use grpc port -1 by default in PyBullet. add grpcClient.py and grpcServer.py

examples/SharedMemory/PhysicsClientGRPC.cpp

@@ -67,7 +67,11 @@ struct	GRPCNetworkedInternalData
 	{
 		if (m_isConnected)
 			return true;
-		std::string hostport = m_hostName + ':' + std::to_string(m_port);
+		std::string hostport = m_hostName;
+		if (m_port >= 0)
+		{
+			hostport += ':' + std::to_string(m_port);
+		}
 		m_grpcChannel  = grpc::CreateChannel(
 			hostport, grpc::InsecureChannelCredentials());
 

examples/SharedMemory/grpc/main.cpp

@@ -255,7 +255,11 @@ int main(int argc, char** argv)
 	int port = 6667;
 	parseArgs.GetCmdLineArgument("port", port);
 	std::string hostName = "localhost";
-	std::string hostNamePort = hostName + ":" + std::to_string(port);
+	std::string hostNamePort = hostName;
+	if (port>=0)
+	{
+		hostNamePort += ":" + std::to_string(port);
+	}
 
 	gVerboseNetworkMessagesServer = parseArgs.CheckCmdLineFlag("verbose");
 

examples/pybullet/examples/grpcClient.py

@@ -0,0 +1,19 @@
+
+import pybullet as p
+
+usePort = True
+
+if (usePort):
+	id = p.connect(p.GRPC,"localhost:12345")
+else:
+	id = p.connect(p.GRPC,"localhost") 
+print("id=",id)
+
+if (id<0):
+	print("Cannot connect to GRPC server")
+	exit(0)
+	
+print ("Connected to GRPC")
+r2d2 = p.loadURDF("r2d2.urdf")
+print("numJoints = ", p.getNumJoints(r2d2))
+

examples/pybullet/examples/grpcServer.py

@@ -0,0 +1,29 @@
+import pybullet as p
+import time
+
+useDirect = False
+usePort = True
+
+p.connect(p.GUI)
+id = p.loadPlugin("grpcPlugin")
+#dynamically loading the plugin
+#id = p.loadPlugin("E:/develop/bullet3/bin/pybullet_grpcPlugin_vs2010_x64_debug.dll", postFix="_grpcPlugin")
+
+#start the GRPC server at hostname, port
+if (id<0):
+	print("Cannot load grpcPlugin")
+	exit(0)
+	
+if usePort:
+	p.executePluginCommand(id, "localhost:12345")
+else:
+	p.executePluginCommand(id, "localhost")
+
+while p.isConnected():
+	if (useDirect):
+		#Only in DIRECT mode, since there is no 'ping' you need to manually call to handle RCPs:
+		numRPC = 10
+		p.executePluginCommand(id, intArgs=[numRPC])
+	else:
+		dt = 1./240.
+		time.sleep(dt)

examples/pybullet/pybullet.c

@@ -330,6 +330,7 @@ static PyObject* pybullet_connectPhysicsServer(PyObject* self, PyObject* args, P
 		int key = SHARED_MEMORY_KEY;
 		int udpPort = 1234;
 		int tcpPort = 6667;
+		int grpcPort = -1;
 		int argc = 0;
 		char** argv=0;
 
@@ -352,6 +353,7 @@ static PyObject* pybullet_connectPhysicsServer(PyObject* self, PyObject* args, P
 				{
 					udpPort = port;
 					tcpPort = port;
+					grpcPort = port;
 				}
 			}
 		}
@@ -437,7 +439,7 @@ static PyObject* pybullet_connectPhysicsServer(PyObject* self, PyObject* args, P
 			case eCONNECT_GRPC:
 			{
 #ifdef BT_ENABLE_GRPC
-				sm = b3ConnectPhysicsGRPC(hostName, tcpPort);
+				sm = b3ConnectPhysicsGRPC(hostName, grpcPort);
 #else
 				PyErr_SetString(SpamError, "GRPC is not enabled in this pybullet build");
 #endif