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state 2 of FileIO plugin: adding/removing FileIO types, search through all registered FileIO types.

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(not enabled by default yet)
Example:
fileIO = p.loadPlugin("fileIOPlugin")
print("fileIO=",fileIO)
p.executePluginCommand(fileIO,"e:/develop/bullet3/data/plane.zip", [p.AddFileIOAction,p.ZipFileIO])
p.executePluginCommand(fileIO,"e:/develop/bullet3/data/test2.zip", [p.AddFileIOAction,p.ZipFileIO])
planeId = p.loadURDF("plane.urdf")
duckId = p.loadURDF("duck_vhacd.urdf",[0,0,1])
This commit is contained in:
erwincoumans
2018-10-11 14:39:31 -07:00
parent f792a5951a
commit a24c1436af
5 changed files with 306 additions and 41 deletions
Download Patch File Download Diff File Expand all files Collapse all files

7
examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp
View File

@@ -189,7 +189,12 @@ bool BulletURDFImporter::loadURDF(const char* fileName, bool forceFixedBase)
BulletErrorLogger loggie;
m_data->m_urdfParser.setParseSDF(false);
bool result = m_data->m_urdfParser.loadUrdf(xml_string.c_str(), &loggie, forceFixedBase, (m_data->m_flags & CUF_PARSE_SENSORS));
bool result = false;
if (xml_string.length())
{
result = m_data->m_urdfParser.loadUrdf(xml_string.c_str(), &loggie, forceFixedBase, (m_data->m_flags & CUF_PARSE_SENSORS));
}
return result;
}

14
examples/SharedMemory/SharedMemoryPublic.h
View File

@@ -909,4 +909,18 @@ enum eConstraintSolverTypes
eConstraintSolverLCP_BLOCK_PGS,
};
enum eFileIOActions
{
eAddFileIOAction = 1024,//avoid collision with eFileIOTypes
eRemoveFileIOAction,
};
enum eFileIOTypes
{
ePosixFileIO = 1,
eZipFileIO,
eCNSFileIO,
};
#endif //SHARED_MEMORY_PUBLIC_H

