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

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This commit is contained in:
erwincoumans
2018-09-07 15:44:33 -07:00
parent 12409f1118
commit 5164f2f9a7
17 changed files with 48 additions and 39063 deletions
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13
build3/premake4.lua
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@@ -179,7 +179,7 @@
end end
includedirs { includedirs {
projectRootDir .. "examples/SharedMemory", _OPTIONS["grpc_include_dir"], _OPTIONS["protobuf_include_dir"], projectRootDir .. "examples", _OPTIONS["grpc_include_dir"], _OPTIONS["protobuf_include_dir"],
} }
if os.is("Windows") then if os.is("Windows") then
@@ -198,12 +198,13 @@
end end
links { "grpc","grpc++", "grpc++_reflection", "gpr", "protobuf"} links { "grpc","grpc++", "grpc++_reflection", "gpr", "protobuf"}
files { projectRootDir .. "examples/SharedMemory/grpc/ConvertGRPCBullet.cpp", files {
projectRootDir .. "examples/SharedMemory/grpc/ConvertGRPCBullet.cpp",
projectRootDir .. "examples/SharedMemory/grpc/ConvertGRPCBullet.h", projectRootDir .. "examples/SharedMemory/grpc/ConvertGRPCBullet.h",
projectRootDir .. "examples/SharedMemory/grpc/pybullet.grpc.pb.cpp", projectRootDir .. "examples/SharedMemory/grpc/proto/pybullet.grpc.pb.cpp",
projectRootDir .. "examples/SharedMemory/grpc/pybullet.grpc.pb.h", projectRootDir .. "examples/SharedMemory/grpc/proto/pybullet.grpc.pb.h",
projectRootDir .. "examples/SharedMemory/grpc/pybullet.pb.cpp", projectRootDir .. "examples/SharedMemory/grpc/proto/pybullet.pb.cpp",
projectRootDir .. "examples/SharedMemory/grpc/pybullet.pb.h", } projectRootDir .. "examples/SharedMemory/grpc/proto/pybullet.pb.h", }
end end
end end

1
examples/CommonInterfaces/CommonExampleInterface.h
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@@ -5,6 +5,7 @@
struct CommandProcessorCreationInterface struct CommandProcessorCreationInterface
{ {
virtual ~CommandProcessorCreationInterface() {}
virtual class CommandProcessorInterface* createCommandProcessor()=0; virtual class CommandProcessorInterface* createCommandProcessor()=0;
virtual void deleteCommandProcessor(CommandProcessorInterface*)=0; virtual void deleteCommandProcessor(CommandProcessorInterface*)=0;
}; };

1
examples/Importers/ImportMJCFDemo/BulletMJCFImporter.h
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@@ -7,6 +7,7 @@
struct MJCFErrorLogger struct MJCFErrorLogger
{ {
virtual ~MJCFErrorLogger() {}
virtual void reportError(const char* error)=0; virtual void reportError(const char* error)=0;
virtual void reportWarning(const char* warning)=0; virtual void reportWarning(const char* warning)=0;
virtual void printMessage(const char* msg)=0; virtual void printMessage(const char* msg)=0;

1
examples/Importers/ImportURDFDemo/UrdfParser.h
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@@ -12,6 +12,7 @@
struct ErrorLogger struct ErrorLogger
{ {
virtual ~ErrorLogger(){}
virtual void reportError(const char* error)=0; virtual void reportError(const char* error)=0;
virtual void reportWarning(const char* warning)=0; virtual void reportWarning(const char* warning)=0;
virtual void printMessage(const char* msg)=0; virtual void printMessage(const char* msg)=0;

1
examples/Importers/ImportURDFDemo/UrdfRenderingInterface.h
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@@ -12,6 +12,7 @@ class btTransform;
///bullet3\examples\SharedMemory\plugins\tinyRendererPlugin\TinyRendererVisualShapeConverter.cpp ///bullet3\examples\SharedMemory\plugins\tinyRendererPlugin\TinyRendererVisualShapeConverter.cpp
struct UrdfRenderingInterface struct UrdfRenderingInterface
{ {
virtual ~UrdfRenderingInterface() {}
///given a URDF link, convert all visual shapes into internal renderer (loading graphics meshes, textures etc) ///given a URDF link, convert all visual shapes into internal renderer (loading graphics meshes, textures etc)
///use the collisionObjectUid as a unique identifier to synchronize the world transform and to remove the visual shape. ///use the collisionObjectUid as a unique identifier to synchronize the world transform and to remove the visual shape.
virtual void convertVisualShapes(int linkIndex, const char* pathPrefix, const btTransform& localInertiaFrame, const UrdfLink* linkPtr, const UrdfModel* model, int collisionObjectUid, int bodyUniqueId) =0; virtual void convertVisualShapes(int linkIndex, const char* pathPrefix, const btTransform& localInertiaFrame, const UrdfLink* linkPtr, const UrdfModel* model, int collisionObjectUid, int bodyUniqueId) =0;

