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Add preliminary GRPC server for PyBullet and BulletRobotics.

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Will add GRPC client and PyBullet GRPC server plugin.
Will cover most/all SharedMemoryCommand/SharedMemoryStatus messages.
Run the server, then test using the pybullet_client.py
This commit is contained in:
erwincoumans
2018-08-29 21:12:13 -07:00
parent 65175425b0
commit 4f7dfc2069
18 changed files with 6556 additions and 29 deletions
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85
examples/SharedMemory/PhysicsClientC_API.cpp
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@@ -53,32 +53,6 @@ B3_SHARED_API b3SharedMemoryCommandHandle b3SaveWorldCommandInit(b3PhysicsClient
return (b3SharedMemoryCommandHandle) command;
}
B3_SHARED_API b3SharedMemoryCommandHandle b3LoadUrdfCommandInit(b3PhysicsClientHandle physClient, const char* urdfFileName)
{
PhysicsClient* cl = (PhysicsClient* ) physClient;
b3Assert(cl);
b3Assert(cl->canSubmitCommand());
if (cl->canSubmitCommand())
{
struct SharedMemoryCommand* command = cl->getAvailableSharedMemoryCommand();
b3Assert(command);
command->m_type = CMD_LOAD_URDF;
int len = strlen(urdfFileName);
if (len < MAX_URDF_FILENAME_LENGTH)
{
strcpy(command->m_urdfArguments.m_urdfFileName, urdfFileName);
}
else
{
command->m_urdfArguments.m_urdfFileName[0] = 0;
}
command->m_updateFlags = URDF_ARGS_FILE_NAME;
return (b3SharedMemoryCommandHandle)command;
}
return 0;
}
B3_SHARED_API b3SharedMemoryCommandHandle b3LoadBulletCommandInit(b3PhysicsClientHandle physClient, const char* fileName)
{
@@ -310,6 +284,56 @@ B3_SHARED_API int b3LoadSoftBodySetCollisionMargin(b3SharedMemoryCommandHandle c
return 0;
}
B3_SHARED_API b3SharedMemoryCommandHandle b3LoadUrdfCommandInit(b3PhysicsClientHandle physClient, const char* urdfFileName)
{
PhysicsClient* cl = (PhysicsClient*)physClient;
b3Assert(cl);
b3Assert(cl->canSubmitCommand());
if (cl->canSubmitCommand())
{
struct SharedMemoryCommand* command = cl->getAvailableSharedMemoryCommand();
b3Assert(command);
command->m_type = CMD_LOAD_URDF;
int len = strlen(urdfFileName);
if (len < MAX_URDF_FILENAME_LENGTH)
{
strcpy(command->m_urdfArguments.m_urdfFileName, urdfFileName);
}
else
{
command->m_urdfArguments.m_urdfFileName[0] = 0;
}
command->m_updateFlags = URDF_ARGS_FILE_NAME;
return (b3SharedMemoryCommandHandle)command;
}
return 0;
}
B3_SHARED_API b3SharedMemoryCommandHandle b3LoadUrdfCommandInit2(b3SharedMemoryCommandHandle commandHandle, const char* urdfFileName)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
b3Assert(command);
command->m_type = CMD_LOAD_URDF;
int len = strlen(urdfFileName);
if (len < MAX_URDF_FILENAME_LENGTH)
{
strcpy(command->m_urdfArguments.m_urdfFileName, urdfFileName);
}
else
{
command->m_urdfArguments.m_urdfFileName[0] = 0;
}
command->m_updateFlags = URDF_ARGS_FILE_NAME;
return (b3SharedMemoryCommandHandle)command;
}
B3_SHARED_API int b3LoadUrdfCommandSetUseMultiBody(b3SharedMemoryCommandHandle commandHandle, int useMultiBody)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
@@ -720,11 +744,18 @@ B3_SHARED_API b3SharedMemoryCommandHandle b3InitStepSimulationCommand(b3Physics
b3Assert(cl->canSubmitCommand());
struct SharedMemoryCommand* command = cl->getAvailableSharedMemoryCommand();
b3Assert(command);
return b3InitStepSimulationCommand2((b3SharedMemoryCommandHandle)command);
}
B3_SHARED_API b3SharedMemoryCommandHandle b3InitStepSimulationCommand2(b3SharedMemoryCommandHandle commandHandle)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
command->m_type = CMD_STEP_FORWARD_SIMULATION;
command->m_updateFlags = 0;
return (b3SharedMemoryCommandHandle) command;
return (b3SharedMemoryCommandHandle)command;
}
B3_SHARED_API b3SharedMemoryCommandHandle b3InitResetSimulationCommand(b3PhysicsClientHandle physClient)
{
PhysicsClient* cl = (PhysicsClient* ) physClient;