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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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100
examples/SharedMemory/tcp/main.cpp
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@@ -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;