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minor refactoring

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2015-07-23 11:51:25 -07:00
parent 0fe6d343bc
commit 3fe9138e8c
11 changed files with 64 additions and 96 deletions
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9
examples/SharedMemory/PhysicsClient.cpp
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@@ -6,6 +6,7 @@
#include "../Utils/b3ResourcePath.h"
#include "../../Extras/Serialize/BulletFileLoader/btBulletFile.h"
#include "../../Extras/Serialize/BulletFileLoader/autogenerated/bullet.h"
#include "SharedMemoryBlock.h"
//copied from btMultiBodyLink.h
@@ -18,7 +19,7 @@ enum JointType
struct PhysicsClientSharedMemoryInternalData
{
SharedMemoryInterface* m_sharedMemory;
SharedMemoryExampleData* m_testBlock1;
SharedMemoryBlock* m_testBlock1;
btAlignedObjectArray<bParse::btBulletFile*> m_robotMultiBodyData;
btAlignedObjectArray<PoweredJointInfo> m_poweredJointInfo;
@@ -89,7 +90,7 @@ bool PhysicsClientSharedMemory::isConnected() const
bool PhysicsClientSharedMemory::connect(bool allowSharedMemoryInitialization)
{
bool allowCreation = true;
m_data->m_testBlock1 = (SharedMemoryExampleData*)m_data->m_sharedMemory->allocateSharedMemory(SHARED_MEMORY_KEY, SHARED_MEMORY_SIZE, allowCreation);
m_data->m_testBlock1 = (SharedMemoryBlock*)m_data->m_sharedMemory->allocateSharedMemory(SHARED_MEMORY_KEY, SHARED_MEMORY_SIZE, allowCreation);
if (m_data->m_testBlock1)
{
@@ -97,7 +98,7 @@ bool PhysicsClientSharedMemory::connect(bool allowSharedMemoryInitialization)
{
if (allowSharedMemoryInitialization)
{
InitSharedMemoryExampleData(m_data->m_testBlock1);
InitSharedMemoryBlock(m_data->m_testBlock1);
b3Printf("Created and initialized shared memory block");
m_data->m_isConnected = true;
} else
@@ -123,7 +124,7 @@ bool PhysicsClientSharedMemory::connect(bool allowSharedMemoryInitialization)
bool PhysicsClientSharedMemory::processServerStatus(ServerStatus& serverStatus)
bool PhysicsClientSharedMemory::processServerStatus(SharedMemoryStatus& serverStatus)
{
btAssert(m_data->m_testBlock1);
bool hasStatus = false;

13
examples/SharedMemory/PhysicsClient.h
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@@ -3,17 +3,6 @@
#include "SharedMemoryCommands.h"
#include <string>
struct PoweredJointInfo
{
std::string m_linkName;
std::string m_jointName;
int m_jointType;
int m_qIndex;
int m_uIndex;
};
class PhysicsClientSharedMemory //: public CommonPhysicsClientInterface
{
@@ -31,7 +20,7 @@ public:
virtual bool isConnected() const;
// return true if there is a status, and fill in 'serverStatus'
virtual bool processServerStatus(ServerStatus& serverStatus);
virtual bool processServerStatus(SharedMemoryStatus& serverStatus);
virtual bool canSubmitCommand() const;

4
examples/SharedMemory/PhysicsClientExample.cpp
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@@ -211,7 +211,7 @@ void PhysicsClientExample::stepSimulation(float deltaTime)
if (m_physicsClient.isConnected())
{
ServerStatus status;
SharedMemoryStatus status;
bool hasStatus = m_physicsClient.processServerStatus(status);
if (hasStatus && status.m_type == CMD_URDF_LOADING_COMPLETED)
{
@@ -219,7 +219,7 @@ void PhysicsClientExample::stepSimulation(float deltaTime)
{
PoweredJointInfo info;
m_physicsClient.getPoweredJointInfo(i,info);
b3Printf("1-DOF PoweredJoint %s at q-index %d and u-index %d\n",info.m_jointName.c_str(),info.m_qIndex,info.m_uIndex);
b3Printf("1-DOF PoweredJoint %s at q-index %d and u-index %d\n",info.m_jointName,info.m_qIndex,info.m_uIndex);
}
}

