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add App_PhysicsServerTCP and App_PhysicsServerSharedMemoryBridgeTCP

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(can be easier tunneled over SSH)
This commit is contained in:
Erwin Coumans
2017-02-20 14:43:01 -08:00
parent 55361e262e
commit bfcdb8c408
3 changed files with 366 additions and 0 deletions
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2
examples/SharedMemory/premake4.lua
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@@ -367,3 +367,5 @@ end
include "udp" include "udp"
include "tcp"

223
examples/SharedMemory/tcp/main.cpp Normal file
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@@ -0,0 +1,223 @@
#include "PassiveSocket.h" // Include header for active socket object definition
#include <stdio.h>
#include "../../CommonInterfaces/CommonGUIHelperInterface.h"
#include "Bullet3Common/b3CommandLineArgs.h"
#ifdef NO_SHARED_MEMORY
#include "PhysicsServerCommandProcessor.h"
typedef PhysicsServerCommandProcessor MyCommandProcessor;
#else
#include "SharedMemoryCommandProcessor.h"
typedef SharedMemoryCommandProcessor MyCommandProcessor;
#endif //NO_SHARED_MEMORY
#include "SharedMemoryCommands.h"
#include "Bullet3Common/b3AlignedObjectArray.h"
#include "PhysicsServerCommandProcessor.h"
#include "../Utils/b3Clock.h"
#define MAX_PACKET 4096
bool gVerboseNetworkMessagesServer = true;
void MySerializeInt(unsigned int sz, unsigned char* output)
{
unsigned int tmp = sz;
output[0] = tmp & 255;
tmp = tmp >> 8;
output[1] = tmp & 255;
tmp = tmp >> 8;
output[2] = tmp & 255;
tmp = tmp >> 8;
output[3] = tmp & 255;
}
int main(int argc, char *argv[])
{
b3CommandLineArgs parseArgs(argc,argv);
b3Clock clock;
double timeOutInSeconds = 10;
DummyGUIHelper guiHelper;
MyCommandProcessor* sm = new MyCommandProcessor;
sm->setGuiHelper(&guiHelper);
int port = 6667;
if (parseArgs.GetCmdLineArgument("port",port))
{
printf("Using TCP port %d\n", port);
}
gVerboseNetworkMessagesServer = parseArgs.CheckCmdLineFlag("verbose");
#ifndef NO_SHARED_MEMORY
int key = 0;
if (parseArgs.GetCmdLineArgument("sharedMemoryKey",key))
{
sm->setSharedMemoryKey(key);
}
#endif//NO_SHARED_MEMORY
bool isPhysicsClientConnected = sm->connect();
bool exitRequested = false;
if (isPhysicsClientConnected)
{
CPassiveSocket socket;
CActiveSocket *pClient = NULL;
//--------------------------------------------------------------------------
// Initialize our socket object
//--------------------------------------------------------------------------
socket.Initialize();
socket.Listen("localhost", port);
while (!exitRequested)
{
b3Clock::usleep(0);
if ((pClient = socket.Accept()) != NULL)
{
int clientPort = socket.GetClientPort();
printf("connected from %s:%d\n", socket.GetClientAddr(),clientPort);
//----------------------------------------------------------------------
// Receive request from the client.
