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Replace large timeout (1024*1024*1024) using real-time clock timeout (10 seconds default)

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Change SHARED_MEMORY_MAGIC_NUMBER to make sure server/client are using the same version (shared memory)
add --realtimesimulation to physics server (GUI, VR)
remove --G Xcode from build_cmake_pybullet_double.sh
This commit is contained in:
Erwin Coumans
2017-02-22 09:33:30 -08:00
parent 35b92c43d3
commit bd30ba30ce
13 changed files with 172 additions and 80 deletions
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10
examples/SharedMemory/PhysicsClientC_API.cpp
View File

@@ -1033,9 +1033,15 @@ int b3SubmitClientCommand(b3PhysicsClientHandle physClient, const b3SharedMemory
}
#include "../Utils/b3Clock.h"
b3SharedMemoryStatusHandle b3SubmitClientCommandAndWaitStatus(b3PhysicsClientHandle physClient, const b3SharedMemoryCommandHandle commandHandle)
{
int timeout = 1024 * 1024 * 1024;
b3Clock clock;
double startTime = clock.getTimeInSeconds();
double timeOutInSeconds = 10;
b3SharedMemoryStatusHandle statusHandle = 0;
b3Assert(commandHandle);
b3Assert(physClient);
@@ -1043,7 +1049,7 @@ b3SharedMemoryStatusHandle b3SubmitClientCommandAndWaitStatus(b3PhysicsClientHan
{
b3SubmitClientCommand(physClient, commandHandle);
while ((statusHandle == 0) && (timeout-- > 0))
while ((statusHandle == 0) && (clock.getTimeInSeconds()-startTime < timeOutInSeconds))
{
statusHandle = b3ProcessServerStatus(physClient);
}

8
examples/SharedMemory/PhysicsClientSharedMemory.cpp
View File

@@ -268,11 +268,13 @@ bool PhysicsClientSharedMemory::connect() {
command.m_type = CMD_REQUEST_BODY_INFO;
command.m_sdfRequestInfoArgs.m_bodyUniqueId = 37;
submitClientCommand(command);
int timeout = 1024 * 1024 * 1024;
double startTime = clock.getTimeInSeconds();
double timeOutInSeconds = 10;
const SharedMemoryStatus* status = 0;
while ((status == 0) && (timeout-- > 0))
while ((status == 0) && (clock.getTimeInSeconds()-startTime < timeOutInSeconds))
{
status = processServerStatus();

11
examples/SharedMemory/PhysicsClientTCP.cpp
View File

@@ -64,7 +64,14 @@ struct TcpNetworkedInternalData
m_tcpSocket.Initialize();
m_isConnected = m_tcpSocket.Open(m_hostName.c_str(),m_port);
if (m_isConnected)
{
m_tcpSocket.SetSendTimeout(5,0);
m_tcpSocket.SetReceiveTimeout(5,0);
}
int key = SHARED_MEMORY_MAGIC_NUMBER;
m_tcpSocket.Send((uint8*)&key,4);
return m_isConnected;
}
@@ -243,6 +250,8 @@ bool TcpNetworkedPhysicsProcessor::connect()
void TcpNetworkedPhysicsProcessor::disconnect()
{
const char msg[16]="disconnect";
m_data->m_tcpSocket.Send((const uint8 *)msg,10);
m_data->m_tcpSocket.Close();
m_data->m_isConnected = false;
}

14
examples/SharedMemory/PhysicsClientUDP.cpp
View File

@@ -464,26 +464,32 @@ bool UdpNetworkedPhysicsProcessor::processCommand(const struct SharedMemoryComma
printf("PhysicsClientUDP::processCommand\n");
}
// int sz = sizeof(SharedMemoryCommand);
int timeout = 1024 * 1024 * 1024;
b3Clock clock;
double startTime = clock.getTimeInSeconds();
double timeOutInSeconds = 10;
m_data->m_cs->lock();
m_data->m_clientCmd = clientCmd;
m_data->m_hasCommand = true;
m_data->m_cs->unlock();
while (m_data->m_hasCommand && (timeout-- > 0))
while ((m_data->m_hasCommand) && (clock.getTimeInSeconds()-startTime < timeOutInSeconds))
{
b3Clock::usleep(0);
}
#if 0
timeout = 1024 * 1024 * 1024;
bool hasStatus = false;
b3Clock clock;
double startTime = clock.getTimeInSeconds();
double timeOutInSeconds = 10;
const SharedMemoryStatus* stat = 0;
while ((!hasStatus) && (timeout-- > 0))
while ((!hasStatus) && (clock.getTimeInSeconds() - startTime < timeOutInSeconds))
{
hasStatus = receiveStatus(serverStatusOut, bufferServerToClient, bufferSizeInBytes);
b3Clock::usleep(100);

