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exit gracefully and call destructor of the current active example

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fflush after printf
implemented stepForward and Shutdown for the SharedMemory client/server
This commit is contained in:
=
2015-05-29 15:04:05 -07:00
parent ff15d36edf
commit bc806ab68c
10 changed files with 206 additions and 50 deletions
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80
examples/SharedMemory/PhysicsClient.cpp
View File

@@ -3,11 +3,14 @@
#include "../CommonInterfaces/CommonMultiBodyBase.h"
#include "PosixSharedMemory.h"
#include "SharedMemoryCommon.h"
class PhysicsClient : public CommonMultiBodyBase
class PhysicsClient : public SharedMemoryCommon
{
SharedMemoryInterface* m_sharedMemory;
SharedMemoryExampleData* m_testBlock1;
int m_counter;
bool m_wantsTermination;
public:
@@ -27,11 +30,17 @@ public:
m_guiHelper->resetCamera(dist,pitch,yaw,targetPos[0],targetPos[1],targetPos[2]);
}
virtual bool wantsTermination()
{
return m_wantsTermination;
}
};
PhysicsClient::PhysicsClient(GUIHelperInterface* helper)
:CommonMultiBodyBase(helper),
m_testBlock1(0)
:SharedMemoryCommon(helper),
m_testBlock1(0),
m_counter(0),
m_wantsTermination(false)
{
b3Printf("Started PhysicsClient");
m_sharedMemory = new PosixSharedMemory();
@@ -55,6 +64,15 @@ void PhysicsClient::initPhysics()
b3Error("Error: please start server before client");
m_sharedMemory->releaseSharedMemory(SHARED_MEMORY_KEY, SHARED_MEMORY_SIZE);
m_testBlock1 = 0;
} else
{
//submit a 'load urdf' command to get things started
b3Printf("Client created CMD_LOAD_URDF");
m_testBlock1->m_clientCommands[0].m_type =CMD_LOAD_URDF;
sprintf(m_testBlock1->m_clientCommands[0].m_urdfArguments.m_urdfFileName,"r2d2.urdf");
m_testBlock1->m_numClientCommands++;
}
}
@@ -63,20 +81,60 @@ void PhysicsClient::initPhysics()
void PhysicsClient::stepSimulation(float deltaTime)
{
static int once = true;
if (m_testBlock1)
{
if (once)
{
once=false;
//check progress and submit further commands
//we ignore overflow right now
b3Printf("Client created CMD_LOAD_URDF");
m_testBlock1->m_clientCommands[0].m_type =CMD_LOAD_URDF;
sprintf(m_testBlock1->m_clientCommands[0].m_urdfArguments.m_urdfFileName,"r2d2.urdf");
m_testBlock1->m_numClientCommands++;
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_STEP_FORWARD_SIMULATION_COMPLETED:
case CMD_URDF_LOADING_COMPLETED:
{
//submit a 'step simulation' request
if (m_counter<10)
{
m_testBlock1->m_clientCommands[0].m_type =CMD_STEP_FORWARD_SIMULATION;
m_testBlock1->m_clientCommands[0].m_stepSimulationArguments.m_deltaTimeInSeconds = 1./60.;
m_testBlock1->m_numClientCommands++;
m_counter++;
} else
{
m_wantsTermination = true;
m_testBlock1->m_clientCommands[0].m_type =CMD_SHUTDOWN;
m_testBlock1->m_numClientCommands++;
}
break;
}
case CMD_URDF_LOADING_FAILED:
{
b3Printf("Server failed loading the URDF...");
break;
}
default:
{
b3Error("Unknown server command");
btAssert(0);
}
};
m_testBlock1->m_numProcessedServerCommands++;
}
}
}

