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fix signal handling in ExampleBrowser on linux/mac on termination

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expose all analogue axes from OpenVR (5 controllers, each x,y -> 10 floats) in pybullet.getVREvents(allAnalogAxes=1)
This commit is contained in:
erwincoumans
2017-10-05 12:59:58 -07:00
parent 822ff077c7
commit b572fe43f9
8 changed files with 81 additions and 39 deletions
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2
examples/CommonInterfaces/CommonExampleInterface.h
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@@ -55,7 +55,7 @@ public:
virtual bool mouseButtonCallback(int button, int state, float x, float y)=0;
virtual bool keyboardCallback(int key, int state)=0;
virtual void vrControllerMoveCallback(int controllerId, float pos[4], float orientation[4], float analogAxis) {}
virtual void vrControllerMoveCallback(int controllerId, float pos[4], float orientation[4], float analogAxis, float auxAnalogAxes[10]) {}
virtual void vrControllerButtonCallback(int controllerId, int button, int state, float pos[4], float orientation[4]){}
virtual void vrHMDMoveCallback(int controllerId, float pos[4], float orientation[4]){}
virtual void vrGenericTrackerMoveCallback(int controllerId, float pos[4], float orientation[4]){}

13
examples/ExampleBrowser/main.cpp
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@@ -30,19 +30,16 @@ static OpenGLExampleBrowser* sExampleBrowser=0;
static void cleanup(int signo)
{
if (interrupted) { // this is the second time, we're hanging somewhere
// if (example) {
// example->abort();
// }
if (!interrupted) { // this is the second time, we're hanging somewhere
b3Printf("Aborting and deleting SharedMemoryCommon object");
sleep(1);
delete sExampleBrowser;
sExampleBrowser = 0;
sleep(1);
sExampleBrowser = 0;
errx(EXIT_FAILURE, "aborted example on signal %d", signo);
} else
{
b3Printf("no action");
b3Printf("no action");
exit(EXIT_FAILURE);
}
interrupted = true;
warnx("caught signal %d", signo);

12
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -889,8 +889,18 @@ struct b3VRControllerEvents
if (vrEvents[i].m_numMoveEvents)
{
m_vrEvents[controlledId].m_analogAxis = vrEvents[i].m_analogAxis;
for (int a=0;a<10;a++)
{
m_vrEvents[controlledId].m_auxAnalogAxis[a] = vrEvents[i].m_auxAnalogAxis[a];
}
} else
{
m_vrEvents[controlledId].m_analogAxis = 0;
for (int a=0;a<10;a++)
{
m_vrEvents[controlledId].m_auxAnalogAxis[a] = 0;
}
}
if (vrEvents[i].m_numMoveEvents+vrEvents[i].m_numButtonEvents)
{
m_vrEvents[controlledId].m_controllerId = vrEvents[i].m_controllerId;

9
examples/SharedMemory/PhysicsServerExample.cpp
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@@ -1330,7 +1330,7 @@ public:
btVector3 getRayTo(int x,int y);
virtual void vrControllerButtonCallback(int controllerId, int button, int state, float pos[4], float orientation[4]);
virtual void vrControllerMoveCallback(int controllerId, float pos[4], float orientation[4], float analogAxis);
virtual void vrControllerMoveCallback(int controllerId, float pos[4], float orientation[4], float analogAxis, float auxAnalogAxes[10]);
virtual void vrHMDMoveCallback(int controllerId, float pos[4], float orientation[4]);
virtual void vrGenericTrackerMoveCallback(int controllerId, float pos[4], float orientation[4]);
@@ -2874,7 +2874,7 @@ void PhysicsServerExample::vrControllerButtonCallback(int controllerId, int butt
}
void PhysicsServerExample::vrControllerMoveCallback(int controllerId, float pos[4], float orn[4], float analogAxis)
void PhysicsServerExample::vrControllerMoveCallback(int controllerId, float pos[4], float orn[4], float analogAxis, float auxAnalogAxes[10])
{
if (controllerId < 0 || controllerId >= MAX_VR_CONTROLLERS)
@@ -2927,6 +2927,11 @@ void PhysicsServerExample::vrControllerMoveCallback(int controllerId, float pos[
m_args[0].m_vrControllerEvents[controllerId].m_orn[3] = trTotal.getRotation()[3];
m_args[0].m_vrControllerEvents[controllerId].m_numMoveEvents++;
m_args[0].m_vrControllerEvents[controllerId].m_analogAxis = analogAxis;
for (int i=0;i<10;i++)
{
m_args[0].m_vrControllerEvents[controllerId].m_auxAnalogAxis[i] = auxAnalogAxes[i];
}
m_args[0].m_csGUI->unlock();
}