57
examples/SharedMemory/PhysicsDirect.cpp
View File

@@ -4,7 +4,7 @@
#include "../CommonInterfaces/CommonGUIHelperInterface.h"
#include "SharedMemoryCommands.h"
#include "PhysicsCommandProcessorInterface.h"
#include "../Utils/b3Clock.h"
#include "LinearMath/btHashMap.h"
#include "LinearMath/btAlignedObjectArray.h"
@@ -137,8 +137,10 @@ bool PhysicsDirect::connect()
}
else
{
int timeout = 1024 * 1024 * 1024;
while ((!hasStatus) && (timeout-- > 0))
b3Clock clock;
double timeSec = clock.getTimeInSeconds();
while ((!hasStatus) && (clock.getTimeInSeconds()-timeSec <10 ))
{
const SharedMemoryStatus* stat = processServerStatus();
if (stat)
@@ -226,8 +228,11 @@ bool PhysicsDirect::processDebugLines(const struct SharedMemoryCommand& orgComma
bool hasStatus = m_data->m_commandProcessor->processCommand(command,m_data->m_serverStatus,&m_data->m_bulletStreamDataServerToClient[0],SHARED_MEMORY_MAX_STREAM_CHUNK_SIZE);
int timeout = 1024 * 1024 * 1024;
while ((!hasStatus) && (timeout-- > 0))
b3Clock clock;
double startTime = clock.getTimeInSeconds();
double timeOutInSeconds = 10;
while ((!hasStatus) && (clock.getTimeInSeconds()-startTime < timeOutInSeconds))
{
const SharedMemoryStatus* stat = processServerStatus();
if (stat)
@@ -308,8 +313,11 @@ bool PhysicsDirect::processVisualShapeData(const struct SharedMemoryCommand& org
{
bool hasStatus = m_data->m_commandProcessor->processCommand(command, m_data->m_serverStatus, &m_data->m_bulletStreamDataServerToClient[0], SHARED_MEMORY_MAX_STREAM_CHUNK_SIZE);
int timeout = 1024 * 1024 * 1024;
while ((!hasStatus) && (timeout-- > 0))
b3Clock clock;
double startTime = clock.getTimeInSeconds();
double timeOutInSeconds = 10;
while ((!hasStatus) && (clock.getTimeInSeconds()-startTime < timeOutInSeconds))
{
const SharedMemoryStatus* stat = processServerStatus();
if (stat)
@@ -359,8 +367,11 @@ bool PhysicsDirect::processOverlappingObjects(const struct SharedMemoryCommand&
{
bool hasStatus = m_data->m_commandProcessor->processCommand(command, m_data->m_serverStatus, &m_data->m_bulletStreamDataServerToClient[0], SHARED_MEMORY_MAX_STREAM_CHUNK_SIZE);
int timeout = 1024 * 1024 * 1024;
while ((!hasStatus) && (timeout-- > 0))
b3Clock clock;
double startTime = clock.getTimeInSeconds();
double timeOutInSeconds = 10;
while ((!hasStatus) && (clock.getTimeInSeconds()-startTime < timeOutInSeconds))
{
const SharedMemoryStatus* stat = processServerStatus();
if (stat)
@@ -414,8 +425,11 @@ bool PhysicsDirect::processContactPointData(const struct SharedMemoryCommand& or
{
bool hasStatus = m_data->m_commandProcessor->processCommand(command,m_data->m_serverStatus,&m_data->m_bulletStreamDataServerToClient[0],SHARED_MEMORY_MAX_STREAM_CHUNK_SIZE);
int timeout = 1024 * 1024 * 1024;
while ((!hasStatus) && (timeout-- > 0))
b3Clock clock;
double startTime = clock.getTimeInSeconds();
double timeOutInSeconds = 10;
while ((!hasStatus) && (clock.getTimeInSeconds()-startTime < timeOutInSeconds))
{
const SharedMemoryStatus* stat = processServerStatus();
if (stat)
@@ -475,8 +489,11 @@ bool PhysicsDirect::processCamera(const struct SharedMemoryCommand& orgCommand)
bool hasStatus = m_data->m_commandProcessor->processCommand(command,m_data->m_serverStatus,&m_data->m_bulletStreamDataServerToClient[0],SHARED_MEMORY_MAX_STREAM_CHUNK_SIZE);
int timeout = 1024 * 1024 * 1024;
while ((!hasStatus) && (timeout-- > 0))
b3Clock clock;
double startTime = clock.getTimeInSeconds();
double timeOutInSeconds = 10;
while ((!hasStatus) && (clock.getTimeInSeconds()-startTime < timeOutInSeconds))
{
const SharedMemoryStatus* stat = processServerStatus();
if (stat)
@@ -735,8 +752,11 @@ void PhysicsDirect::postProcessStatus(const struct SharedMemoryStatus& serverCmd
bool hasStatus = m_data->m_commandProcessor->processCommand(infoRequestCommand, infoStatus, &m_data->m_bulletStreamDataServerToClient[0], SHARED_MEMORY_MAX_STREAM_CHUNK_SIZE);
int timeout = 1024 * 1024 * 1024;
while ((!hasStatus) && (timeout-- > 0))
b3Clock clock;
double startTime = clock.getTimeInSeconds();
double timeOutInSeconds = 10;
while ((!hasStatus) && (clock.getTimeInSeconds()-startTime < timeOutInSeconds))
{
hasStatus = m_data->m_commandProcessor->receiveStatus(infoStatus, &m_data->m_bulletStreamDataServerToClient[0], SHARED_MEMORY_MAX_STREAM_CHUNK_SIZE);
}
@@ -759,8 +779,11 @@ void PhysicsDirect::postProcessStatus(const struct SharedMemoryStatus& serverCmd
bool hasStatus = m_data->m_commandProcessor->processCommand(infoRequestCommand, infoStatus, &m_data->m_bulletStreamDataServerToClient[0], SHARED_MEMORY_MAX_STREAM_CHUNK_SIZE);
int timeout = 1024 * 1024 * 1024;
while ((!hasStatus) && (timeout-- > 0))
b3Clock clock;
double startTime = clock.getTimeInSeconds();
double timeOutInSeconds = 10;
while ((!hasStatus) && (clock.getTimeInSeconds()-startTime < timeOutInSeconds))
{
hasStatus = m_data->m_commandProcessor->receiveStatus(infoStatus, &m_data->m_bulletStreamDataServerToClient[0], SHARED_MEMORY_MAX_STREAM_CHUNK_SIZE);
}