9
examples/SharedMemory/PhysicsServer.cpp
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@@ -17,6 +17,7 @@
#include "LinearMath/btSerializer.h"
#include "Bullet3Common/b3Logging.h"
#include "../CommonInterfaces/CommonGUIHelperInterface.h"
#include "SharedMemoryBlock.h"
struct UrdfLinkNameMapUtil
{
@@ -31,7 +32,7 @@ struct UrdfLinkNameMapUtil
struct PhysicsServerInternalData
{
SharedMemoryInterface* m_sharedMemory;
SharedMemoryExampleData* m_testBlock1;
SharedMemoryBlock* m_testBlock1;
bool m_isConnected;
btScalar m_physicsDeltaTime;
//btAlignedObjectArray<btJointFeedback*> m_jointFeedbacks;
@@ -84,14 +85,14 @@ bool PhysicsServerSharedMemory::connectSharedMemory(bool allowSharedMemoryInitia
bool allowCreation = true;
m_data->m_testBlock1 = (SharedMemoryExampleData*)m_data->m_sharedMemory->allocateSharedMemory(SHARED_MEMORY_KEY, SHARED_MEMORY_SIZE,allowCreation);
m_data->m_testBlock1 = (SharedMemoryBlock*)m_data->m_sharedMemory->allocateSharedMemory(SHARED_MEMORY_KEY, SHARED_MEMORY_SIZE,allowCreation);
if (m_data->m_testBlock1)
{
if (m_data->m_testBlock1->m_magicId !=SHARED_MEMORY_MAGIC_NUMBER)
{
if (allowSharedMemoryInitialization)
{
InitSharedMemoryExampleData(m_data->m_testBlock1);
InitSharedMemoryBlock(m_data->m_testBlock1);
b3Printf("Created and initialized shared memory block");
m_data->m_isConnected = true;
} else
@@ -212,7 +213,7 @@ bool PhysicsServerSharedMemory::loadUrdf(const char* fileName, const btVector3&
tr.setIdentity();
tr.setOrigin(pos);
tr.setRotation(orn);
int rootLinkIndex = u2b.getRootLinkIndex();
//int rootLinkIndex = u2b.getRootLinkIndex();
// printf("urdf root link index = %d\n",rootLinkIndex);
MyMultiBodyCreator creation(m_data->m_guiHelper);

1
examples/SharedMemory/PhysicsServerExample.cpp
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@@ -57,7 +57,6 @@ PhysicsServerExample::PhysicsServerExample(GUIHelperInterface* helper)
m_wantsShutdown(false)
{
b3Printf("Started PhysicsServer\n");
}

