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network UDP: transmit structural DNA to deal with version/platform differences.

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pybullet: allow to specify shared memory key and hostname/port for UDP.
This commit is contained in:
erwincoumans
2016-11-04 17:06:55 -07:00
parent 0ffd68ac32
commit 5d66ce20e0
5 changed files with 135 additions and 10 deletions
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51
examples/SharedMemory/PhysicsDirect.cpp
View File

@@ -23,6 +23,7 @@ struct PhysicsDirectInternalData
{
DummyGUIHelper m_noGfx;
btAlignedObjectArray<char> m_serverDNA;
SharedMemoryCommand m_command;
SharedMemoryStatus m_serverStatus;
bool m_hasStatus;
@@ -83,6 +84,31 @@ bool PhysicsDirect::connect()
{
bool connected = m_data->m_commandProcessor->connect();
m_data->m_commandProcessor->setGuiHelper(&m_data->m_noGfx);
//also request serialization data
{
SharedMemoryCommand command;
command.m_type = CMD_REQUEST_INTERNAL_DATA;
bool hasStatus = m_data->m_commandProcessor->processCommand(command, m_data->m_serverStatus, &m_data->m_bulletStreamDataServerToClient[0], SHARED_MEMORY_MAX_STREAM_CHUNK_SIZE);
if (hasStatus)
{
postProcessStatus(m_data->m_serverStatus);
}
else
{
int timeout = 1024 * 1024 * 1024;
while ((!hasStatus) && (timeout-- > 0))
{
const SharedMemoryStatus* stat = processServerStatus();
if (stat)
{
hasStatus = true;
}
}
}
}
return connected;
}
@@ -444,7 +470,14 @@ void PhysicsDirect::processBodyJointInfo(int bodyUniqueId, const SharedMemorySta
bParse::btBulletFile bf(
&m_data->m_bulletStreamDataServerToClient[0],
serverCmd.m_numDataStreamBytes);
bf.setFileDNAisMemoryDNA();
if (m_data->m_serverDNA.size())
{
bf.setFileDNA(false, &m_data->m_serverDNA[0], m_data->m_serverDNA.size());
}
else
{
bf.setFileDNAisMemoryDNA();
}
bf.parse(false);
BodyJointInfoCache2* bodyJoints = new BodyJointInfoCache2;
@@ -469,7 +502,8 @@ void PhysicsDirect::processBodyJointInfo(int bodyUniqueId, const SharedMemorySta
addJointInfoFromMultiBodyData(mb,bodyJoints, m_data->m_verboseOutput);
}
}
if (bf.ok()) {
if (bf.ok())
{
if (m_data->m_verboseOutput)
{
b3Printf("Received robot description ok!\n");
@@ -484,6 +518,19 @@ void PhysicsDirect::postProcessStatus(const struct SharedMemoryStatus& serverCmd
{
switch (serverCmd.m_type)
{
case CMD_REQUEST_INTERNAL_DATA_COMPLETED:
{
if (serverCmd.m_numDataStreamBytes)
{
int numStreamBytes = serverCmd.m_numDataStreamBytes;
m_data->m_serverDNA.resize(numStreamBytes);
for (int i = 0; i < numStreamBytes; i++)
{
m_data->m_serverDNA[i] = m_data->m_bulletStreamDataServerToClient[i];
}
}
break;
}
case CMD_RESET_SIMULATION_COMPLETED:
{
m_data->m_debugLinesFrom.clear();

22
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
View File

@@ -2178,6 +2178,28 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
break;
}
case CMD_REQUEST_INTERNAL_DATA:
{
//todo: also check version etc?
SharedMemoryStatus& serverCmd = serverStatusOut;
serverCmd.m_type = CMD_REQUEST_INTERNAL_DATA_FAILED;
hasStatus = true;
int sz = btDefaultSerializer::getMemoryDnaSizeInBytes();
const char* memDna = btDefaultSerializer::getMemoryDna();
if (sz < bufferSizeInBytes)
{
for (int i = 0; i < bufferSizeInBytes; i++)
{
bufferServerToClient[i] = memDna[i];
}
serverCmd.m_type = CMD_REQUEST_INTERNAL_DATA_COMPLETED;
serverCmd.m_numDataStreamBytes = bufferSizeInBytes;
}
break;
};
case CMD_SEND_PHYSICS_SIMULATION_PARAMETERS:
{
if (clientCmd.m_updateFlags&SIM_PARAM_UPDATE_DELTA_TIME)

