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minor update for shared memory interface

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This commit is contained in:
Erwin Coumans
2015-06-21 13:24:36 -07:00
parent 6e9eb13235
commit 4688540a98
5 changed files with 235 additions and 66 deletions
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56
examples/SharedMemory/SharedMemoryInterface.h
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@@ -5,51 +5,7 @@
#define SHARED_MEMORY_MAGIC_NUMBER 64738
#define SHARED_MEMORY_MAX_COMMANDS 64
enum SharedMemoryServerCommand{
CMD_URDF_LOADING_COMPLETED,
CMD_URDF_LOADING_FAILED,
CMD_SERVER_STATE_UPDATE_COMPLETED,
CMD_STEP_FORWARD_SIMULATION_COMPLETED,
CMD_MAX_SERVER_COMMANDS
};
enum SharedMemoryClientCommand{
CMD_LOAD_URDF,
CMD_STATE_UPDATED,
CMD_STEP_FORWARD_SIMULATION, //includes CMD_REQUEST_STATE
CMD_SHUTDOWN,
CMD_MAX_CLIENT_COMMANDS
};
#define SHARED_MEMORY_SERVER_TEST_C
#define MAX_DEGREE_OF_FREEDOM 1024
#define MAX_NUM_SENSORS 1024
#define MAX_URDF_FILENAME_LENGTH 1024
struct UrdfCommandArgument
{
char m_urdfFileName[MAX_URDF_FILENAME_LENGTH];
bool m_useMultiBody;
bool m_useFixedBase;
};
struct StepSimulationCommandArgument
{
double m_deltaTimeInSeconds;
};
struct SharedMemoryCommand
{
int m_type;
union
{
UrdfCommandArgument m_urdfArguments;
StepSimulationCommandArgument m_stepSimulationArguments;
};
};
#include "SharedMemoryCommands.h"
struct SharedMemoryExampleData
{
@@ -62,19 +18,19 @@ struct SharedMemoryExampleData
int m_numServerCommands;
int m_numProcessedServerCommands;
//TODO: it is better to move this single desired/actual state (m_desiredStateQ, m_actualStateQ etc) into the command,
//so we can deal with multiple bodies/robots
//desired state is only written by the client, read-only access by server is expected
double m_desiredStateQ[MAX_DEGREE_OF_FREEDOM];
double m_desiredStateQdot[MAX_DEGREE_OF_FREEDOM];
double m_desiredStateSensors[MAX_NUM_SENSORS];//these are force sensors and IMU information
//actual state is only written by the server, read-only access by client is expected
double m_actualStateQ[MAX_DEGREE_OF_FREEDOM];
double m_actualStateQdot[MAX_DEGREE_OF_FREEDOM];
double m_actualStateSensors[MAX_NUM_SENSORS];//these are force sensors and IMU information
};
#define SHARED_MEMORY_SIZE sizeof(SharedMemoryExampleData)