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more work-in-progress on joint-torque sensor sample and server/client shared memory API

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This commit is contained in:
erwin coumans
2015-06-22 15:30:57 -07:00
parent 4688540a98
commit b14afba350
6 changed files with 260 additions and 143 deletions
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298
examples/SharedMemory/PhysicsClient.cpp
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@@ -10,6 +10,7 @@
class PhysicsClient : public SharedMemoryCommon
{
protected:
SharedMemoryInterface* m_sharedMemory;
SharedMemoryExampleData* m_testBlock1;
int m_counter;
@@ -19,7 +20,8 @@ class PhysicsClient : public SharedMemoryCommon
bool m_serverLoadUrdfOK;
bool m_waitingForServer;
void processServerCommands();
void createClientCommand();
public:
@@ -99,7 +101,7 @@ m_wantsTermination(false),
m_serverLoadUrdfOK(false),
m_waitingForServer(false)
{
b3Printf("Started PhysicsClient");
b3Printf("Started PhysicsClient\n");
#ifdef _WIN32
m_sharedMemory = new Win32SharedMemoryClient();
#else
@@ -109,7 +111,7 @@ m_waitingForServer(false)
PhysicsClient::~PhysicsClient()
{
b3Printf("~PhysicsClient");
b3Printf("~PhysicsClient\n");
m_sharedMemory->releaseSharedMemory(SHARED_MEMORY_KEY, SHARED_MEMORY_SIZE);
delete m_sharedMemory;
}
@@ -117,45 +119,61 @@ PhysicsClient::~PhysicsClient()
void PhysicsClient::initPhysics()
{
if (m_guiHelper && m_guiHelper->getParameterInterface())
{
bool isTrigger = false;
ButtonParams button("Load URDF",CMD_LOAD_URDF, isTrigger);
button.m_callback = MyCallback;
button.m_userPointer = this;
m_guiHelper->getParameterInterface()->registerButtonParameter(button);
}
{
bool isTrigger = false;
ButtonParams button("Load URDF",CMD_LOAD_URDF, isTrigger);
button.m_callback = MyCallback;
button.m_userPointer = this;
m_guiHelper->getParameterInterface()->registerButtonParameter(button);
}
{
bool isTrigger = false;
ButtonParams button("Step Sim",CMD_STEP_FORWARD_SIMULATION, isTrigger);
button.m_callback = MyCallback;
button.m_userPointer = this;
m_guiHelper->getParameterInterface()->registerButtonParameter(button);
}
{
bool isTrigger = false;
ButtonParams button("Step Sim",CMD_STEP_FORWARD_SIMULATION, isTrigger);
button.m_callback = MyCallback;
button.m_userPointer = this;
m_guiHelper->getParameterInterface()->registerButtonParameter(button);
}
{
bool isTrigger = false;
ButtonParams button("Get State",CMD_REQUEST_ACTUAL_STATE, isTrigger);
button.m_callback = MyCallback;
button.m_userPointer = this;
m_guiHelper->getParameterInterface()->registerButtonParameter(button);
}
{
bool isTrigger = false;
ButtonParams button("Send Desired State",CMD_SEND_DESIRED_STATE, isTrigger);
button.m_callback = MyCallback;
button.m_userPointer = this;
m_guiHelper->getParameterInterface()->registerButtonParameter(button);
}
{
bool isTrigger = false;
ButtonParams button("Shut Down",CMD_SHUTDOWN, isTrigger);
button.m_callback = MyCallback;
button.m_userPointer = this;
m_guiHelper->getParameterInterface()->registerButtonParameter(button);
}
} else
{
bool isTrigger = false;
ButtonParams button("Get State",CMD_REQUEST_ACTUAL_STATE, isTrigger);
button.m_callback = MyCallback;
button.m_userPointer = this;
m_guiHelper->getParameterInterface()->registerButtonParameter(button);
}
/*
{
bool isTrigger = false;
ButtonParams button("Send Desired State",CMD_SEND_DESIRED_STATE, isTrigger);
button.m_callback = MyCallback;
button.m_userPointer = this;
m_guiHelper->getParameterInterface()->registerButtonParameter(button);
}
*/
{
bool isTrigger = false;
