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use TCP in main thread, accumulate bytes until size matches.

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This commit is contained in:
Erwin Coumans
2017-02-20 18:54:12 -08:00
parent 3d73a9d788
commit 942015df9d
3 changed files with 194 additions and 413 deletions
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196
examples/SharedMemory/tcp/main.cpp
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@@ -17,7 +17,6 @@ typedef SharedMemoryCommandProcessor MyCommandProcessor;
#include "PhysicsServerCommandProcessor.h"
#include "../Utils/b3Clock.h"
#define MAX_PACKET 4096
bool gVerboseNetworkMessagesServer = true;
@@ -75,6 +74,8 @@ int main(int argc, char *argv[])
socket.Initialize();
socket.Listen("localhost", port);
b3AlignedObjectArray<char> bytesReceived;
while (!exitRequested)
{
@@ -93,111 +94,130 @@ int main(int argc, char *argv[])
//printf("try receive\n");
bool receivedData = false;
if (pClient->Receive(MAX_PACKET))
int maxLen = 4 + sizeof(SharedMemoryStatus)+SHARED_MEMORY_MAX_STREAM_CHUNK_SIZE;
if (pClient->Receive(maxLen))
{
char* msg = (char*) pClient->GetData();
int numBytesRec = pClient->GetBytesReceived();
if (gVerboseNetworkMessagesServer)
{
printf("received message length [%d]\n",numBytesRec);
}
char* msg2 = (char*) pClient->GetData();
int numBytesRec2 = pClient->GetBytesReceived();
int curSize = bytesReceived.size();
bytesReceived.resize(bytesReceived.size()+numBytesRec2);
for (int i=0;i<numBytesRec2;i++)
{
bytesReceived[curSize+i] = msg2[i];
}
if (bytesReceived.size() == 4 || bytesReceived.size()==sizeof(SharedMemoryCommand))
{
int numBytesRec = bytesReceived.size();
if (gVerboseNetworkMessagesServer)
{
printf("received message length [%d]\n",numBytesRec);
}
receivedData = true;
receivedData = true;
if (strncmp(msg,"stop",4)==0)
{
printf("Stop request received\n");
exitRequested = true;
break;
}
if (strncmp(&bytesReceived[0],"stop",4)==0)
{
printf("Stop request received\n");
exitRequested = true;
bytesReceived.clear();
break;
}
SharedMemoryCommand cmd;
SharedMemoryCommand cmd;
SharedMemoryCommand* cmdPtr = 0;
SharedMemoryCommand* cmdPtr = 0;
//performance test
if (numBytesRec == sizeof(int))
{
cmdPtr = &cmd;
cmd.m_type = *(int*)pClient->GetData();
}
//performance test
if (numBytesRec == sizeof(int))
{
cmdPtr = &cmd;
cmd.m_type = *(int*)&bytesReceived[0];
}
if (numBytesRec == sizeof(SharedMemoryCommand))
{
cmdPtr = (SharedMemoryCommand*)pClient->GetData();
}
if (cmdPtr)
{
SharedMemoryStatus serverStatus;
b3AlignedObjectArray<char> buffer;
buffer.resize(SHARED_MEMORY_MAX_STREAM_CHUNK_SIZE);
if (numBytesRec == sizeof(SharedMemoryCommand))
{
cmdPtr = (SharedMemoryCommand*)&bytesReceived[0];
}
if (cmdPtr)
{
SharedMemoryStatus serverStatus;
b3AlignedObjectArray<char> buffer;
buffer.resize(SHARED_MEMORY_MAX_STREAM_CHUNK_SIZE);
bool hasStatus = sm->processCommand(*cmdPtr,serverStatus, &buffer[0], buffer.size());
bool hasStatus = sm->processCommand(*cmdPtr,serverStatus, &buffer[0], buffer.size());
double startTimeSeconds = clock.getTimeInSeconds();
