remove pre-build proto/grpc files (they differ for each platform and proto/grpc version)

examples/SharedMemory/PhysicsClientGRPC.cpp

@@ -1,6 +1,6 @@
 #ifdef BT_ENABLE_GRPC
 #include "PhysicsClientGRPC.h"
-#include "grpc/pybullet.grpc.pb.h"
+#include "SharedMemory/grpc/proto/pybullet.grpc.pb.h"
 #include <grpc++/grpc++.h>
 using grpc::Channel;
 #include <stdio.h>
@@ -12,8 +12,9 @@ using grpc::Channel;
 #include <string>
 #include "Bullet3Common/b3Logging.h"
 #include "Bullet3Common/b3AlignedObjectArray.h"
-#include "grpc/ConvertGRPCBullet.h"
+#include "SharedMemory/grpc/ConvertGRPCBullet.h"
 
+using pybullet_grpc::PyBulletAPI;
 
 static unsigned int b3DeserializeInt2(const unsigned char* input)
 {
@@ -27,7 +28,7 @@ bool gVerboseNetworkMessagesClient3 = false;
 struct	GRPCNetworkedInternalData
 {
 	std::shared_ptr<grpc::Channel> m_grpcChannel;
-	std::unique_ptr< pybullet_grpc::PyBulletAPI::Stub> m_stub;
+	std::unique_ptr< PyBulletAPI::Stub> m_stub;
 	
 
 	bool		m_isConnected;
@@ -70,7 +71,7 @@ struct	GRPCNetworkedInternalData
 		m_grpcChannel  = grpc::CreateChannel(
 			hostport, grpc::InsecureChannelCredentials());
 
-		m_stub = pybullet_grpc::PyBulletAPI::NewStub(m_grpcChannel);
+		m_stub = PyBulletAPI::NewStub(m_grpcChannel);
 
 		
 		

examples/SharedMemory/grpc/ConvertGRPCBullet.cpp

@@ -1,13 +1,13 @@
 #include "ConvertGRPCBullet.h"
-#include "PhysicsClientC_API.h"
-#include "SharedMemoryCommands.h"
+#include "SharedMemory/PhysicsClientC_API.h"
+#include "SharedMemory/SharedMemoryCommands.h"
 #include <memory>
 #include <iostream>
 #include <string>
 #include <thread>
 #include <grpc++/grpc++.h>
 #include <grpc/support/log.h>
-#include "pybullet.grpc.pb.h"
+#include "SharedMemory/grpc/proto/pybullet.grpc.pb.h"
 #include "LinearMath/btMinMax.h"
 
 #define ALLOW_GRPC_COMMAND_CONVERSION
@@ -21,7 +21,6 @@ using grpc::ServerCompletionQueue;
 using grpc::Status;
 using pybullet_grpc::PyBulletCommand;
 using pybullet_grpc::PyBulletStatus;
-using pybullet_grpc::PyBulletAPI;
 
 pybullet_grpc::PyBulletCommand* convertBulletToGRPCCommand(const struct SharedMemoryCommand& clientCmd, pybullet_grpc::PyBulletCommand& grpcCommand)
 {
@@ -472,7 +471,7 @@ pybullet_grpc::PyBulletCommand* convertBulletToGRPCCommand(const struct SharedMe
 
 		default:
 		{
-			printf("convertBulletToGRPCCommand: Unknown command\n");
+			//printf("convertBulletToGRPCCommand: Unknown command\n");
 			//assert(0);
 			
 		}
@@ -568,7 +567,7 @@ SharedMemoryCommand* convertGRPCToBulletCommand(const PyBulletCommand& grpcComma
 		}
 		else
 		{
-			printf("Ignore unexpected unknowncommandbinaryblob\n");
+			printf("Error: Ignore unexpected unknowncommandbinaryblob\n");
 		}
 		cmdPtr = &cmd;
 	}
@@ -1276,7 +1275,7 @@ bool convertGRPCToStatus(const PyBulletStatus& grpcReply, SharedMemoryStatus& se
 			
 			const char* data = grpcReply.binaryblob().Get(0).c_str();
 			int numBytes = grpcReply.binaryblob().Get(0).size();
-			printf("copied binary blob of %d bytes\n", numBytes);
+			//printf("copied binary blob of %d bytes\n", numBytes);
 			memcpy(bufferServerToClient, data, numBytes);
 			serverStatus.m_numDataStreamBytes = numBytes;
 		}

examples/SharedMemory/grpc/main.cpp

@@ -28,7 +28,7 @@ typedef SharedMemoryCommandProcessor MyCommandProcessor;
 #include <grpc++/grpc++.h>
 #include <grpc/support/log.h>
 
-#include "pybullet.grpc.pb.h"
+#include "proto/pybullet.grpc.pb.h"
 
 
 using grpc::Server;
@@ -67,7 +67,7 @@ public:
 		cq_ = builder.AddCompletionQueue();
 		// Finally assemble the server.
 		server_ = builder.BuildAndStart();
-		std::cout << "Server listening on " << hostNamePort << std::endl;
+		std::cout << "Standalone Bullet Physics GRPC server listening on " << hostNamePort << std::endl;
 