6
examples/SharedMemory/PhysicsServerExample.cpp
View File

@@ -1153,6 +1153,12 @@ public:
gCreateDefaultRobotAssets = true;
}
if (args.CheckCmdLineFlag("realtimesimulation"))
{
//gEnableRealTimeSimVR = true;
m_physicsServer.enableRealTimeSimulation(true);
}
if (args.CheckCmdLineFlag("norobotassets"))
{
gCreateDefaultRobotAssets = false;

2
examples/SharedMemory/SharedMemoryBlock.h
View File

@@ -1,9 +1,9 @@
#ifndef SHARED_MEMORY_BLOCK_H
#define SHARED_MEMORY_BLOCK_H
#define SHARED_MEMORY_MAGIC_NUMBER 64738
#define SHARED_MEMORY_MAX_COMMANDS 4
#include "SharedMemoryCommands.h"
struct SharedMemoryBlock

3
examples/SharedMemory/SharedMemoryPublic.h
View File

@@ -2,6 +2,9 @@
#define SHARED_MEMORY_PUBLIC_H
#define SHARED_MEMORY_KEY 12347
///increase the SHARED_MEMORY_MAGIC_NUMBER whenever incompatible changes are made in the structures
///my convention is year/month/day/rev
#define SHARED_MEMORY_MAGIC_NUMBER 201702220
enum EnumSharedMemoryClientCommand
{

