Add preliminary GRPC server for PyBullet and BulletRobotics.

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

examples/SharedMemory/grpc/pybullet.grpc.pb.h

@@ -0,0 +1,130 @@
+// Generated by the gRPC C++ plugin.
+// If you make any local change, they will be lost.
+// source: pybullet.proto
+#ifndef GRPC_pybullet_2eproto__INCLUDED
+#define GRPC_pybullet_2eproto__INCLUDED
+
+#include "pybullet.pb.h"
+
+#include <grpc++/impl/codegen/async_stream.h>
+#include <grpc++/impl/codegen/async_unary_call.h>
+#include <grpc++/impl/codegen/method_handler_impl.h>
+#include <grpc++/impl/codegen/proto_utils.h>
+#include <grpc++/impl/codegen/rpc_method.h>
+#include <grpc++/impl/codegen/service_type.h>
+#include <grpc++/impl/codegen/status.h>
+#include <grpc++/impl/codegen/stub_options.h>
+#include <grpc++/impl/codegen/sync_stream.h>
+
+namespace grpc {
+class CompletionQueue;
+class Channel;
+class RpcService;
+class ServerCompletionQueue;
+class ServerContext;
+}  // namespace grpc
+
+namespace pybullet_grpc {
+
+class PyBulletAPI final {
+ public:
+  class StubInterface {
+   public:
+    virtual ~StubInterface() {}
+    // Sends a greeting
+    virtual ::grpc::Status SubmitCommand(::grpc::ClientContext* context, const ::pybullet_grpc::PyBulletCommand& request, ::pybullet_grpc::PyBulletStatus* response) = 0;
+    std::unique_ptr< ::grpc::ClientAsyncResponseReaderInterface< ::pybullet_grpc::PyBulletStatus>> AsyncSubmitCommand(::grpc::ClientContext* context, const ::pybullet_grpc::PyBulletCommand& request, ::grpc::CompletionQueue* cq) {
+      return std::unique_ptr< ::grpc::ClientAsyncResponseReaderInterface< ::pybullet_grpc::PyBulletStatus>>(AsyncSubmitCommandRaw(context, request, cq));
+    }
+  private:
+    virtual ::grpc::ClientAsyncResponseReaderInterface< ::pybullet_grpc::PyBulletStatus>* AsyncSubmitCommandRaw(::grpc::ClientContext* context, const ::pybullet_grpc::PyBulletCommand& request, ::grpc::CompletionQueue* cq) = 0;
+  };
+  class Stub final : public StubInterface {
+   public:
+    Stub(const std::shared_ptr< ::grpc::ChannelInterface>& channel);
+    ::grpc::Status SubmitCommand(::grpc::ClientContext* context, const ::pybullet_grpc::PyBulletCommand& request, ::pybullet_grpc::PyBulletStatus* response) override;
+    std::unique_ptr< ::grpc::ClientAsyncResponseReader< ::pybullet_grpc::PyBulletStatus>> AsyncSubmitCommand(::grpc::ClientContext* context, const ::pybullet_grpc::PyBulletCommand& request, ::grpc::CompletionQueue* cq) {
+      return std::unique_ptr< ::grpc::ClientAsyncResponseReader< ::pybullet_grpc::PyBulletStatus>>(AsyncSubmitCommandRaw(context, request, cq));
+    }
+
+   private:
+    std::shared_ptr< ::grpc::ChannelInterface> channel_;
+    ::grpc::ClientAsyncResponseReader< ::pybullet_grpc::PyBulletStatus>* AsyncSubmitCommandRaw(::grpc::ClientContext* context, const ::pybullet_grpc::PyBulletCommand& request, ::grpc::CompletionQueue* cq) override;
+    const ::grpc::RpcMethod rpcmethod_SubmitCommand_;
+  };
+  static std::unique_ptr<Stub> NewStub(const std::shared_ptr< ::grpc::ChannelInterface>& channel, const ::grpc::StubOptions& options = ::grpc::StubOptions());
+
+  class Service : public ::grpc::Service {
+   public:
+    Service();
+    virtual ~Service();
+    // Sends a greeting
+    virtual ::grpc::Status SubmitCommand(::grpc::ServerContext* context, const ::pybullet_grpc::PyBulletCommand* request, ::pybullet_grpc::PyBulletStatus* response);