//----------------------------------------------------------------------
while (1)
{
//printf("try receive\n");
bool receivedData = false;
if (pClient->Receive(MAX_PACKET))
{
char* msg = (char*) pClient->GetData();
int numBytesRec = pClient->GetBytesReceived();
if (gVerboseNetworkMessagesServer)
{
printf("received message length [%d]\n",numBytesRec);
}
receivedData = true;
if (strncmp(msg,"stop",4)==0)
{
printf("Stop request received\n");
exitRequested = true;
break;
}
SharedMemoryCommand cmd;
SharedMemoryCommand* cmdPtr = 0;
//performance test
if (numBytesRec == sizeof(int))
{
cmdPtr = &cmd;
cmd.m_type = *(int*)pClient->GetData();
}
if (numBytesRec == sizeof(SharedMemoryCommand))
{
cmdPtr = (SharedMemoryCommand*)pClient->GetData();
}
if (cmdPtr)
{
SharedMemoryStatus serverStatus;
b3AlignedObjectArray<char> buffer;
buffer.resize(SHARED_MEMORY_MAX_STREAM_CHUNK_SIZE);
bool hasStatus = sm->processCommand(*cmdPtr,serverStatus, &buffer[0], buffer.size());
double startTimeSeconds = clock.getTimeInSeconds();
double curTimeSeconds = clock.getTimeInSeconds();
while ((!hasStatus) && ((curTimeSeconds - startTimeSeconds) <timeOutInSeconds))
{
hasStatus = sm->receiveStatus(serverStatus, &buffer[0], buffer.size());
curTimeSeconds = clock.getTimeInSeconds();
}
if (gVerboseNetworkMessagesServer)
{
printf("buffer.size = %d\n", buffer.size());
printf("serverStatus.m_numDataStreamBytes = %d\n", serverStatus.m_numDataStreamBytes);
}
if (hasStatus)
{
b3AlignedObjectArray<unsigned char> packetData;
unsigned char* statBytes = (unsigned char*)&serverStatus;
if (cmdPtr->m_type == CMD_STEP_FORWARD_SIMULATION)
{
packetData.resize(4 + sizeof(int));
int sz = packetData.size();
int curPos = 0;
MySerializeInt(sz, &packetData[curPos]);
curPos += 4;
for (int i = 0; i < sizeof(int); i++)
{
packetData[i + curPos] = statBytes[i];
}
curPos += sizeof(int);
pClient->Send( &packetData[0], packetData.size() );
}
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++)
{
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() );
}
}
}
else
{
printf("received packet with unknown contents\n");
}
}
if (!receivedData)
{
printf("Didn't receive data.\n");
break;
}
}
printf("Disconnecting client.\n");
pClient->Close();
delete pClient;
}
}
socket.Close();
socket.Shutdown(CSimpleSocket::Both);
}
delete sm;
return 0;
}

141
examples/SharedMemory/tcp/premake4.lua Normal file
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project ("App_PhysicsServerSharedMemoryBridgeTCP")
language "C++"
kind "ConsoleApp"
includedirs {"../../ThirdPartyLibs/clsocket/src","../../../src",".."}
if os.is("Windows") then
defines { "WIN32" }
links {"Ws2_32","Winmm"}
end
if os.is("Linux") then
defines {"_LINUX"}
end
if os.is("MacOSX") then
defines {"_DARWIN"}
end
links {
"clsocket",
"BulletFileLoader",
"Bullet3Common",
"LinearMath"
}
files {
"main.cpp",
"../PhysicsClient.cpp",
"../PhysicsClient.h",
"../PhysicsDirect.cpp",
"../PhysicsDirect.h",
"../PhysicsCommandProcessorInterface.h",
"../SharedMemoryCommandProcessor.cpp",
"../SharedMemoryCommandProcessor.h",
"../PhysicsClientC_API.cpp",
"../PhysicsClientC_API.h",
"../Win32SharedMemory.cpp",