26
examples/SharedMemory/RobotControlExample.cpp
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@@ -10,6 +10,7 @@
#include "PhysicsClient.h"
#include "SharedMemoryCommon.h"
#include "../Utils/b3Clock.h"
#include "PhysicsClientC_API.h"
//const char* blaatnaam = "basename";
@@ -100,11 +101,20 @@ void MyCallback2(int buttonId, bool buttonState, void* userPtr)
case CMD_SEND_PHYSICS_SIMULATION_PARAMETERS:
{
command.m_type = CMD_SEND_PHYSICS_SIMULATION_PARAMETERS;
command.m_physSimParamArgs.m_gravityAcceleration[0] = 0;
command.m_physSimParamArgs.m_gravityAcceleration[1] = 0;
command.m_physSimParamArgs.m_gravityAcceleration[2] = -10;
command.m_updateFlags = SIM_PARAM_UPDATE_GRAVITY;
//#ifdef USE_C_API
b3InitPhysicsParamCommand(&command);
b3PhysicsParamSetGravity(&command, 0,0,-10);
// #else
//
// command.m_type = CMD_SEND_PHYSICS_SIMULATION_PARAMETERS;
// command.m_physSimParamArgs.m_gravityAcceleration[0] = 0;
// command.m_physSimParamArgs.m_gravityAcceleration[1] = 0;
// command.m_physSimParamArgs.m_gravityAcceleration[2] = -10;
// command.m_physSimParamArgs.m_updateFlags = SIM_PARAM_UPDATE_GRAVITY;
// #endif // USE_C_API
cl->enqueueCommand(command);
break;
@@ -286,7 +296,7 @@ void RobotControlExample::stepSimulation(float deltaTime)
if (m_physicsClient.isConnected())
{
ServerStatus status;
SharedMemoryStatus status;
bool hasStatus = m_physicsClient.processServerStatus(status);
if (hasStatus && status.m_type == CMD_URDF_LOADING_COMPLETED)
{
@@ -294,12 +304,12 @@ void RobotControlExample::stepSimulation(float deltaTime)
{
PoweredJointInfo info;
m_physicsClient.getPoweredJointInfo(i,info);
b3Printf("1-DOF PoweredJoint %s at q-index %d and u-index %d\n",info.m_jointName.c_str(),info.m_qIndex,info.m_uIndex);
b3Printf("1-DOF PoweredJoint %s at q-index %d and u-index %d\n",info.m_jointName,info.m_qIndex,info.m_uIndex);
if (m_numMotors<MAX_NUM_MOTORS)
{
char motorName[1024];
sprintf(motorName,"%s q'", info.m_jointName.c_str());
sprintf(motorName,"%s q'", info.m_jointName);
MyMotorInfo* motorInfo = &m_motorTargetVelocities[m_numMotors];
motorInfo->m_velTarget = 0.f;
motorInfo->m_uIndex = info.m_uIndex;

51
examples/SharedMemory/SharedMemoryCommands.h
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@@ -63,11 +63,11 @@ enum EnumSharedMemoryServerStatus
struct UrdfArgs
{
char m_urdfFileName[MAX_URDF_FILENAME_LENGTH];
double m_initialPosition[3];
double m_initialOrientation[4];
bool m_useMultiBody;
bool m_useFixedBase;
char m_urdfFileName[MAX_URDF_FILENAME_LENGTH];
double m_initialPosition[3];
double m_initialOrientation[4];
int m_useMultiBody;
int m_useFixedBase;
};
@@ -81,7 +81,7 @@ struct SetJointFeedbackArgs
{
int m_bodyUniqueId;
int m_linkId;
bool m_isEnabled;
int m_isEnabled;
};
//todo: discuss and decide about control mode and combinations
@@ -132,7 +132,6 @@ enum EnumUpdateFlags
///The control mode determines the state variables used for motor control.
struct SendPhysicsSimulationParameters
{
double m_deltaTime;
double m_gravityAcceleration[3];
int m_numSimulationSubSteps;
@@ -161,25 +160,26 @@ struct SendActualStateArgs
};
typedef struct SharedMemoryCommand SharedMemoryCommand_t;
struct SharedMemoryCommand
{
int m_type;
int m_type;
smUint64_t m_timeStamp;
int m_sequenceNumber;
smUint64_t m_timeStamp;
//a bit fields to tell which parameters need updating
//for example m_updateFlags = SIM_PARAM_UPDATE_DELTA_TIME | SIM_PARAM_UPDATE_NUM_SOLVER_ITERATIONS;
smUint64_t m_updateFlags;
//a bit fields to tell which parameters need updating
//for example m_updateFlags = SIM_PARAM_UPDATE_DELTA_TIME | SIM_PARAM_UPDATE_NUM_SOLVER_ITERATIONS;
int m_updateFlags;
union
{
UrdfArgs m_urdfArguments;
InitPoseArgs m_initPoseArgs;
SendPhysicsSimulationParameters m_physSimParamArgs;
BulletDataStreamArgs m_dataStreamArguments;
SendDesiredStateArgs m_sendDesiredStateCommandArgument;
RequestActualStateArgs m_requestActualStateInformationCommandArgument;
struct UrdfArgs m_urdfArguments;
struct InitPoseArgs m_initPoseArgs;
struct SendPhysicsSimulationParameters m_physSimParamArgs;
struct BulletDataStreamArgs m_dataStreamArguments;
struct SendDesiredStateArgs m_sendDesiredStateCommandArgument;
struct RequestActualStateArgs m_requestActualStateInformationCommandArgument;
};
};
@@ -193,11 +193,20 @@ struct SharedMemoryStatus
union
{
BulletDataStreamArgs m_dataStreamArguments;
SendActualStateArgs m_sendActualStateArgs;
struct BulletDataStreamArgs m_dataStreamArguments;
struct SendActualStateArgs m_sendActualStateArgs;
};
};
typedef SharedMemoryStatus ServerStatus;
struct PoweredJointInfo
{
char* m_linkName;
char* m_jointName;
int m_jointType;
int m_qIndex;
int m_uIndex;
};
#endif //SHARED_MEMORY_COMMANDS_H