double curTimeSeconds = clock.getTimeInSeconds();
double startTimeSeconds = clock.getTimeInSeconds();
double curTimeSeconds = clock.getTimeInSeconds();
while ((!hasStatus) && ((curTimeSeconds - startTimeSeconds) <timeOutInSeconds))
{
hasStatus = sm->receiveStatus(serverStatus, &buffer[0], buffer.size());
curTimeSeconds = clock.getTimeInSeconds();
}
if (gVerboseNetworkMessagesServer)
{
printf("buffer.size = %d\n", buffer.size());
printf("serverStatus.m_numDataStreamBytes = %d\n", serverStatus.m_numDataStreamBytes);
}
if (hasStatus)
{
b3AlignedObjectArray<unsigned char> packetData;
unsigned char* statBytes = (unsigned char*)&serverStatus;
while ((!hasStatus) && ((curTimeSeconds - startTimeSeconds) <timeOutInSeconds))
{
hasStatus = sm->receiveStatus(serverStatus, &buffer[0], buffer.size());
curTimeSeconds = clock.getTimeInSeconds();
}
if (gVerboseNetworkMessagesServer)
{
printf("buffer.size = %d\n", buffer.size());
printf("serverStatus.m_numDataStreamBytes = %d\n", serverStatus.m_numDataStreamBytes);
}
if (hasStatus)
{
b3AlignedObjectArray<unsigned char> packetData;
unsigned char* statBytes = (unsigned char*)&serverStatus;
if (cmdPtr->m_type == CMD_STEP_FORWARD_SIMULATION)
{
packetData.resize(4 + sizeof(int));
int sz = packetData.size();
int curPos = 0;
if (cmdPtr->m_type == CMD_STEP_FORWARD_SIMULATION)
{
packetData.resize(4 + sizeof(int));
int sz = packetData.size();
int curPos = 0;
MySerializeInt(sz, &packetData[curPos]);
curPos += 4;
for (int i = 0; i < sizeof(int); i++)
{
packetData[i + curPos] = statBytes[i];
}
curPos += sizeof(int);
MySerializeInt(sz, &packetData[curPos]);
curPos += 4;
for (int i = 0; i < sizeof(int); i++)
{
packetData[i + curPos] = statBytes[i];
}
curPos += sizeof(int);
pClient->Send( &packetData[0], packetData.size() );
pClient->Send( &packetData[0], packetData.size() );
}
else
{
//create packetData with [int packetSizeInBytes, status, streamBytes)
packetData.resize(4 + sizeof(SharedMemoryStatus) + serverStatus.m_numDataStreamBytes);
int sz = packetData.size();
int curPos = 0;
}
else
{
//create packetData with [int packetSizeInBytes, status, streamBytes)
packetData.resize(4 + sizeof(SharedMemoryStatus) + serverStatus.m_numDataStreamBytes);
int sz = packetData.size();
int curPos = 0;
MySerializeInt(sz, &packetData[curPos]);
curPos += 4;
for (int i = 0; i < sizeof(SharedMemoryStatus); i++)
{
packetData[i + curPos] = statBytes[i];
}
curPos += sizeof(SharedMemoryStatus);
MySerializeInt(sz, &packetData[curPos]);
curPos += 4;
for (int i = 0; i < sizeof(SharedMemoryStatus); i++)
{
packetData[i + curPos] = statBytes[i];
}
curPos += sizeof(SharedMemoryStatus);
for (int i = 0; i < serverStatus.m_numDataStreamBytes; i++)
{
packetData[i + curPos] = buffer[i];
}
for (int i = 0; i < serverStatus.m_numDataStreamBytes; i++)
{
packetData[i + curPos] = buffer[i];
}
pClient->Send( &packetData[0], packetData.size() );
}
}
}
else
{
printf("received packet with unknown contents\n");
}
pClient->Send( &packetData[0], packetData.size() );
}
}
}
else
{
printf("received packet with unknown contents\n");
}
bytesReceived.clear();
}
}
if (!receivedData)
{