311
examples/SharedMemory/plugins/fileIOPlugin/fileIOPlugin.cpp
View File

@@ -6,27 +6,209 @@
#include <stdio.h>
#include "../../../CommonInterfaces/CommonFileIOInterface.h"
#include "../../../Utils/b3ResourcePath.h"
#ifndef B3_EXCLUDE_DEFAULT_FILEIO
#include "../../../Utils/b3BulletDefaultFileIO.h"
#endif //B3_EXCLUDE_DEFAULT_FILEIO
#ifdef B3_USE_ZIPFILE_FILEIO
#include "zipFileIO.h"
#endif //B3_USE_ZIPFILE_FILEIO
#ifdef B3_USE_CNS_FILEIO
#include "CNSFileIO.h"
#endif //B3_USE_CNS_FILEIO
#define B3_MAX_FILEIO_INTERFACES 1024
struct WrapperFileHandle
{
CommonFileIOInterface* childFileIO;
int m_childFileHandle;
};
struct WrapperFileIO : public CommonFileIOInterface
{
CommonFileIOInterface* m_availableFileIOInterfaces[B3_MAX_FILEIO_INTERFACES];
int m_numWrapperInterfaces;
WrapperFileHandle m_wrapperFileHandles[B3_MAX_FILEIO_INTERFACES];
WrapperFileIO()
:m_numWrapperInterfaces(0)
{
for (int i=0;i<B3_MAX_FILEIO_INTERFACES;i++)
{
m_availableFileIOInterfaces[i]=0;
m_wrapperFileHandles[i].childFileIO=0;
m_wrapperFileHandles[i].m_childFileHandle=0;
}
}
virtual ~WrapperFileIO()
{
for (int i=0;i<B3_MAX_FILEIO_INTERFACES;i++)
{
removeFileIOInterface(i);
}
}
int addFileIOInterface(CommonFileIOInterface* fileIO)
{
int result = -1;
for (int i=0;i<B3_MAX_FILEIO_INTERFACES;i++)
{
if (m_availableFileIOInterfaces[i]==0)
{
m_availableFileIOInterfaces[i]=fileIO;
result = i;
break;
}
}
return result;
}
void removeFileIOInterface(int fileIOIndex)
{
if (fileIOIndex>=0 && fileIOIndex<B3_MAX_FILEIO_INTERFACES)
{
if (m_availableFileIOInterfaces[fileIOIndex])
{
delete m_availableFileIOInterfaces[fileIOIndex];
m_availableFileIOInterfaces[fileIOIndex]=0;
}
}
}
virtual int fileOpen(const char* fileName, const char* mode)
{
//find an available wrapperFileHandle slot
int wrapperFileHandle=-1;
for (int i=0;i<B3_MAX_FILEIO_INTERFACES;i++)
{
if (m_wrapperFileHandles[i].childFileIO==0)
{
wrapperFileHandle=i;
break;
}
}
if (wrapperFileHandle>=0)
{
//figure out what wrapper interface to use
//use the first one that can open the file
for (int i=0;i<B3_MAX_FILEIO_INTERFACES;i++)
{
CommonFileIOInterface* childFileIO=m_availableFileIOInterfaces[i];
if (childFileIO)
{
int childHandle = childFileIO->fileOpen(fileName, mode);
if (childHandle>=0)
{
m_wrapperFileHandles[wrapperFileHandle].childFileIO = childFileIO;
m_wrapperFileHandles[wrapperFileHandle].m_childFileHandle = childHandle;
break;
}
}
}
}
return wrapperFileHandle;
}
virtual int fileRead(int fileHandle, char* destBuffer, int numBytes)
{
int fileReadResult=-1;
if (fileHandle>=0 && fileHandle<B3_MAX_FILEIO_INTERFACES)
{
if (m_wrapperFileHandles[fileHandle].childFileIO)
{
fileReadResult = m_wrapperFileHandles[fileHandle].childFileIO->fileRead(
m_wrapperFileHandles[fileHandle].m_childFileHandle, destBuffer, numBytes);
}
}
return fileReadResult;
}
virtual int fileWrite(int fileHandle,const char* sourceBuffer, int numBytes)
{
//todo
return -1;
}
virtual void fileClose(int fileHandle)
{
int fileReadResult=-1;
if (fileHandle>=0 && fileHandle<B3_MAX_FILEIO_INTERFACES)
{
if (m_wrapperFileHandles[fileHandle].childFileIO)
{
m_wrapperFileHandles[fileHandle].childFileIO->fileClose(
m_wrapperFileHandles[fileHandle].m_childFileHandle);
m_wrapperFileHandles[fileHandle].childFileIO = 0;
m_wrapperFileHandles[fileHandle].m_childFileHandle = -1;
}
}
}
virtual bool findResourcePath(const char* fileName, char* resourcePathOut, int resourcePathMaxNumBytes)
{
bool found = false;
for (int i=0;i<B3_MAX_FILEIO_INTERFACES;i++)
{
if (m_availableFileIOInterfaces[i])
{
found = m_availableFileIOInterfaces[i]->findResourcePath(fileName, resourcePathOut, resourcePathMaxNumBytes);
}
if (found)
break;
}
return found;
}
virtual char* readLine(int fileHandle, char* destBuffer, int numBytes)
{
char* result = 0;
int fileReadResult=-1;
if (fileHandle>=0 && fileHandle<B3_MAX_FILEIO_INTERFACES)
{
if (m_wrapperFileHandles[fileHandle].childFileIO)
{
result = m_wrapperFileHandles[fileHandle].childFileIO->readLine(
m_wrapperFileHandles[fileHandle].m_childFileHandle,
destBuffer, numBytes);
}
}
return result;
}
virtual int getFileSize(int fileHandle)
{
int numBytes = 0;
int fileReadResult=-1;
if (fileHandle>=0 && fileHandle<B3_MAX_FILEIO_INTERFACES)
{
if (m_wrapperFileHandles[fileHandle].childFileIO)
{
numBytes = m_wrapperFileHandles[fileHandle].childFileIO->getFileSize(
m_wrapperFileHandles[fileHandle].m_childFileHandle);
}
}
return numBytes;
}
};
//#define B3_USE_ZLIB
#ifdef B3_USE_ZLIB
typedef ZipFileIO MyFileIO;
#else
typedef b3BulletDefaultFileIO MyFileIO;
#endif
struct FileIOClass
{
int m_testData;
MyFileIO m_fileIO;
WrapperFileIO m_fileIO;
FileIOClass()
: m_testData(42),
m_fileIO()//"e:/develop/bullet3/data/plane.zip")
m_fileIO()
{
}
virtual ~FileIOClass()
@@ -38,49 +220,98 @@ B3_SHARED_API int initPlugin_fileIOPlugin(struct b3PluginContext* context)
{
FileIOClass* obj = new FileIOClass();
context->m_userPointer = obj;
#ifndef B3_EXCLUDE_DEFAULT_FILEIO
obj->m_fileIO.addFileIOInterface(new b3BulletDefaultFileIO());
#endif //B3_EXCLUDE_DEFAULT_FILEIO
return SHARED_MEMORY_MAGIC_NUMBER;
}
B3_SHARED_API int executePluginCommand_fileIOPlugin(struct b3PluginContext* context, const struct b3PluginArguments* arguments)
{
printf("text argument:%s\n", arguments->m_text);
printf("int args: [");
for (int i = 0; i < arguments->m_numInts; i++)
{
printf("%d", arguments->m_ints[i]);
if ((i + 1) < arguments->m_numInts)
{
printf(",");
}
}
printf("]\nfloat args: [");
for (int i = 0; i < arguments->m_numFloats; i++)
{
printf("%f", arguments->m_floats[i]);
if ((i + 1) < arguments->m_numFloats)
{
printf(",");
}
}
printf("]\n");
int result=-1;
FileIOClass* obj = (FileIOClass*)context->m_userPointer;
b3SharedMemoryStatusHandle statusHandle;
int statusType = -1;
int bodyUniqueId = -1;
b3SharedMemoryCommandHandle command =
b3LoadUrdfCommandInit(context->m_physClient, arguments->m_text);
statusHandle = b3SubmitClientCommandAndWaitStatus(context->m_physClient, command);
statusType = b3GetStatusType(statusHandle);
if (statusType == CMD_URDF_LOADING_COMPLETED)
printf("text argument:%s\n", arguments->m_text);
printf("int args: [");
//remove a fileIO type
if (arguments->m_numInts==1)
{
bodyUniqueId = b3GetStatusBodyIndex(statusHandle);
int fileIOIndex = arguments->m_ints[0];
obj->m_fileIO.removeFileIOInterface(fileIOIndex);
}
return bodyUniqueId;
if (arguments->m_numInts==2)
{
int action = arguments->m_ints[0];
switch (action)
{
case eAddFileIOAction:
{
//create new fileIO interface
int fileIOType = arguments->m_ints[1];
switch (fileIOType)
{
case ePosixFileIO:
{
#ifdef B3_EXCLUDE_DEFAULT_FILEIO
printf("ePosixFileIO is not enabled in this build.\n");
#else
obj->m_fileIO.addFileIOInterface(new b3BulletDefaultFileIO());
#endif
break;
}
case eZipFileIO:
{
#ifdef B3_USE_ZIPFILE_FILEIO
if (arguments->m_text)
{
obj->m_fileIO.addFileIOInterface(new ZipFileIO(arguments->m_text));
}
#else
printf("eZipFileIO is not enabled in this build.\n");
#endif
break;
}
case eCNSFileIO:
{
#ifdef B3_USE_CNS_FILEIO
B3_USE_ZIPFILE_FILEIO
if (arguments->m_text)
{
obj->m_fileIO.addFileIOInterface(new CNSFileIO(arguments->m_text));
}
#else//B3_USE_CNS_FILEIO
printf("CNSFileIO is not enabled in this build.\n");
#endif //B3_USE_CNS_FILEIO
break;
}
default:
{
}
}
break;
}
case eRemoveFileIOAction:
{
//remove fileIO interface
int fileIOIndex = arguments->m_ints[1];
obj->m_fileIO.removeFileIOInterface(fileIOIndex);
break;
}
default:
{
printf("executePluginCommand_fileIOPlugin: unknown action\n");
}
}
}
return result;
}
B3_SHARED_API struct CommonFileIOInterface* getFileIOFunc_fileIOPlugin(struct b3PluginContext* context)