 		// Proceed to the server's main loop.
 		HandleRpcs(comProc);

examples/SharedMemory/grpc/proto/createProtobufs.bat

@@ -1,19 +1,13 @@
-del ..\pybullet.pb.cpp
-del ..\pybullet.pb.h
-del ..\pybullet.grpc.pb.cpp
-del ..\pybullet.grpc.pb.h
+del pybullet.pb.cpp
+del pybullet.pb.h
+del pybullet.grpc.pb.cpp
+del pybullet.grpc.pb.h
 
 ..\..\..\ThirdPartyLibs\grpc\lib\win32\protoc --proto_path=. --cpp_out=. pybullet.proto
 ..\..\..\ThirdPartyLibs\grpc\lib\win32\protoc.exe --plugin=protoc-gen-grpc="..\..\..\ThirdPartyLibs\grpc\lib\win32\grpc_cpp_plugin.exe" --grpc_out=. pybullet.proto
-move pybullet.grpc.pb.cc ..\pybullet.grpc.pb.cpp
-move pybullet.grpc.pb.h ..\pybullet.grpc.pb.h
-move pybullet.pb.cc ..\pybullet.pb.cpp
-move pybullet.pb.h ..\pybullet.pb.h
 
-del ..\pybullet_pb2.py
-del ..\pybullet_pb2_grpc.py
+del pybullet_pb2.py
+del pybullet_pb2_grpc.py
 
 ..\..\..\ThirdPartyLibs\grpc\lib\win32\protoc --proto_path=. --python_out=. pybullet.proto
 python -m grpc_tools.protoc -I. --python_out=. --grpc_python_out=. pybullet.proto
-move pybullet_pb2.py ..\pybullet_pb2.py
-move pybullet_pb2_grpc.py ..\pybullet_pb2_grpc.py 

examples/SharedMemory/grpc/pybullet.grpc.pb.cpp

@@ -1,59 +0,0 @@
-// Generated by the gRPC C++ plugin.
-// If you make any local change, they will be lost.
-// source: pybullet.proto
-
-#include "pybullet.pb.h"
-#include "pybullet.grpc.pb.h"
-
-#include <grpc++/impl/codegen/async_stream.h>
-#include <grpc++/impl/codegen/async_unary_call.h>
-#include <grpc++/impl/codegen/channel_interface.h>
-#include <grpc++/impl/codegen/client_unary_call.h>
-#include <grpc++/impl/codegen/method_handler_impl.h>
-#include <grpc++/impl/codegen/rpc_service_method.h>
-#include <grpc++/impl/codegen/service_type.h>
-#include <grpc++/impl/codegen/sync_stream.h>
-namespace pybullet_grpc {
-
-static const char* PyBulletAPI_method_names[] = {
-  "/pybullet_grpc.PyBulletAPI/SubmitCommand",
-};
-
-std::unique_ptr< PyBulletAPI::Stub> PyBulletAPI::NewStub(const std::shared_ptr< ::grpc::ChannelInterface>& channel, const ::grpc::StubOptions& options) {
-  std::unique_ptr< PyBulletAPI::Stub> stub(new PyBulletAPI::Stub(channel));
-  return stub;
-}
-
-PyBulletAPI::Stub::Stub(const std::shared_ptr< ::grpc::ChannelInterface>& channel)
-  : channel_(channel), rpcmethod_SubmitCommand_(PyBulletAPI_method_names[0], ::grpc::RpcMethod::NORMAL_RPC, channel)
-  {}
-
-::grpc::Status PyBulletAPI::Stub::SubmitCommand(::grpc::ClientContext* context, const ::pybullet_grpc::PyBulletCommand& request, ::pybullet_grpc::PyBulletStatus* response) {
-  return ::grpc::BlockingUnaryCall(channel_.get(), rpcmethod_SubmitCommand_, context, request, response);
-}
-
-::grpc::ClientAsyncResponseReader< ::pybullet_grpc::PyBulletStatus>* PyBulletAPI::Stub::AsyncSubmitCommandRaw(::grpc::ClientContext* context, const ::pybullet_grpc::PyBulletCommand& request, ::grpc::CompletionQueue* cq) {
-  return new ::grpc::ClientAsyncResponseReader< ::pybullet_grpc::PyBulletStatus>(channel_.get(), cq, rpcmethod_SubmitCommand_, context, request);
-}
-
-PyBulletAPI::Service::Service() {
-  AddMethod(new ::grpc::RpcServiceMethod(
-      PyBulletAPI_method_names[0],
-      ::grpc::RpcMethod::NORMAL_RPC,
-      new ::grpc::RpcMethodHandler< PyBulletAPI::Service, ::pybullet_grpc::PyBulletCommand, ::pybullet_grpc::PyBulletStatus>(
-          std::mem_fn(&PyBulletAPI::Service::SubmitCommand), this)));
-}
-
-PyBulletAPI::Service::~Service() {
-}
-
-::grpc::Status PyBulletAPI::Service::SubmitCommand(::grpc::ServerContext* context, const ::pybullet_grpc::PyBulletCommand* request, ::pybullet_grpc::PyBulletStatus* response) {
-  (void) context;
-  (void) request;
-  (void) response;
-  return ::grpc::Status(::grpc::StatusCode::UNIMPLEMENTED, "");
-}
-
-
-}  // namespace pybullet_grpc
-

