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

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

build_cmake_pybullet_double.sh

@@ -2,7 +2,7 @@
 rm CMakeCache.txt
 mkdir build_cmake
 cd build_cmake
-cmake -DBUILD_PYBULLET=ON -DBUILD_PYBULLET_NUMPY=OFF -DUSE_DOUBLE_PRECISION=ON -DCMAKE_BUILD_TYPE=Release -G Xcode ..
+cmake -DBUILD_PYBULLET=ON -DBUILD_PYBULLET_NUMPY=OFF -DUSE_DOUBLE_PRECISION=ON -DCMAKE_BUILD_TYPE=Release ..
 make -j12
 cd examples
 cd pybullet

examples/SharedMemory/PhysicsClientC_API.cpp

@@ -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);
 		}

examples/SharedMemory/PhysicsClientSharedMemory.cpp

@@ -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();
 		

examples/SharedMemory/PhysicsClientTCP.cpp

@@ -64,6 +64,13 @@ 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;
 }

examples/SharedMemory/PhysicsClientUDP.cpp

@@ -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);

examples/SharedMemory/PhysicsDirect.cpp

@@ -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;
+			b3Clock clock;
-			while ((!hasStatus) && (timeout-- > 0))
+			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;
+		b3Clock clock;
-		while ((!hasStatus) && (timeout-- > 0))
+		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;
+		b3Clock clock;
-		while ((!hasStatus) && (timeout-- > 0))
+		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;
+		b3Clock clock;
-		while ((!hasStatus) && (timeout-- > 0))
+		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;
+		b3Clock clock;
-		while ((!hasStatus) && (timeout-- > 0))
+		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;
+		b3Clock clock;
-		while ((!hasStatus) && (timeout-- > 0))
+		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;
+			b3Clock clock;
-			while ((!hasStatus) && (timeout-- > 0))
+			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;
+			b3Clock clock;
-			while ((!hasStatus) && (timeout-- > 0))
+			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);
 			}

examples/SharedMemory/PhysicsServerExample.cpp

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

examples/SharedMemory/SharedMemoryBlock.h

@@ -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

examples/SharedMemory/SharedMemoryPublic.h

@@ -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
 {

examples/SharedMemory/tcp/main.cpp

@@ -44,10 +44,7 @@ int main(int argc, char *argv[])
     sm->setGuiHelper(&guiHelper);
     
     int port = 6667;
-    if (parseArgs.GetCmdLineArgument("port",port))
+    parseArgs.GetCmdLineArgument("port",port);
-    {
-        printf("Using TCP port %d\n", port);
-    }
 	
     gVerboseNetworkMessagesServer = parseArgs.CheckCmdLineFlag("verbose");
     
@@ -65,6 +62,8 @@ 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;
         
@@ -90,6 +89,19 @@ 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.
@@ -102,9 +114,14 @@ int main(int argc, char *argv[])
 					int maxLen = 4 + sizeof(SharedMemoryStatus)+SHARED_MEMORY_MAX_STREAM_CHUNK_SIZE;
        
 
+                    
+                    if (pClient->Receive(maxLen))
+                    {
+
 						//heuristic to detect disconnected clients
 						CSimpleSocket::CSocketError err = pClient->GetSocketError();
-                    if (err != CSimpleSocket::SocketSuccess)
+					
+						if (err != CSimpleSocket::SocketSuccess || !pClient->IsSocketValid())
 						{
 							b3Clock::usleep(100);
                         
@@ -118,9 +135,6 @@ int main(int argc, char *argv[])
 							}
 						}
 
-                    if (pClient->Receive(maxLen))
-                    {
-					
                         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();
 
 						}
                     }
@@ -256,6 +281,9 @@ int main(int argc, char *argv[])
         
         socket.Close();
         socket.Shutdown(CSimpleSocket::Both);
+    } else
+	{
+		printf("Error: cannot connect to shared memory physics server.");
 	}
     
     delete sm;

examples/pybullet/pybullet.c

@@ -377,7 +377,8 @@ static PyObject* pybullet_connectPhysicsServer(PyObject* self, PyObject* args, P
 		  statusHandle = b3SubmitClientCommandAndWaitStatus(sm, command);
 			statusType = b3GetStatusType(statusHandle);
 #if 0
-			if (statusType != CMD_BODY_INFO_COMPLETED) {
+			if (statusType != CMD_BODY_INFO_COMPLETED) 
+			{
 				PyErr_SetString(SpamError, "b3InitSyncBodyInfoCommand failed.");
 				return NULL;
 			}

test/SharedMemory/CMakeLists.txt

@@ -56,6 +56,8 @@ ENDIF()
                         ../../examples/SharedMemory/PosixSharedMemory.h
                         ../../examples/Utils/b3ResourcePath.cpp
                         ../../examples/Utils/b3ResourcePath.h
+                        ../../examples/Utils/b3Clock.cpp
+                        ../../examples/Utils/b3Clock.h
 						../../examples/Utils/RobotLoggingUtil.cpp
                         ../../examples/Utils/RobotLoggingUtil.h
 					    ../../examples/SharedMemory/TinyRendererVisualShapeConverter.cpp

test/SharedMemory/premake4.lua

@@ -25,6 +25,8 @@ project ("Test_SharedMemoryPhysicsClient")
 			"../../examples/SharedMemory/Win32SharedMemory.h",
 			"../../examples/SharedMemory/PosixSharedMemory.cpp",
 			"../../examples/SharedMemory/PosixSharedMemory.h",
+			"../../examples/Utils/b3Clock.cpp",
+			"../../examples/Utils/b3Clock.h",
 			"../../examples/Utils/b3ResourcePath.cpp",
 			"../../examples/Utils/b3ResourcePath.h",
 		}
@@ -200,6 +202,8 @@ project ("Test_PhysicsServerLoopBack")
 			"../../examples/Utils/b3ResourcePath.h",
 			"../../examples/Utils/RobotLoggingUtil.cpp",
 			"../../examples/Utils/RobotLoggingUtil.h",
+			"../../examples/Utils/b3Clock.cpp",
+			"../../examples/Utils/b3Clock.h",
 			"../../examples/ThirdPartyLibs/tinyxml/tinystr.cpp",
 			"../../examples/ThirdPartyLibs/tinyxml/tinyxml.cpp",
 			"../../examples/ThirdPartyLibs/tinyxml/tinyxmlerror.cpp",
@@ -276,6 +280,8 @@ project ("Test_PhysicsServerLoopBack")
 			"../../examples/Utils/b3ResourcePath.h",
 			"../../examples/Utils/RobotLoggingUtil.cpp",
 			"../../examples/Utils/RobotLoggingUtil.h",
+			"../../examples/Utils/b3Clock.cpp",
+			"../../examples/Utils/b3Clock.h",
 			"../../examples/ThirdPartyLibs/tinyxml/tinystr.cpp",
 			"../../examples/ThirdPartyLibs/tinyxml/tinyxml.cpp",
 			"../../examples/ThirdPartyLibs/tinyxml/tinyxmlerror.cpp",