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Code-style consistency improvement:

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Apply clang-format-all.sh using the _clang-format file through all the cpp/.h files.
make sure not to apply it to certain serialization structures, since some parser expects the * as part of the name, instead of type.
This commit contains no other changes aside from adding and applying clang-format-all.sh
This commit is contained in:
erwincoumans
2018-09-23 14:17:31 -07:00
parent b73b05e9fb
commit ab8f16961e
1773 changed files with 1081087 additions and 474249 deletions
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86
examples/SharedMemory/plugins/grpcPlugin/grpcPlugin.cpp
View File

@@ -19,24 +19,23 @@
using grpc::Server;
using grpc::ServerAsyncResponseWriter;
using grpc::ServerBuilder;
using grpc::ServerContext;
using grpc::ServerCompletionQueue;
using grpc::ServerContext;
using grpc::Status;
using pybullet_grpc::PyBulletAPI;
using pybullet_grpc::PyBulletCommand;
using pybullet_grpc::PyBulletStatus;
using pybullet_grpc::PyBulletAPI;
bool gVerboseNetworkMessagesServer4 = false;
class ServerImpl final {
class ServerImpl final
{
public:
ServerImpl()
{
}
~ServerImpl() {
~ServerImpl()
{
Exit();
}
@@ -51,8 +50,8 @@ public:
}
}
void Init(PhysicsCommandProcessorInterface* comProc, const std::string& hostNamePort) {
void Init(PhysicsCommandProcessorInterface* comProc, const std::string& hostNamePort)
{
// Listen on the given address without any authentication mechanism.
m_builder.AddListeningPort(hostNamePort, grpc::InsecureServerCredentials());
// Register "service_" as the instance through which we'll communicate with
@@ -72,7 +71,6 @@ public:
// This can be run in multiple threads if needed.
bool HandleSingleRpc()
{
CallData::CallStatus status = CallData::CallStatus::CREATE;
{
@@ -98,21 +96,31 @@ public:
private:
// Class encompasing the state and logic needed to serve a request.
class CallData {
class CallData
{
public:
// Take in the "service" instance (in this case representing an asynchronous
// server) and the completion queue "cq" used for asynchronous communication
// with the gRPC runtime.
CallData(PyBulletAPI::AsyncService* service, ServerCompletionQueue* cq, PhysicsCommandProcessorInterface* comProc)
: service_(service), cq_(cq), responder_(&ctx_), status_(CREATE), m_finished(false), m_comProc(comProc) {
: service_(service), cq_(cq), responder_(&ctx_), status_(CREATE), m_finished(false), m_comProc(comProc)
{
// Invoke the serving logic right away.
Proceed();
}
enum CallStatus { CREATE, PROCESS, FINISH, TERMINATE };
enum CallStatus
{
CREATE,
PROCESS,
FINISH,
TERMINATE
};
CallStatus Proceed() {
if (status_ == CREATE) {
CallStatus Proceed()
{
if (status_ == CREATE)
{
// Make this instance progress to the PROCESS state.
status_ = PROCESS;
@@ -122,11 +130,11 @@ private:
// instances can serve different requests concurrently), in this case
// the memory address of this CallData instance.
service_->RequestSubmitCommand(&ctx_, &m_command, &responder_, cq_, cq_,
this);
this);
}
else if (status_ == PROCESS) {
else if (status_ == PROCESS)
{
// Spawn a new CallData instance to serve new clients while we process
// the one for this CallData. The instance will deallocate itself as
// part of its FINISH state.
@@ -144,7 +152,6 @@ private:
m_status.set_statustype(CMD_UNKNOWN_COMMAND_FLUSHED);
if (m_command.has_checkversioncommand())
{
m_status.set_statustype(CMD_CLIENT_COMMAND_COMPLETED);
@@ -154,11 +161,10 @@ private:
{
cmdPtr = convertGRPCToBulletCommand(m_command, cmd);
if (cmdPtr)
{
bool hasStatus = m_comProc->processCommand(*cmdPtr, serverStatus, &buffer[0], buffer.size());
double timeOutInSeconds = 10;
b3Clock clock;
double startTimeSeconds = clock.getTimeInSeconds();
@@ -196,7 +202,8 @@ private:
responder_.Finish(m_status, Status::OK, this);
}
else {
else
{
GPR_ASSERT(status_ == FINISH);
// Once in the FINISH state, deallocate ourselves (CallData).
delete this;
@@ -215,8 +222,6 @@ private:
// client.
ServerContext ctx_;
// What we get from the client.
PyBulletCommand m_command;
// What we send back to the client.
@@ -231,16 +236,15 @@ private:
bool m_finished;
PhysicsCommandProcessorInterface* m_comProc; //physics server command processor
PhysicsCommandProcessorInterface* m_comProc; //physics server command processor
};
// This can be run in multiple threads if needed.
void InitRpcs(PhysicsCommandProcessorInterface* comProc)
void InitRpcs(PhysicsCommandProcessorInterface* comProc)
{
// Spawn a new CallData instance to serve new clients.
new CallData(&service_, cq_.get(), comProc);
}
ServerBuilder m_builder;
std::unique_ptr<ServerCompletionQueue> cq_;
@@ -248,19 +252,18 @@ private:
std::unique_ptr<Server> server_;
};
struct grpcMyClass
{
int m_testData;
ServerImpl m_grpcServer;
bool m_grpcInitialized;
bool m_grpcTerminated;
grpcMyClass()
:m_testData(42),
m_grpcInitialized(false),
m_grpcTerminated(false)
: m_testData(42),
m_grpcInitialized(false),
m_grpcTerminated(false)
{
}
virtual ~grpcMyClass()
@@ -272,12 +275,10 @@ B3_SHARED_API int initPlugin_grpcPlugin(struct b3PluginContext* context)
{
grpcMyClass* obj = new grpcMyClass();
context->m_userPointer = obj;
return SHARED_MEMORY_MAGIC_NUMBER;
}
B3_SHARED_API int preTickPluginCallback_grpcPlugin(struct b3PluginContext* context)
{
//process grpc server messages
@@ -287,32 +288,32 @@ B3_SHARED_API int preTickPluginCallback_grpcPlugin(struct b3PluginContext* conte
B3_SHARED_API int processClientCommands_grpcPlugin(struct b3PluginContext* context)
{
grpcMyClass* obj = (grpcMyClass*)context->m_userPointer;
if (obj->m_grpcInitialized && !obj->m_grpcTerminated)
{
obj->m_grpcTerminated = obj->m_grpcServer.HandleSingleRpc();
}
obj->m_testData++;
return 0;
}
B3_SHARED_API int postTickPluginCallback_grpcPlugin(struct b3PluginContext* context)
{
grpcMyClass* obj = (grpcMyClass* )context->m_userPointer;
grpcMyClass* obj = (grpcMyClass*)context->m_userPointer;
obj->m_testData++;
return 0;
}
B3_SHARED_API int executePluginCommand_grpcPlugin(struct b3PluginContext* context, const struct b3PluginArguments* arguments)
{
///3 cases:
///3 cases:
/// 1: send a non-empty string to start the GRPC server
/// 2: send some integer n, to call n times to HandleSingleRpc
/// 3: send nothing to terminate the GRPC server
grpcMyClass* obj = (grpcMyClass*)context->m_userPointer;
if (strlen(arguments->m_text))
{
if (!obj->m_grpcInitialized && context->m_rpcCommandProcessorInterface)
@@ -339,14 +340,13 @@ B3_SHARED_API int executePluginCommand_grpcPlugin(struct b3PluginContext* contex
obj->m_grpcInitialized = false;
}
}
return 0;
}
B3_SHARED_API void exitPlugin_grpcPlugin(struct b3PluginContext* context)
{
grpcMyClass* obj = (grpcMyClass*) context->m_userPointer;
grpcMyClass* obj = (grpcMyClass*)context->m_userPointer;
obj->m_grpcServer.Exit();
delete obj;
context->m_userPointer = 0;