ButtonParams button("Shut Down",CMD_SHUTDOWN, isTrigger);
button.m_callback = MyCallback;
button.m_userPointer = this;
m_guiHelper->getParameterInterface()->registerButtonParameter(button);
}
m_userCommandRequests.push_back(CMD_LOAD_URDF);
m_userCommandRequests.push_back(CMD_REQUEST_ACTUAL_STATE);
//m_userCommandRequests.push_back(CMD_SEND_DESIRED_STATE);
m_userCommandRequests.push_back(CMD_REQUEST_ACTUAL_STATE);
//m_userCommandRequests.push_back(CMD_SET_JOINT_FEEDBACK);
//m_userCommandRequests.push_back(CMD_CREATE_BOX_COLLISION_SHAPE);
//m_userCommandRequests.push_back(CMD_CREATE_RIGID_BODY);
m_userCommandRequests.push_back(CMD_STEP_FORWARD_SIMULATION);
m_userCommandRequests.push_back(CMD_REQUEST_ACTUAL_STATE);
m_userCommandRequests.push_back(CMD_SHUTDOWN);
}
m_testBlock1 = (SharedMemoryExampleData*)m_sharedMemory->allocateSharedMemory(SHARED_MEMORY_KEY, SHARED_MEMORY_SIZE);
@@ -164,106 +182,119 @@ void PhysicsClient::initPhysics()
// btAssert(m_testBlock1->m_magicId == SHARED_MEMORY_MAGIC_NUMBER);
if (m_testBlock1->m_magicId !=SHARED_MEMORY_MAGIC_NUMBER)
{
b3Error("Error: please start server before client");
b3Error("Error: please start server before client\n");
m_sharedMemory->releaseSharedMemory(SHARED_MEMORY_KEY, SHARED_MEMORY_SIZE);
m_testBlock1 = 0;
} else
{
b3Printf("Shared Memory status is OK");
b3Printf("Shared Memory status is OK\n");
}
}
} else
{
m_wantsTermination = true;
}
}
void PhysicsClient::stepSimulation(float deltaTime)
void PhysicsClient::processServerCommands()
{
if (m_testBlock1)
{
//check progress and submit further commands
//we ignore overflow right now
if (m_testBlock1->m_numServerCommands> m_testBlock1->m_numProcessedServerCommands)
{
btAssert(m_testBlock1->m_numServerCommands==m_testBlock1->m_numProcessedServerCommands+1);
const SharedMemoryCommand& serverCmd =m_testBlock1->m_serverCommands[0];
//consume the command
switch (serverCmd.m_type)
{
btAssert(m_testBlock1);
case CMD_URDF_LOADING_COMPLETED:
if (m_testBlock1->m_numServerCommands> m_testBlock1->m_numProcessedServerCommands)
{
btAssert(m_testBlock1->m_numServerCommands==m_testBlock1->m_numProcessedServerCommands+1);
const SharedMemoryCommand& serverCmd =m_testBlock1->m_serverCommands[0];
//consume the command
switch (serverCmd.m_type)
{
case CMD_URDF_LOADING_COMPLETED:
{
m_serverLoadUrdfOK = true;
b3Printf("Server loading the URDF OK\n");
break;
}
case CMD_STEP_FORWARD_SIMULATION_COMPLETED:
{
break;
}
case CMD_URDF_LOADING_FAILED:
{
b3Printf("Server failed loading the URDF...\n");
m_serverLoadUrdfOK = false;
break;
}
case CMD_ACTUAL_STATE_UPDATE_COMPLETED:
{
m_serverLoadUrdfOK = true;
b3Printf("Server loading the URDF OK");
b3Printf("Received actual state\n");
int numQ = m_testBlock1->m_serverCommands[0].m_sendActualStateArgs.m_numDegreeOfFreedomQ;
int numU = m_testBlock1->m_serverCommands[0].m_sendActualStateArgs.m_numDegreeOfFreedomU;
b3Printf("size Q = %d, size U = %d\n", numQ,numU);
char msg[1024];
sprintf(msg,"Q=[");
for (int i=0;i<numQ;i++)
{
if (i<numQ-1)
{
sprintf(msg,"%s%f,",msg,m_testBlock1->m_actualStateQ[i]);
} else
{
sprintf(msg,"%s%f",msg,m_testBlock1->m_actualStateQ[i]);
}
}
sprintf(msg,"%s]",msg);
b3Printf(msg);
b3Printf("\n");
break;
}
case CMD_STEP_FORWARD_SIMULATION_COMPLETED:
{
break;
}
case CMD_URDF_LOADING_FAILED:
{
b3Printf("Server failed loading the URDF...");
m_serverLoadUrdfOK = false;
break;
}
case CMD_ACTUAL_STATE_UPDATE_COMPLETED:
{
b3Printf("Received actual state");
int numQ = m_testBlock1->m_serverCommands[0].m_sendActualStateArgs.m_numDegreeOfFreedomQ;
int numU = m_testBlock1->m_serverCommands[0].m_sendActualStateArgs.m_numDegreeOfFreedomU;