+  };
+  template <class BaseClass>
+  class WithAsyncMethod_SubmitCommand : public BaseClass {
+   private:
+    void BaseClassMustBeDerivedFromService(const Service *service) {}
+   public:
+    WithAsyncMethod_SubmitCommand() {
+      ::grpc::Service::MarkMethodAsync(0);
+    }
+    ~WithAsyncMethod_SubmitCommand() override {
+      BaseClassMustBeDerivedFromService(this);
+    }
+    // disable synchronous version of this method
+    ::grpc::Status SubmitCommand(::grpc::ServerContext* context, const ::pybullet_grpc::PyBulletCommand* request, ::pybullet_grpc::PyBulletStatus* response) final override {
+      abort();
+      return ::grpc::Status(::grpc::StatusCode::UNIMPLEMENTED, "");
+    }
+    void RequestSubmitCommand(::grpc::ServerContext* context, ::pybullet_grpc::PyBulletCommand* request, ::grpc::ServerAsyncResponseWriter< ::pybullet_grpc::PyBulletStatus>* response, ::grpc::CompletionQueue* new_call_cq, ::grpc::ServerCompletionQueue* notification_cq, void *tag) {
+      ::grpc::Service::RequestAsyncUnary(0, context, request, response, new_call_cq, notification_cq, tag);
+    }
+  };
+  typedef WithAsyncMethod_SubmitCommand<Service > AsyncService;
+  template <class BaseClass>
+  class WithGenericMethod_SubmitCommand : public BaseClass {
+   private:
+    void BaseClassMustBeDerivedFromService(const Service *service) {}
+   public:
+    WithGenericMethod_SubmitCommand() {
+      ::grpc::Service::MarkMethodGeneric(0);
+    }
+    ~WithGenericMethod_SubmitCommand() override {
+      BaseClassMustBeDerivedFromService(this);
+    }
+    // disable synchronous version of this method
+    ::grpc::Status SubmitCommand(::grpc::ServerContext* context, const ::pybullet_grpc::PyBulletCommand* request, ::pybullet_grpc::PyBulletStatus* response) final override {
+      abort();
+      return ::grpc::Status(::grpc::StatusCode::UNIMPLEMENTED, "");
+    }
+  };
+  template <class BaseClass>
+  class WithStreamedUnaryMethod_SubmitCommand : public BaseClass {
+   private:
+    void BaseClassMustBeDerivedFromService(const Service *service) {}
+   public:
+    WithStreamedUnaryMethod_SubmitCommand() {
+      ::grpc::Service::MarkMethodStreamed(0,
+        new ::grpc::StreamedUnaryHandler< ::pybullet_grpc::PyBulletCommand, ::pybullet_grpc::PyBulletStatus>(std::bind(&WithStreamedUnaryMethod_SubmitCommand<BaseClass>::StreamedSubmitCommand, this, std::placeholders::_1, std::placeholders::_2)));
+    }
+    ~WithStreamedUnaryMethod_SubmitCommand() override {
+      BaseClassMustBeDerivedFromService(this);
+    }
+    // disable regular version of this method
+    ::grpc::Status SubmitCommand(::grpc::ServerContext* context, const ::pybullet_grpc::PyBulletCommand* request, ::pybullet_grpc::PyBulletStatus* response) final override {
+      abort();
+      return ::grpc::Status(::grpc::StatusCode::UNIMPLEMENTED, "");
+    }
+    // replace default version of method with streamed unary
+    virtual ::grpc::Status StreamedSubmitCommand(::grpc::ServerContext* context, ::grpc::ServerUnaryStreamer< ::pybullet_grpc::PyBulletCommand,::pybullet_grpc::PyBulletStatus>* server_unary_streamer) = 0;
+  };
+  typedef WithStreamedUnaryMethod_SubmitCommand<Service > StreamedUnaryService;
+  typedef Service SplitStreamedService;
+  typedef WithStreamedUnaryMethod_SubmitCommand<Service > StreamedService;
+};
+
+}  // namespace pybullet_grpc
+
+
+#endif  // GRPC_pybullet_2eproto__INCLUDED