3
examples/SharedMemory/SharedMemoryPublic.h
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@@ -339,6 +339,7 @@ enum b3VREventType
VR_GENERIC_TRACKER_MOVE_EVENT=8,
};
#define MAX_VR_ANALOG_AXIS 5
#define MAX_VR_BUTTONS 64
#define MAX_VR_CONTROLLERS 8
@@ -380,7 +381,7 @@ struct b3VRControllerEvent
float m_orn[4];//valid for VR_CONTROLLER_MOVE_EVENT and VR_CONTROLLER_BUTTON_EVENT
float m_analogAxis;//valid if VR_CONTROLLER_MOVE_EVENT
float m_auxAnalogAxis[MAX_VR_ANALOG_AXIS*2];//store x,y per axis, only valid if VR_CONTROLLER_MOVE_EVENT
int m_buttons[MAX_VR_BUTTONS];//valid if VR_CONTROLLER_BUTTON_EVENT, see b3VRButtonInfo
};

32
examples/StandaloneMain/hellovr_opengl_main.cpp
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@@ -814,7 +814,15 @@ bool CMainApplication::HandleInput()
for (int button = 0; button < vr::k_EButton_Max; button++)
{
uint64_t trigger = vr::ButtonMaskFromId((vr::EVRButtonId)button);
btAssert(vr::k_unControllerStateAxisCount>=5);
float allAxis[10];//store x,y times 5 controllers
int index=0;
for (int i=0;i<5;i++)
{
allAxis[index++]=state.rAxis[i].x;
allAxis[index++]=state.rAxis[i].y;
}
bool isTrigger = (state.ulButtonPressed&trigger) != 0;
if (isTrigger)
{
@@ -824,31 +832,15 @@ bool CMainApplication::HandleInput()
if ((sPrevStates[unDevice].ulButtonPressed&trigger)==0)
{
// printf("Device PRESSED: %d, button %d\n", unDevice, button);
if (button==2)
{
//glPolygonMode( GL_FRONT_AND_BACK, GL_LINE );
///todo(erwincoumans) can't use reguar debug drawer, because physics/graphics are not in sync
///so it can (and likely will) cause crashes
///add a special debug drawer that deals with this
//gDebugDrawFlags = btIDebugDraw::DBG_DrawWireframe+btIDebugDraw::DBG_DrawContactPoints+
//btIDebugDraw::DBG_DrawConstraintLimits+
//btIDebugDraw::DBG_DrawConstraints
//;
//gDebugDrawFlags = btIDebugDraw::DBG_DrawFrames;
}
sExample->vrControllerButtonCallback(unDevice, button, 1, pos, orn);
}
else
{
// printf("Device MOVED: %d\n", unDevice);
sExample->vrControllerMoveCallback(unDevice, pos, orn, state.rAxis[1].x);
sExample->vrControllerMoveCallback(unDevice, pos, orn, state.rAxis[1].x, allAxis);
}
}
else
@@ -871,7 +863,7 @@ bool CMainApplication::HandleInput()
} else
{
sExample->vrControllerMoveCallback(unDevice, pos, orn, state.rAxis[1].x);
sExample->vrControllerMoveCallback(unDevice, pos, orn, state.rAxis[1].x,allAxis);
}
}
}

