added preliminary shared memory physics client/server

fix a bug in CommonMultiBodyBase: don't use data if it hasn't been allocated
2015-05-28 16:05:24 -07:00
parent 8005b7167e
commit 82576d0bee
13 changed files with 489 additions and 1 deletions
--- a/examples/SharedMemory/PhysicsServer.cpp
+++ b/examples/SharedMemory/PhysicsServer.cpp
@@ -0,0 +1,127 @@
+
+#include "PhysicsServer.h"
+
+#include "../CommonInterfaces/CommonMultiBodyBase.h"
+#include "PosixSharedMemory.h"
+
+
+
+class PhysicsServer : public CommonMultiBodyBase
+{
+	SharedMemoryInterface* m_sharedMemory;
+    SharedMemoryExampleData* m_testBlock1;
+	
+public:
+    
+	PhysicsServer(GUIHelperInterface* helper);
+    
+	virtual ~PhysicsServer();
+    
+	virtual void	initPhysics();
+    
+	virtual void	stepSimulation(float deltaTime);
+    
+	virtual void resetCamera()
+	{
+		float dist = 1;
+		float pitch = 50;
+		float yaw = 35;
+		float targetPos[3]={-3,2.8,-2.5};
+		m_guiHelper->resetCamera(dist,pitch,yaw,targetPos[0],targetPos[1],targetPos[2]);
+	}
+    
+};
+
+PhysicsServer::PhysicsServer(GUIHelperInterface* helper)
+:CommonMultiBodyBase(helper),
+m_testBlock1(0)
+{
+	b3Printf("Started PhysicsServer\n");
+	m_sharedMemory = new PosixSharedMemory();
+}
+
+PhysicsServer::~PhysicsServer()
+{
+    if (m_testBlock1)
+    {
+        m_testBlock1->m_magicId = 0;
+        b3Printf("magic id = %d\n",m_testBlock1->m_magicId);
+    }
+    m_sharedMemory->releaseSharedMemory(SHARED_MEMORY_KEY, SHARED_MEMORY_SIZE);
+	delete m_sharedMemory;    
+}
+
+void	PhysicsServer::initPhysics()
+{
+    m_testBlock1 = (SharedMemoryExampleData*) m_sharedMemory->allocateSharedMemory(SHARED_MEMORY_KEY, SHARED_MEMORY_SIZE);
+    
+//    btAssert(m_testBlock1);
+    if (m_testBlock1)
+    {
+      //  btAssert(m_testBlock1->m_magicId != SHARED_MEMORY_MAGIC_NUMBER);
+        if (m_testBlock1->m_magicId == SHARED_MEMORY_MAGIC_NUMBER)
+        {
+            b3Printf("Warning: shared memory is already initialized, did you already spawn a server?\n");
+        }
+        
+        m_testBlock1->m_numClientCommands = 0;
+        m_testBlock1->m_numServerCommands = 0;
+        m_testBlock1->m_numProcessedClientCommands=0;
+        m_testBlock1->m_numProcessedServerCommands=0;
+        
+        m_testBlock1->m_magicId = SHARED_MEMORY_MAGIC_NUMBER;
+        b3Printf("Shared memory succesfully allocated\n");
+    } else
+    {
+        b3Error("Couldn't allocated shared memory, is it implemented on your operating system?\n");
+    }
+}
+
+void	PhysicsServer::stepSimulation(float deltaTime)
+{
+    
+    if (m_testBlock1)
+    {
+        ///we ignore overflow of integer for now
+        if (m_testBlock1->m_numClientCommands> m_testBlock1->m_numProcessedClientCommands)
+        {
+            
+            //until we implement a proper ring buffer, we assume always maximum of 1 outstanding commands
+            btAssert(m_testBlock1->m_numClientCommands==m_testBlock1->m_numProcessedClientCommands+1);
+            
+            //consume the command
+            switch (m_testBlock1->m_clientCommands[0])
+            {
+                case CMD_LOAD_URDF:
+                {
+                    b3Printf("Processed CMD_LOAD_URDF");
+                    
+                    //load the actual URDF and send a report: completed or failed
+
+                    m_testBlock1->m_serverCommands[0] =CMD_URDF_LOADING_COMPLETED;
+                    m_testBlock1->m_numServerCommands++;
+                    
+                    //CMD_URDF_LOADING_COMPLETED,
+                    //CMD_URDF_LOADING_FAILED,
+                }
+                default:
+                {
+                
+                }
+            };
+            
+            m_testBlock1->m_numProcessedClientCommands++;
+            
+            //process the command right now
+            
+        }
+    }
+}
+
+
+class CommonExampleInterface*    PhysicsServerCreateFunc(struct CommonExampleOptions& options)
+{
+    return new PhysicsServer(options.m_guiHelper);
+}
+
+