100
examples/SharedMemory/tcp/main.cpp
View File

@@ -44,11 +44,8 @@ int main(int argc, char *argv[])
sm->setGuiHelper(&guiHelper);
int port = 6667;
if (parseArgs.GetCmdLineArgument("port",port))
{
printf("Using TCP port %d\n", port);
}
parseArgs.GetCmdLineArgument("port",port);
gVerboseNetworkMessagesServer = parseArgs.CheckCmdLineFlag("verbose");
#ifndef NO_SHARED_MEMORY
@@ -64,7 +61,9 @@ int main(int argc, char *argv[])
if (isPhysicsClientConnected)
{
printf("Starting TCP server using port %d\n", port);
CPassiveSocket socket;
CActiveSocket *pClient = NULL;
@@ -74,7 +73,7 @@ int main(int argc, char *argv[])
socket.Initialize();
socket.Listen("localhost", port);
socket.SetBlocking();
//socket.SetBlocking();
int curNumErr = 0;
@@ -89,7 +88,20 @@ int main(int argc, char *argv[])
int clientPort = socket.GetClientPort();
printf("connected from %s:%d\n", socket.GetClientAddr(),clientPort);
if (pClient->Receive(4))
{
int clientKey = *(int*)pClient->GetData();
if (clientKey==SHARED_MEMORY_MAGIC_NUMBER)
{
printf("Client version OK %d\n", clientKey);
} else
{
printf("Server version (%d) mismatches Client Version (%d)\n", SHARED_MEMORY_MAGIC_NUMBER,clientKey);
continue;
}
}
//----------------------------------------------------------------------
// Receive request from the client.
@@ -102,25 +114,27 @@ int main(int argc, char *argv[])
int maxLen = 4 + sizeof(SharedMemoryStatus)+SHARED_MEMORY_MAX_STREAM_CHUNK_SIZE;
//heuristic to detect disconnected clients
CSimpleSocket::CSocketError err = pClient->GetSocketError();
if (err != CSimpleSocket::SocketSuccess)
{
b3Clock::usleep(100);
curNumErr++;
if (curNumErr>100)
{
printf("TCP Connection error = %d, curNumErr = %d\n", (int)err, curNumErr);
break;
}
}
if (pClient->Receive(maxLen))
{
//heuristic to detect disconnected clients
CSimpleSocket::CSocketError err = pClient->GetSocketError();
if (err != CSimpleSocket::SocketSuccess || !pClient->IsSocketValid())
{
b3Clock::usleep(100);
curNumErr++;
if (curNumErr>100)
{
printf("TCP Connection error = %d, curNumErr = %d\n", (int)err, curNumErr);
break;
}
}
curNumErr = 0;
char* msg2 = (char*) pClient->GetData();
int numBytesRec2 = pClient->GetBytesReceived();
@@ -132,9 +146,26 @@ int main(int argc, char *argv[])
bytesReceived[curSize+i] = msg2[i];
}
if (bytesReceived.size() == 4 || bytesReceived.size()==sizeof(SharedMemoryCommand))
if (bytesReceived.size() >= 4)
{
int numBytesRec = bytesReceived.size();
if (numBytesRec>=10)
{
if (strncmp(&bytesReceived[0],"disconnect",10)==0)
{
printf("Disconnect request received\n");
bytesReceived.clear();
break;
}
if (strncmp(&bytesReceived[0],"terminateserver",10)==0)
{
printf("Terminate server request received\n");
exitRequested = true;
bytesReceived.clear();
break;
}
}
if (gVerboseNetworkMessagesServer)
{
@@ -143,15 +174,6 @@ int main(int argc, char *argv[])
receivedData = true;
if (strncmp(&bytesReceived[0],"stop",4)==0)
{
printf("Stop request received\n");
exitRequested = true;
bytesReceived.clear();
break;
}
SharedMemoryCommand cmd;
SharedMemoryCommand* cmdPtr = 0;
@@ -233,12 +255,15 @@ int main(int argc, char *argv[])
pClient->Send( &packetData[0], packetData.size() );
}
}
bytesReceived.clear();
}
else
{
printf("received packet with unknown contents\n");
//likely an incomplete packet, let's append more bytes
//printf("received packet with unknown contents\n");
}
bytesReceived.clear();
}
}
@@ -256,7 +281,10 @@ int main(int argc, char *argv[])
socket.Close();
socket.Shutdown(CSimpleSocket::Both);
}
} else
{
printf("Error: cannot connect to shared memory physics server.");
}
delete sm;

9
examples/pybullet/pybullet.c
View File

@@ -377,10 +377,11 @@ static PyObject* pybullet_connectPhysicsServer(PyObject* self, PyObject* args, P
statusHandle = b3SubmitClientCommandAndWaitStatus(sm, command);
statusType = b3GetStatusType(statusHandle);
#if 0
if (statusType != CMD_BODY_INFO_COMPLETED) {
PyErr_SetString(SpamError, "b3InitSyncBodyInfoCommand failed.");
return NULL;
}
if (statusType != CMD_BODY_INFO_COMPLETED)
{
PyErr_SetString(SpamError, "b3InitSyncBodyInfoCommand failed.");
return NULL;
}
#endif
}