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expose timeout in pybullet/shared memory API

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add RobotSimulator, a C++ API similar to pybullet. (work-in-progress, only part of API implemeted)
This commit is contained in:
Erwin Coumans
2017-02-24 15:34:11 -08:00
parent bb11884f89
commit a4f1e34899
34 changed files with 1654 additions and 62 deletions
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16
examples/SharedMemory/PhysicsClientUDP.cpp
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@@ -80,6 +80,7 @@ struct UdpNetworkedInternalData
std::string m_hostName;
int m_port;
double m_timeOutInSeconds;
UdpNetworkedInternalData()
:m_client(0),
@@ -87,7 +88,8 @@ struct UdpNetworkedInternalData
m_isConnected(false),
m_threadSupport(0),
m_hasCommand(false),
m_hasStatus(false)
m_hasStatus(false),
m_timeOutInSeconds(60)
{
}
@@ -467,7 +469,7 @@ bool UdpNetworkedPhysicsProcessor::processCommand(const struct SharedMemoryComma
b3Clock clock;
double startTime = clock.getTimeInSeconds();
double timeOutInSeconds = 10;
double timeOutInSeconds = m_data->m_timeOutInSeconds;
m_data->m_cs->lock();
m_data->m_clientCmd = clientCmd;
@@ -486,7 +488,7 @@ bool UdpNetworkedPhysicsProcessor::processCommand(const struct SharedMemoryComma
b3Clock clock;
double startTime = clock.getTimeInSeconds();
double timeOutInSeconds = 10;
double timeOutInSeconds = m_data->m_timeOutInSeconds;
const SharedMemoryStatus* stat = 0;
while ((!hasStatus) && (clock.getTimeInSeconds() - startTime < timeOutInSeconds))
@@ -621,7 +623,7 @@ void UdpNetworkedPhysicsProcessor::disconnect()
}
void UdpNetworkedPhysicsProcessor::setTimeOut(double timeOutInSeconds)
{
m_data->m_timeOutInSeconds = timeOutInSeconds;
}