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PyBullet: TCP connection, optimized getVREvents to allow faster Windows -> Linux Vive tracking state communication.

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This commit is contained in:
Erwin Coumans
2018-06-27 23:43:42 -07:00
parent ac59886960
commit bfc85ff1fd
2 changed files with 57 additions and 19 deletions
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13
examples/SharedMemory/PhysicsClientTCP.cpp
View File

@@ -181,8 +181,17 @@ bool TcpNetworkedPhysicsProcessor::processCommand(const struct SharedMemoryComma
}
else
{
sz = sizeof(SharedMemoryCommand);
data = (unsigned char*)&clientCmd;
if (clientCmd.m_type == CMD_REQUEST_VR_EVENTS_DATA)
{
sz = 3 * sizeof(int) + sizeof(smUint64_t) + 16;
data = (unsigned char*)&clientCmd;
}
else
{
sz = sizeof(SharedMemoryCommand);
data = (unsigned char*)&clientCmd;
}
}
m_data->m_tcpSocket.Send((const uint8 *)data,sz);

63
examples/SharedMemory/tcp/main.cpp
View File

@@ -184,11 +184,16 @@ int main(int argc, char *argv[])
cmdPtr = &cmd;
cmd.m_type = *(int*)&bytesReceived[0];
}
if (numBytesRec == sizeof(SharedMemoryCommand))
{
cmdPtr = (SharedMemoryCommand*)&bytesReceived[0];
}
else
{
cmdPtr = (SharedMemoryCommand*)&bytesReceived[0];
}
if (cmdPtr)
{
SharedMemoryStatus serverStatus;
@@ -207,7 +212,7 @@ int main(int argc, char *argv[])
}
if (gVerboseNetworkMessagesServer)
{
printf("buffer.size = %d\n", buffer.size());
//printf("buffer.size = %d\n", buffer.size());
printf("serverStatus.m_numDataStreamBytes = %d\n", serverStatus.m_numDataStreamBytes);
}
if (hasStatus)
@@ -234,25 +239,49 @@ int main(int argc, char *argv[])
}
else
{
//create packetData with [int packetSizeInBytes, status, streamBytes)
packetData.resize(4 + sizeof(SharedMemoryStatus) + serverStatus.m_numDataStreamBytes);
int sz = packetData.size();
int curPos = 0;
MySerializeInt(sz, &packetData[curPos]);
curPos += 4;
for (int i = 0; i < sizeof(SharedMemoryStatus); i++)
if (cmdPtr->m_type == CMD_REQUEST_VR_EVENTS_DATA)
{
packetData[i + curPos] = statBytes[i];
int headerSize = 16+5 * sizeof(int) + sizeof(smUint64_t) + sizeof(char*) + sizeof(b3VRControllerEvent)*serverStatus.m_sendVREvents.m_numVRControllerEvents;
packetData.resize(4 + headerSize);
int sz = packetData.size();
int curPos = 0;
MySerializeInt(sz, &packetData[curPos]);
curPos += 4;
for (int i = 0; i < headerSize; i++)
{
packetData[i + curPos] = statBytes[i];
}
curPos += headerSize;
pClient->Send(&packetData[0], packetData.size());
}
curPos += sizeof(SharedMemoryStatus);
for (int i = 0; i < serverStatus.m_numDataStreamBytes; i++)
else
{
packetData[i + curPos] = buffer[i];
//create packetData with [int packetSizeInBytes, status, streamBytes)
packetData.resize(4 + sizeof(SharedMemoryStatus) + serverStatus.m_numDataStreamBytes);
int sz = packetData.size();
int curPos = 0;
if (gVerboseNetworkMessagesServer)
{
//printf("buffer.size = %d\n", buffer.size());
printf("serverStatus packed size = %d\n", sz);
}
MySerializeInt(sz, &packetData[curPos]);
curPos += 4;
for (int i = 0; i < sizeof(SharedMemoryStatus); i++)
{
packetData[i + curPos] = statBytes[i];
}
curPos += sizeof(SharedMemoryStatus);
for (int i = 0; i < serverStatus.m_numDataStreamBytes; i++)
{
packetData[i + curPos] = buffer[i];
}
pClient->Send(&packetData[0], packetData.size());
}
pClient->Send( &packetData[0], packetData.size() );
}
}