8
examples/SharedMemory/plugins/fileIOPlugin/zipFileIO.h
View File

@@ -29,7 +29,12 @@ struct ZipFileIO : public CommonFileIOInterface
virtual ~ZipFileIO()
{
for (int i=0;i<B3_ZIP_FILEIO_MAX_FILES;i++)
{
fileClose(i);
}
}
virtual int fileOpen(const char* fileName, const char* mode)
{
//search a free slot
@@ -88,6 +93,9 @@ struct ZipFileIO : public CommonFileIOInterface
slot=-1;
}
}
} else
{
slot=-1;
}
}
}

7
examples/pybullet/pybullet.c
View File

@@ -9911,6 +9911,13 @@ initpybullet(void)
PyModule_AddIntConstant(m, "STATE_LOG_JOINT_USER_TORQUES", STATE_LOG_JOINT_USER_TORQUES);
PyModule_AddIntConstant(m, "STATE_LOG_JOINT_TORQUES", STATE_LOG_JOINT_USER_TORQUES + STATE_LOG_JOINT_MOTOR_TORQUES);
PyModule_AddIntConstant(m, "AddFileIOAction", eAddFileIOAction);
PyModule_AddIntConstant(m, "RemoveFileIOAction", eRemoveFileIOAction);
PyModule_AddIntConstant(m, "PosixFileIO", ePosixFileIO );
PyModule_AddIntConstant(m, "ZipFileIO", eZipFileIO );
PyModule_AddIntConstant(m, "CNSFileIO", eCNSFileIO );
SpamError = PyErr_NewException("pybullet.error", NULL, NULL);
Py_INCREF(SpamError);
PyModule_AddObject(m, "error", SpamError);