b3Printf("size Q = %d, size U = %d\n", numQ,numU);
char msg[1024];
sprintf(msg,"Q=[");
for (int i=0;i<numQ;i++)
{
if (i<numQ-1)
{
sprintf(msg,"%s%f,",msg,m_testBlock1->m_actualStateQ[i]);
} else
{
sprintf(msg,"%s%f",msg,m_testBlock1->m_actualStateQ[i]);
}
}
sprintf(msg,"%s]",msg);
b3Printf(msg);
break;
}
default:
{
b3Error("Unknown server command");
btAssert(0);
}
};
m_testBlock1->m_numProcessedServerCommands++;
if (m_testBlock1->m_numServerCommands == m_testBlock1->m_numProcessedServerCommands)
default:
{
m_waitingForServer = false;
} else
{
m_waitingForServer = true;
b3Error("Unknown server command\n");
btAssert(0);
}
}
if (!m_waitingForServer)
};
m_testBlock1->m_numProcessedServerCommands++;
//we don't have more than 1 command outstanding (in total, either server or client)
btAssert(m_testBlock1->m_numProcessedServerCommands == m_testBlock1->m_numServerCommands);
if (m_testBlock1->m_numServerCommands == m_testBlock1->m_numProcessedServerCommands)
{
m_waitingForServer = false;
} else
{
m_waitingForServer = true;
}
}
}
void PhysicsClient::createClientCommand()
{
if (!m_waitingForServer)
{
//process outstanding requests
if (m_userCommandRequests.size())
{
b3Printf("Outstanding user command requests: %d\n", m_userCommandRequests.size());
int command = m_userCommandRequests[0];
m_userCommandRequests.remove(command);
//don't use 'remove' because it will re-order the commands
//m_userCommandRequests.remove(command);
//pop_front
for (int i=1;i<m_userCommandRequests.size();i++)
{
m_userCommandRequests[i-1] = m_userCommandRequests[i];
}
m_userCommandRequests.pop_back();
m_waitingForServer = true;
switch (command)
{
case CMD_LOAD_URDF:
@@ -276,11 +307,10 @@ void PhysicsClient::stepSimulation(float deltaTime)
m_testBlock1->m_clientCommands[0].m_urdfArguments.m_useMultiBody = true;
m_testBlock1->m_numClientCommands++;
b3Printf("Client created CMD_LOAD_URDF");
m_waitingForServer = true;
b3Printf("Client created CMD_LOAD_URDF\n");
} else
{
b3Warning("Server already loaded URDF, no client command submitted");
b3Warning("Server already loaded URDF, no client command submitted\n");
}
break;
}
@@ -288,13 +318,13 @@ void PhysicsClient::stepSimulation(float deltaTime)
{
if (m_serverLoadUrdfOK)
{
b3Printf("Requesting actual state");
b3Printf("Requesting actual state\n");
m_testBlock1->m_clientCommands[0].m_type =CMD_REQUEST_ACTUAL_STATE;
m_testBlock1->m_numClientCommands++;
} else
{
b3Warning("No URDF loaded");
b3Warning("No URDF loaded\n");
}
break;
}
@@ -307,10 +337,9 @@ void PhysicsClient::stepSimulation(float deltaTime)
m_testBlock1->m_clientCommands[0].m_stepSimulationArguments.m_deltaTimeInSeconds = 1./60.;
m_testBlock1->m_numClientCommands++;
b3Printf("client created CMD_STEP_FORWARD_SIMULATION %d\n", m_counter++);
m_waitingForServer = true;
} else
{
b3Warning("No URDF loaded yet, no client CMD_STEP_FORWARD_SIMULATION submitted");
b3Warning("No URDF loaded yet, no client CMD_STEP_FORWARD_SIMULATION submitted\n");
}
break;
}
@@ -319,20 +348,33 @@ void PhysicsClient::stepSimulation(float deltaTime)
m_wantsTermination = true;
m_testBlock1->m_clientCommands[0].m_type =CMD_SHUTDOWN;
m_testBlock1->m_numClientCommands++;
m_waitingForServer = true;
m_serverLoadUrdfOK = false;
b3Printf("client created CMD_SHUTDOWN\n");
break;
}
default:
{
b3Error("unknown command requested");
b3Error("unknown command requested\n");
}
}
}
}
}
}
void PhysicsClient::stepSimulation(float deltaTime)
{
btAssert(m_testBlock1);
if (m_testBlock1)
{
processServerCommands();
if (!m_waitingForServer)
{
createClientCommand();
}
}
}