23
examples/SharedMemory/plugins/grpcPlugin/grpcPlugin.h
View File

@@ -4,26 +4,23 @@
#include "../b3PluginAPI.h"
#ifdef __cplusplus
extern "C"
extern "C"
{
#endif
//the following 3 APIs are required
B3_SHARED_API int initPlugin_grpcPlugin(struct b3PluginContext* context);
B3_SHARED_API void exitPlugin_grpcPlugin(struct b3PluginContext* context);
B3_SHARED_API int executePluginCommand_grpcPlugin(struct b3PluginContext* context, const struct b3PluginArguments* arguments);
//all the APIs below are optional
B3_SHARED_API int preTickPluginCallback_grpcPlugin(struct b3PluginContext* context);
B3_SHARED_API int postTickPluginCallback_grpcPlugin(struct b3PluginContext* context);
B3_SHARED_API int processClientCommands_grpcPlugin(struct b3PluginContext* context);
//the following 3 APIs are required
B3_SHARED_API int initPlugin_grpcPlugin(struct b3PluginContext* context);
B3_SHARED_API void exitPlugin_grpcPlugin(struct b3PluginContext* context);
B3_SHARED_API int executePluginCommand_grpcPlugin(struct b3PluginContext* context, const struct b3PluginArguments* arguments);
//all the APIs below are optional
B3_SHARED_API int preTickPluginCallback_grpcPlugin(struct b3PluginContext* context);
B3_SHARED_API int postTickPluginCallback_grpcPlugin(struct b3PluginContext* context);
B3_SHARED_API int processClientCommands_grpcPlugin(struct b3PluginContext* context);
#ifdef __cplusplus
};
#endif
#endif//#define GRPC_PLUGIN_H
#endif //#define GRPC_PLUGIN_H