3
examples/SharedMemory/SharedMemoryPublic.h
View File

@@ -21,6 +21,7 @@ enum EnumSharedMemoryClientCommand
CMD_REQUEST_ACTUAL_STATE,
CMD_REQUEST_DEBUG_LINES,
CMD_REQUEST_BODY_INFO,
CMD_REQUEST_INTERNAL_DATA,
CMD_STEP_FORWARD_SIMULATION,
CMD_RESET_SIMULATION,
CMD_PICK_BODY,
@@ -54,6 +55,8 @@ enum EnumSharedMemoryServerStatus
CMD_SDF_LOADING_FAILED,
CMD_URDF_LOADING_COMPLETED,
CMD_URDF_LOADING_FAILED,
CMD_REQUEST_INTERNAL_DATA_COMPLETED,
CMD_REQUEST_INTERNAL_DATA_FAILED,
CMD_BULLET_DATA_STREAM_RECEIVED_COMPLETED,
CMD_BULLET_DATA_STREAM_RECEIVED_FAILED,
CMD_BOX_COLLISION_SHAPE_CREATION_COMPLETED,

49
examples/pybullet/pybullet.c
View File

@@ -61,12 +61,45 @@ static PyObject* pybullet_connectPhysicsServer(PyObject* self, PyObject* args) {
{
int method = eCONNECT_GUI;
if (!PyArg_ParseTuple(args, "i", &method)) {
PyErr_SetString(SpamError,
"connectPhysicsServer expected argument GUI, "
"DIRECT, SHARED_MEMORY or UDP");
return NULL;
}
int key = SHARED_MEMORY_KEY;
int port = 1234;
const char* hostName = "localhost";
int size = PySequence_Size(args);
if (size == 1)
{
if (!PyArg_ParseTuple(args, "i", &method)) {
PyErr_SetString(SpamError,
"connectPhysicsServer expected argument GUI, "
"DIRECT, SHARED_MEMORY or UDP");
return NULL;
}
}
if (size == 2)
{
if (!PyArg_ParseTuple(args, "ii", &method, &key))
{
if (!PyArg_ParseTuple(args, "is", &method, &hostName))
{
PyErr_SetString(SpamError,
"connectPhysicsServer cannot parse second argument (either integer or string)");
return NULL;
}
}
}
if (size == 3)
{
if (!PyArg_ParseTuple(args, "isi", &method, &hostName, &port))
{
PyErr_SetString(SpamError,
"connectPhysicsServer 3 arguments: method, hostname, port");
return NULL;
}
}
switch (method) {
case eCONNECT_GUI: {
@@ -85,14 +118,14 @@ static PyObject* pybullet_connectPhysicsServer(PyObject* self, PyObject* args) {
break;
}
case eCONNECT_SHARED_MEMORY: {
sm = b3ConnectSharedMemory(SHARED_MEMORY_KEY);
sm = b3ConnectSharedMemory(key);
break;
}
case eCONNECT_UDP:
{
#ifdef BT_ENABLE_ENET
sm = b3ConnectPhysicsUDP("localhost", 1234);
sm = b3ConnectPhysicsUDP(hostName, port);
#else
PyErr_SetString(SpamError, "UDP is not enabled in this pybullet build");
return NULL;

20
src/LinearMath/btSerializer.h
View File

@@ -446,6 +446,26 @@ public:
btAlignedFree(m_dna);
}
static int getMemoryDnaSizeInBytes()
{
const bool VOID_IS_8 = ((sizeof(void*) == 8));
if (VOID_IS_8)
{
return sBulletDNAlen64;
}
return sBulletDNAlen;
}
static const char* getMemoryDna()
{
const bool VOID_IS_8 = ((sizeof(void*) == 8));
if (VOID_IS_8)
{
return (const char*)sBulletDNAstr64;
}
return (const char*)sBulletDNAstr;
}
void insertHeader()
{
writeHeader(m_buffer);