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

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

4
examples/SharedMemory/grpc/main.cpp
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@@ -28,7 +28,7 @@ typedef SharedMemoryCommandProcessor MyCommandProcessor;
#include <grpc++/grpc++.h> #include <grpc++/grpc++.h>
#include <grpc/support/log.h> #include <grpc/support/log.h>
#include "pybullet.grpc.pb.h" #include "proto/pybullet.grpc.pb.h"
using grpc::Server; using grpc::Server;
@@ -67,7 +67,7 @@ public:
cq_ = builder.AddCompletionQueue(); cq_ = builder.AddCompletionQueue();
// Finally assemble the server. // Finally assemble the server.
server_ = builder.BuildAndStart(); 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. // Proceed to the server's main loop.
HandleRpcs(comProc); HandleRpcs(comProc);

18
examples/SharedMemory/grpc/proto/createProtobufs.bat
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@@ -1,19 +1,13 @@
del ..\pybullet.pb.cpp del pybullet.pb.cpp
del ..\pybullet.pb.h del pybullet.pb.h
del ..\pybullet.grpc.pb.cpp del pybullet.grpc.pb.cpp
del ..\pybullet.grpc.pb.h del pybullet.grpc.pb.h
..\..\..\ThirdPartyLibs\grpc\lib\win32\protoc --proto_path=. --cpp_out=. pybullet.proto ..\..\..\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 ..\..\..\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.py
del ..\pybullet_pb2_grpc.py del pybullet_pb2_grpc.py
..\..\..\ThirdPartyLibs\grpc\lib\win32\protoc --proto_path=. --python_out=. pybullet.proto ..\..\..\ThirdPartyLibs\grpc\lib\win32\protoc --proto_path=. --python_out=. pybullet.proto
python -m grpc_tools.protoc -I. --python_out=. --grpc_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

59
examples/SharedMemory/grpc/pybullet.grpc.pb.cpp
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@@ -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

130
examples/SharedMemory/grpc/pybullet.grpc.pb.h
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@@ -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

23860
examples/SharedMemory/grpc/pybullet.pb.cpp
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11788
examples/SharedMemory/grpc/pybullet.pb.h
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3138
examples/SharedMemory/grpc/pybullet_pb2.py
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46
examples/SharedMemory/grpc/pybullet_pb2_grpc.py
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@@ -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,))

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

8
examples/pybullet/pybullet.c
View File

@@ -9599,8 +9599,12 @@ PyInit_pybullet(void)
#ifdef BT_USE_EGL #ifdef BT_USE_EGL
initpybullet_egl(void) initpybullet_egl(void)
#else #else
#ifdef BT_PYBULLET_GRPC
initpybullet_grpc(void)
#else
initpybullet(void) initpybullet(void)
#endif //BT_USE_EGL #endif //BT_USE_EGL
#endif //BT_PYBULLET_GRPC
#endif #endif
{ {
PyObject* m; PyObject* m;
@@ -9609,9 +9613,13 @@ initpybullet(void)
#else #else
#ifdef BT_USE_EGL #ifdef BT_USE_EGL
m = Py_InitModule3("pybullet_egl", SpamMethods, "Python bindings for Bullet"); m = Py_InitModule3("pybullet_egl", SpamMethods, "Python bindings for Bullet");
#else
#ifdef BT_PYBULLET_GRPC
m = Py_InitModule3("pybullet_grpc", SpamMethods, "Python bindings for Bullet");
#else #else
m = Py_InitModule3("pybullet", SpamMethods, "Python bindings for Bullet"); m = Py_InitModule3("pybullet", SpamMethods, "Python bindings for Bullet");
#endif //BT_USE_EGL #endif //BT_USE_EGL
#endif //BT_PYBULLET_GRPC
#endif #endif
#if PY_MAJOR_VERSION >= 3 #if PY_MAJOR_VERSION >= 3