"../Win32SharedMemory.h",
"../PosixSharedMemory.cpp",
"../PosixSharedMemory.h",
"../../Utils/b3ResourcePath.cpp",
"../../Utils/b3ResourcePath.h",
"../../Utils/b3Clock.cpp",
"../../Utils/b3Clock.h",
}
project "App_PhysicsServerTCP"
if _OPTIONS["ios"] then
kind "WindowedApp"
else
kind "ConsoleApp"
end
defines { "NO_SHARED_MEMORY" }
includedirs {"..","../../../src", "../../ThirdPartyLibs","../../ThirdPartyLibs/clsocket/src"}
links {
"clsocket","Bullet3Common","BulletInverseDynamicsUtils", "BulletInverseDynamics", "BulletDynamics","BulletCollision", "LinearMath", "BussIK"
}
if os.is("Windows") then
defines { "WIN32" }
links {"Ws2_32","Winmm"}
end
if os.is("Linux") then
defines {"_LINUX"}
end
if os.is("MacOSX") then
defines {"_DARWIN"}
end
language "C++"
myfiles =
{
"../IKTrajectoryHelper.cpp",
"../IKTrajectoryHelper.h",
"../SharedMemoryCommands.h",
"../SharedMemoryPublic.h",
"../PhysicsServerCommandProcessor.cpp",
"../PhysicsServerCommandProcessor.h",
"../TinyRendererVisualShapeConverter.cpp",
"../TinyRendererVisualShapeConverter.h",
"../../TinyRenderer/geometry.cpp",
"../../TinyRenderer/model.cpp",
"../../TinyRenderer/tgaimage.cpp",
"../../TinyRenderer/our_gl.cpp",
"../../TinyRenderer/TinyRenderer.cpp",
"../../OpenGLWindow/SimpleCamera.cpp",
"../../OpenGLWindow/SimpleCamera.h",
"../../Importers/ImportURDFDemo/ConvertRigidBodies2MultiBody.h",
"../../Importers/ImportURDFDemo/MultiBodyCreationInterface.h",
"../../Importers/ImportURDFDemo/MyMultiBodyCreator.cpp",
"../../Importers/ImportURDFDemo/MyMultiBodyCreator.h",
"../../Importers/ImportMJCFDemo/BulletMJCFImporter.cpp",
"../../Importers/ImportMJCFDemo/BulletMJCFImporter.h",
"../../Importers/ImportURDFDemo/BulletUrdfImporter.cpp",
"../../Importers/ImportURDFDemo/BulletUrdfImporter.h",
"../../Importers/ImportURDFDemo/UrdfParser.cpp",
"../../Importers/ImportURDFDemo/urdfStringSplit.cpp",
"../../Importers/ImportURDFDemo/UrdfParser.cpp",
"../../Importers/ImportURDFDemo/UrdfParser.h",
"../../Importers/ImportURDFDemo/URDF2Bullet.cpp",
"../../Importers/ImportURDFDemo/URDF2Bullet.h",
"../../Utils/b3ResourcePath.cpp",
"../../Utils/b3Clock.cpp",
"../../Utils/RobotLoggingUtil.cpp",
"../../Utils/RobotLoggingUtil.h",
"../../../Extras/Serialize/BulletWorldImporter/*",
"../../../Extras/Serialize/BulletFileLoader/*",
"../../Importers/ImportURDFDemo/URDFImporterInterface.h",
"../../Importers/ImportURDFDemo/URDFJointTypes.h",
"../../Importers/ImportObjDemo/Wavefront2GLInstanceGraphicsShape.cpp",
"../../Importers/ImportObjDemo/LoadMeshFromObj.cpp",
"../../Importers/ImportSTLDemo/ImportSTLSetup.h",
"../../Importers/ImportSTLDemo/LoadMeshFromSTL.h",
"../../Importers/ImportColladaDemo/LoadMeshFromCollada.cpp",
"../../Importers/ImportColladaDemo/ColladaGraphicsInstance.h",
"../../ThirdPartyLibs/Wavefront/tiny_obj_loader.cpp",
"../../ThirdPartyLibs/tinyxml/tinystr.cpp",
"../../ThirdPartyLibs/tinyxml/tinyxml.cpp",
"../../ThirdPartyLibs/tinyxml/tinyxmlerror.cpp",
"../../ThirdPartyLibs/tinyxml/tinyxmlparser.cpp",
"../../Importers/ImportMeshUtility/b3ImportMeshUtility.cpp",
"../../ThirdPartyLibs/stb_image/stb_image.cpp",
}
files {
myfiles,
"main.cpp",
}