79
examples/SharedMemory/PhysicsServer.cpp
View File

@@ -1,20 +1,20 @@
#include "PhysicsServer.h"
#include "../CommonInterfaces/CommonMultiBodyBase.h"
#include "PosixSharedMemory.h"
#include "../Importers/ImportURDFDemo/MyURDFImporter.h"
#include "../Importers/ImportURDFDemo/MyMultiBodyCreator.h"
#include "../Importers/ImportURDFDemo/URDF2Bullet.h"
#include "SharedMemoryCommon.h"
class PhysicsServer : public CommonMultiBodyBase
class PhysicsServer : public SharedMemoryCommon
{
SharedMemoryInterface* m_sharedMemory;
SharedMemoryExampleData* m_testBlock1;
bool m_wantsShutdown;
public:
PhysicsServer(GUIHelperInterface* helper);
@@ -25,6 +25,8 @@ public:
virtual void stepSimulation(float deltaTime);
void releaseSharedMemory();
bool loadUrdf(const char* fileName, const btVector3& pos, const btQuaternion& orn,
bool useMultiBody, bool useFixedBase);
@@ -37,25 +39,39 @@ public:
m_guiHelper->resetCamera(dist,pitch,yaw,targetPos[0],targetPos[1],targetPos[2]);
}
virtual bool wantsTermination();
};
PhysicsServer::PhysicsServer(GUIHelperInterface* helper)
:CommonMultiBodyBase(helper),
m_testBlock1(0)
:SharedMemoryCommon(helper),
m_testBlock1(0),
m_wantsShutdown(false)
{
b3Printf("Started PhysicsServer\n");
m_sharedMemory = new PosixSharedMemory();
}
PhysicsServer::~PhysicsServer()
void PhysicsServer::releaseSharedMemory()
{
if (m_testBlock1)
{
m_testBlock1->m_magicId = 0;
b3Printf("magic id = %d\n",m_testBlock1->m_magicId);
btAssert(m_sharedMemory);
m_sharedMemory->releaseSharedMemory(SHARED_MEMORY_KEY, SHARED_MEMORY_SIZE);
}
m_sharedMemory->releaseSharedMemory(SHARED_MEMORY_KEY, SHARED_MEMORY_SIZE);
delete m_sharedMemory;
if (m_sharedMemory)
{
delete m_sharedMemory;
m_sharedMemory = 0;
m_testBlock1 = 0;
}
}
PhysicsServer::~PhysicsServer()
{
releaseSharedMemory();
}
void PhysicsServer::initPhysics()
@@ -86,6 +102,12 @@ void PhysicsServer::initPhysics()
}
}
bool PhysicsServer::wantsTermination()
{
return m_wantsShutdown;
}
bool PhysicsServer::loadUrdf(const char* fileName, const btVector3& pos, const btQuaternion& orn,
bool useMultiBody, bool useFixedBase)
{
@@ -103,17 +125,21 @@ bool PhysicsServer::loadUrdf(const char* fileName, const btVector3& pos, const b
int rootLinkIndex = u2b.getRootLinkIndex();
// printf("urdf root link index = %d\n",rootLinkIndex);
MyMultiBodyCreator creation(m_guiHelper);
bool m_useMultiBody = true;
ConvertURDF2Bullet(u2b,creation, tr,m_dynamicsWorld,useMultiBody,u2b.getPathPrefix());
btMultiBody* mb = creation.getBulletMultiBody();
return false;
return true;
}
return false;
}
void PhysicsServer::stepSimulation(float deltaTime)
{
bool wantsShutdown = false;
if (m_testBlock1)
{
///we ignore overflow of integer for now
@@ -124,6 +150,7 @@ void PhysicsServer::stepSimulation(float deltaTime)
btAssert(m_testBlock1->m_numClientCommands==m_testBlock1->m_numProcessedClientCommands+1);
const SharedMemoryCommand& clientCmd =m_testBlock1->m_clientCommands[0];
m_testBlock1->m_numProcessedClientCommands++;
//consume the command
switch (clientCmd.m_type)
@@ -148,19 +175,45 @@ void PhysicsServer::stepSimulation(float deltaTime)
}
m_testBlock1->m_numServerCommands++;
break;
}
case CMD_STEP_FORWARD_SIMULATION:
{
b3Printf("Step simulation request");
double timeStep = clientCmd.m_stepSimulationArguments.m_deltaTimeInSeconds;
m_dynamicsWorld->stepSimulation(timeStep);
SharedMemoryCommand& serverCmd =m_testBlock1->m_serverCommands[0];
serverCmd.m_type =CMD_STEP_FORWARD_SIMULATION_COMPLETED;
m_testBlock1->m_numServerCommands++;
break;
}
case CMD_SHUTDOWN:
{
wantsShutdown = true;
break;
}
default:
{
b3Error("Unsupported command encountered");
btAssert(0);
}
};
m_testBlock1->m_numProcessedClientCommands++;
//process the command right now
}
}
if (wantsShutdown)
{
m_wantsShutdown = true;
releaseSharedMemory();
}
}

1
examples/SharedMemory/SharedMemoryInterface.h
View File

@@ -18,6 +18,7 @@ enum SharedMemoryClientCommand{
CMD_LOAD_URDF,
CMD_STATE_UPDATED,
CMD_STEP_FORWARD_SIMULATION, //includes CMD_REQUEST_STATE
CMD_SHUTDOWN,
CMD_MAX_CLIENT_COMMANDS
};

15
examples/SharedMemory/main.cpp
View File

@@ -20,8 +20,7 @@ subject to the following restrictions:
#include "../CommonInterfaces/CommonExampleInterface.h"
#include "../CommonInterfaces/CommonGUIHelperInterface.h"
#include "SharedMemoryCommon.h"
int main(int argc, char* argv[])
@@ -33,18 +32,22 @@ int main(int argc, char* argv[])
DummyGUIHelper noGfx;
CommonExampleOptions options(&noGfx);
CommonExampleInterface* example = 0;
SharedMemoryCommon* example = 0;
if (args.CheckCmdLineFlag("client"))
{
example = PhysicsClientCreateFunc(options);
example = (SharedMemoryCommon*)PhysicsClientCreateFunc(options);
}else
{
example = PhysicsServerCreateFunc(options);
example = (SharedMemoryCommon*)PhysicsServerCreateFunc(options);
}
example->initPhysics();
example->stepSimulation(1.f/60.f);
while (!example->wantsTermination())
{
example->stepSimulation(1.f/60.f);
}
example->exitPhysics();
delete example;