
|
||||
|
||||
#endif //PHYSICS_CLIENT_TCP_C_API_H
|
||||
@@ -59,6 +59,32 @@ if not _OPTIONS["no-enet"] then
|
||||
defines {"BT_ENABLE_ENET"}
|
||||
end
|
||||
|
||||
if not _OPTIONS["no-clsocket"] then
|
||||
|
||||
includedirs {"../../examples/ThirdPartyLibs/clsocket/src"}
|
||||
|
||||
if os.is("Windows") then
|
||||
defines { "WIN32" }
|
||||
links {"Ws2_32","Winmm"}
|
||||
end
|
||||
if os.is("Linux") then
|
||||
defines {"_LINUX"}
|
||||
end
|
||||
if os.is("MacOSX") then
|
||||
defines {"_DARWIN"}
|
||||
end
|
||||
|
||||
links {"clsocket"}
|
||||
|
||||
files {
|
||||
"../../examples/SharedMemory/PhysicsClientTCP.cpp",
|
||||
"../../examples/SharedMemory/PhysicsClientTCP.h",
|
||||
"../../examples/SharedMemory/PhysicsClientTCP_C_API.cpp",
|
||||
"../../examples/SharedMemory/PhysicsClientTCP_C_API.h",
|
||||
}
|
||||
defines {"BT_ENABLE_CLSOCKET"}
|
||||
end
|
||||
|
||||
|
||||
files {
|
||||
"pybullet.c",
|
||||
|
||||
@@ -80,6 +80,68 @@ project ("Test_PhysicsClientUDP")
|
||||
"../../examples/MultiThreading/b3ThreadSupportInterface.cpp",
|
||||
}
|
||||
|
||||
|
||||
project ("Test_PhysicsClientTCP")
|
||||
|
||||
language "C++"
|
||||
kind "ConsoleApp"
|
||||
|
||||
includedirs {
|
||||
"../../src",
|
||||
"../../examples",
|
||||
"../../examples/ThirdPartyLibs/clsocket/src"
|
||||
}
|
||||
links {
|
||||
"clsocket",
|
||||
"BulletFileLoader",
|
||||
"Bullet3Common",
|
||||
"LinearMath"
|
||||
}
|
||||
if os.is("Windows") then
|
||||
defines { "WIN32" }
|
||||
links {"Ws2_32","Winmm"}
|
||||
end
|
||||
|
||||
if os.is("Windows") then
|
||||
defines { "WIN32","_WINSOCK_DEPRECATED_NO_WARNINGS" }
|
||||
end
|
||||
if os.is("Linux") then
|
||||
defines {"_LINUX"}
|
||||
end
|
||||
if os.is("MacOSX") then
|
||||
defines {"_DARWIN"}
|
||||
end
|
||||
|
||||
defines {"PHYSICS_TCP"}
|
||||
|
||||
files {
|
||||
"test.c",
|
||||
"../../examples/SharedMemory/PhysicsClient.cpp",
|
||||
"../../examples/SharedMemory/PhysicsClient.h",
|
||||
"../../examples/SharedMemory/PhysicsClientSharedMemory.cpp",
|
||||
"../../examples/SharedMemory/PhysicsClientSharedMemory.h",
|
||||
"../../examples/SharedMemory/PhysicsClientSharedMemory_C_API.cpp",
|
||||
"../../examples/SharedMemory/PhysicsClientSharedMemory_C_API.h",
|
||||
"../../examples/SharedMemory/PhysicsClientTCP.cpp",
|
||||
"../../examples/SharedMemory/PhysicsClientTCP.h",
|
||||
"../../examples/SharedMemory/PhysicsClientTCP_C_API.cpp",
|
||||
"../../examples/SharedMemory/PhysicsClientTCP_C_API.h",
|
||||
"../../examples/SharedMemory/PhysicsClientSharedMemory_C_API.h",
|
||||
"../../examples/SharedMemory/PhysicsClientC_API.cpp",
|
||||
"../../examples/SharedMemory/PhysicsClientC_API.h",
|
||||
"../../examples/SharedMemory/Win32SharedMemory.cpp",
|
||||
"../../examples/SharedMemory/Win32SharedMemory.h",
|
||||
"../../examples/SharedMemory/PosixSharedMemory.cpp",
|
||||
"../../examples/SharedMemory/PosixSharedMemory.h",
|
||||
"../../examples/Utils/b3ResourcePath.cpp",
|
||||
"../../examples/Utils/b3ResourcePath.h",
|
||||
"../../examples/SharedMemory/PhysicsDirect.cpp",
|
||||
"../../examples/Utils/b3Clock.cpp",
|
||||
"../../examples/MultiThreading/b3PosixThreadSupport.cpp",
|
||||
"../../examples/MultiThreading/b3Win32ThreadSupport.cpp",
|
||||
"../../examples/MultiThreading/b3ThreadSupportInterface.cpp",
|
||||
}
|
||||
|
||||
|
||||
project ("Test_PhysicsServerLoopBack")
|
||||
|
||||
|
||||
@@ -8,6 +8,10 @@
|
||||
#include "SharedMemory/PhysicsClientUDP_C_API.h"
|
||||
#endif//PHYSICS_UDP
|
||||
|
||||
#ifdef PHYSICS_TCP
|
||||
#include "SharedMemory/PhysicsClientTCP_C_API.h"
|
||||
#endif//PHYSICS_TCP
|
||||
|
||||
#ifdef PHYSICS_LOOP_BACK
|
||||
#include "SharedMemory/PhysicsLoopBackC_API.h"
|
||||
#endif //PHYSICS_LOOP_BACK
|
||||
@@ -345,6 +349,10 @@ int main(int argc, char* argv[])
|
||||
b3PhysicsClientHandle sm = b3ConnectPhysicsUDP("localhost",1234);
|
||||
#endif //PHYSICS_UDP
|
||||
|
||||
#ifdef PHYSICS_TCP
|
||||
b3PhysicsClientHandle sm = b3ConnectPhysicsTCP("localhost",6667);
|
||||
#endif //PHYSICS_UDP
|
||||
|
||||
testSharedMemory(sm);
|
||||
}
|
||||
#endif
|
||||
|
||||
Reference in New Issue
Block a user