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

@@ -1,130 +0,0 @@
-// 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

examples/SharedMemory/grpc/pybullet_pb2_grpc.py

@@ -1,46 +0,0 @@
-# Generated by the gRPC Python protocol compiler plugin. DO NOT EDIT!
-import grpc
-
-import pybullet_pb2 as pybullet__pb2
-
-
-class PyBulletAPIStub(object):
-  # missing associated documentation comment in .proto file
-  pass
-
-  def __init__(self, channel):
-    """Constructor.
-
-    Args:
-      channel: A grpc.Channel.
-    """
-    self.SubmitCommand = channel.unary_unary(
-        '/pybullet_grpc.PyBulletAPI/SubmitCommand',
-        request_serializer=pybullet__pb2.PyBulletCommand.SerializeToString,
-        response_deserializer=pybullet__pb2.PyBulletStatus.FromString,
-        )
-
-
-class PyBulletAPIServicer(object):
-  # missing associated documentation comment in .proto file
-  pass
-
-  def SubmitCommand(self, request, context):
-    """Sends a greeting
-    """
-    context.set_code(grpc.StatusCode.UNIMPLEMENTED)
-    context.set_details('Method not implemented!')
-    raise NotImplementedError('Method not implemented!')
-
-
-def add_PyBulletAPIServicer_to_server(servicer, server):
-  rpc_method_handlers = {
-      'SubmitCommand': grpc.unary_unary_rpc_method_handler(
-          servicer.SubmitCommand,
-          request_deserializer=pybullet__pb2.PyBulletCommand.FromString,
-          response_serializer=pybullet__pb2.PyBulletStatus.SerializeToString,
-      ),
-  }
-  generic_handler = grpc.method_handlers_generic_handler(
-      'pybullet_grpc.PyBulletAPI', rpc_method_handlers)
-  server.add_generic_rpc_handlers((generic_handler,))

examples/SharedMemory/plugins/grpcPlugin/grpcPlugin.cpp

@@ -1,22 +1,21 @@
 
-//tinyRendererPlugin implements the TinyRenderer as a plugin
-//it is statically linked when using preprocessor #define STATIC_LINK_VR_PLUGIN 
-//otherwise you can dynamically load it using pybullet.loadPlugin
+///grpcPlugin add a GRPC server to any PyBullet/BulletRobotics
+///physics server. You can connect using PyBullet connect.GRPC method
 
 #include "grpcPlugin.h"
-#include "../../SharedMemoryPublic.h"
+#include "SharedMemory/SharedMemoryPublic.h"
 #include "../b3PluginContext.h"
 #include "Bullet3Common/b3AlignedObjectArray.h"
-#include "SharedMemoryCommands.h"
-#include "PhysicsCommandProcessorInterface.h"
+#include "SharedMemory/SharedMemoryCommands.h"
+#include "SharedMemory/PhysicsCommandProcessorInterface.h"
 
 #include <stdio.h>
 
 #include <grpc++/grpc++.h>
 #include <grpc/support/log.h>
 #include "../../../Utils/b3Clock.h"
-#include "../../grpc/pybullet.grpc.pb.h"
-#include "../../grpc/ConvertGRPCBullet.h"
+#include "SharedMemory/grpc/proto/pybullet.grpc.pb.h"
+#include "SharedMemory/grpc/ConvertGRPCBullet.h"
 using grpc::Server;
 using grpc::ServerAsyncResponseWriter;
 using grpc::ServerBuilder;
@@ -28,7 +27,7 @@ using pybullet_grpc::PyBulletStatus;
 using pybullet_grpc::PyBulletAPI;
 
 
-bool gVerboseNetworkMessagesServer4 = true;
+bool gVerboseNetworkMessagesServer4 = false;
 
 
 class ServerImpl final {
@@ -64,7 +63,7 @@ public:
 		cq_ = m_builder.AddCompletionQueue();
 		// Finally assemble the server.
 		server_ = m_builder.BuildAndStart();
-		std::cout << "Server listening on " << hostNamePort << std::endl;
+		std::cout << "grpcPlugin Bullet Physics GRPC server listening on " << hostNamePort << std::endl;
 
 		// Proceed to the server's main loop.
 		InitRpcs(comProc);
@@ -314,7 +313,7 @@ B3_SHARED_API int executePluginCommand_grpcPlugin(struct b3PluginContext* contex
 	
 	grpcMyClass* obj = (grpcMyClass*)context->m_userPointer;
 	
-	if (arguments->m_text && strlen(arguments->m_text))
+	if (strlen(arguments->m_text))
 	{
 		if (!obj->m_grpcInitialized && context->m_rpcCommandProcessorInterface)
 		{