44
examples/SharedMemory/SharedMemoryInterface.h
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@@ -1,49 +1,6 @@
#ifndef SHARED_MEMORY_INTERFACE_H
#define SHARED_MEMORY_INTERFACE_H
#define SHARED_MEMORY_KEY 12347
#define SHARED_MEMORY_MAGIC_NUMBER 64738
#define SHARED_MEMORY_MAX_COMMANDS 32
#define SHARED_MEMORY_MAX_STREAM_CHUNK_SIZE (256*1024)
#include "SharedMemoryCommands.h"
struct SharedMemoryExampleData
{
int m_magicId;
SharedMemoryCommand m_clientCommands[SHARED_MEMORY_MAX_COMMANDS];
SharedMemoryStatus m_serverCommands[SHARED_MEMORY_MAX_COMMANDS];
int m_numClientCommands;
int m_numProcessedClientCommands;
int m_numServerCommands;
int m_numProcessedServerCommands;
//m_bulletStreamDataClientToServer is a way for the client to create collision shapes, rigid bodies and constraints
//the Bullet data structures are more general purpose than the capabilities of a URDF file.
char m_bulletStreamDataClientToServer[SHARED_MEMORY_MAX_STREAM_CHUNK_SIZE];
//m_bulletStreamDataServerToClient is used to send (debug) data from server to client, for
//example to provide all details of a multibody including joint/link names, after loading a URDF file.
char m_bulletStreamDataServerToClient[SHARED_MEMORY_MAX_STREAM_CHUNK_SIZE];
};
inline void InitSharedMemoryExampleData(SharedMemoryExampleData* sharedMemoryBlock)
{
sharedMemoryBlock->m_numClientCommands = 0;
sharedMemoryBlock->m_numServerCommands = 0;
sharedMemoryBlock->m_numProcessedClientCommands=0;
sharedMemoryBlock->m_numProcessedServerCommands=0;
sharedMemoryBlock->m_magicId = SHARED_MEMORY_MAGIC_NUMBER;
}
#define SHARED_MEMORY_SIZE sizeof(SharedMemoryExampleData)
class SharedMemoryInterface
{
public:
@@ -54,5 +11,6 @@ class SharedMemoryInterface
virtual void* allocateSharedMemory(int key, int size, bool allowCreation) =0;
virtual void releaseSharedMemory(int key, int size) =0;
};
#endif

1
examples/SharedMemory/main.cpp
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@@ -27,7 +27,6 @@ int main(int argc, char* argv[])
{
b3CommandLineArgs args(argc, argv);
struct PhysicsInterface* pint = 0;
DummyGUIHelper noGfx;