28
examples/pybullet/examples/vrEvent.py
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@@ -8,7 +8,9 @@ import pybullet as p
CONTROLLER_ID = 0
POSITION=1
ORIENTATION=2
NUM_MOVE_EVENTS=5
BUTTONS=6
ANALOG_AXIS=8
#assume that the VR physics server is already started before
c = p.connect(p.SHARED_MEMORY)
@@ -20,7 +22,7 @@ p.setInternalSimFlags(0)#don't load default robot assets etc
p.resetSimulation()
p.loadURDF("plane.urdf")
prevPosition=[None]*p.VR_MAX_CONTROLLERS
prevPosition=[[0,0,0]]*p.VR_MAX_CONTROLLERS
colors=[0.,0.5,0.5]*p.VR_MAX_CONTROLLERS
widths = [3]*p.VR_MAX_CONTROLLERS
@@ -32,10 +34,27 @@ colors[3] = [0,0,0.5]
colors[4] = [0.5,0.5,0.]
colors[5] = [.5,.5,.5]
while True:
controllerId = -1
pt=[0,0,0]
print("waiting for VR controller trigger")
while (controllerId<0):
events = p.getVREvents()
for e in (events):
if (e[BUTTONS][33]==p.VR_BUTTON_IS_DOWN):
controllerId = e[CONTROLLER_ID]
if (e[BUTTONS][32]==p.VR_BUTTON_IS_DOWN):
controllerId = e[CONTROLLER_ID]
print("Using controllerId="+str(controllerId))
while True:
events = p.getVREvents(allAnalogAxes=1)
for e in (events):
if (e[CONTROLLER_ID]==controllerId ):
for a in range(10):
print("analog axis"+str(a)+"="+str(e[8][a]))
if (e[BUTTONS][33]&p.VR_BUTTON_WAS_TRIGGERED):
prevPosition[e[CONTROLLER_ID]] = e[POSITION]
if (e[BUTTONS][32]&p.VR_BUTTON_WAS_TRIGGERED):
@@ -51,7 +70,10 @@ while True:
pt = prevPosition[e[CONTROLLER_ID]]
#print(prevPosition[e[0]])
#print(e[1])
print("e[POSITION]")
print(e[POSITION])
print("pt")
print(pt)
diff = [pt[0]-e[POSITION][0],pt[1]-e[POSITION][1],pt[2]-e[POSITION][2]]
lenSqr = diff[0]*diff[0]+diff[1]*diff[1]+diff[2]*diff[2]
ptDistThreshold = 0.01

21
examples/pybullet/pybullet.c
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@@ -4277,9 +4277,10 @@ static PyObject* pybullet_getVREvents(PyObject* self, PyObject* args, PyObject*
int statusType;
int deviceTypeFilter = VR_DEVICE_CONTROLLER;
int physicsClientId = 0;
int allAnalogAxes = 0;
b3PhysicsClientHandle sm = 0;
static char* kwlist[] = {"deviceTypeFilter", "physicsClientId", NULL};
if (!PyArg_ParseTupleAndKeywords(args, keywds, "|ii", kwlist, &deviceTypeFilter, &physicsClientId))
static char* kwlist[] = {"deviceTypeFilter", "allAnalogAxes", "physicsClientId", NULL};
if (!PyArg_ParseTupleAndKeywords(args, keywds, "|iii", kwlist, &deviceTypeFilter, &allAnalogAxes, &physicsClientId))
{
return NULL;
}
@@ -4307,7 +4308,8 @@ static PyObject* pybullet_getVREvents(PyObject* self, PyObject* args, PyObject*
vrEventsObj = PyTuple_New(vrEvents.m_numControllerEvents);
for (i = 0; i < vrEvents.m_numControllerEvents; i++)
{
PyObject* vrEventObj = PyTuple_New(8);
int numFields = allAnalogAxes? 9 : 8;
PyObject* vrEventObj = PyTuple_New(numFields);
PyTuple_SetItem(vrEventObj, 0, PyInt_FromLong(vrEvents.m_controllerEvents[i].m_controllerId));
{
@@ -4340,6 +4342,19 @@ static PyObject* pybullet_getVREvents(PyObject* self, PyObject* args, PyObject*
PyTuple_SetItem(vrEventObj, 6, buttonsObj);
}
PyTuple_SetItem(vrEventObj, 7, PyInt_FromLong(vrEvents.m_controllerEvents[i].m_deviceType));
if (allAnalogAxes)
{
PyObject* buttonsObj = PyTuple_New(MAX_VR_ANALOG_AXIS*2);
int b;
for (b = 0; b < MAX_VR_ANALOG_AXIS*2; b++)
{
PyObject* axisVal = PyFloat_FromDouble(vrEvents.m_controllerEvents[i].m_auxAnalogAxis[b]);
PyTuple_SetItem(buttonsObj, b, axisVal);
}
PyTuple_SetItem(vrEventObj, 8, buttonsObj);
}
PyTuple_SetItem(vrEventsObj, i, vrEventObj);
}
return vrEventsObj;