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initial implementation of state logging.

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see examples/pybullet/logMinitaur.py for example. Other state logging will include general robot states and VR controllers state.
This commit is contained in:
Erwin Coumans
2017-02-17 14:25:53 -08:00
parent 2b27ab2463
commit cfd35840f0
9 changed files with 402 additions and 116 deletions
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59
examples/SharedMemory/PhysicsClientC_API.cpp
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@@ -2467,7 +2467,7 @@ int b3SetVRCameraTrackingObject(b3SharedMemoryCommandHandle commandHandle, int o
return 0;
}
b3SharedMemoryCommandHandle b3RobotLoggingCommandInit(b3PhysicsClientHandle physClient)
b3SharedMemoryCommandHandle b3StateLoggingCommandInit(b3PhysicsClientHandle physClient)
{
PhysicsClient* cl = (PhysicsClient*)physClient;
b3Assert(cl);
@@ -2475,33 +2475,72 @@ b3SharedMemoryCommandHandle b3RobotLoggingCommandInit(b3PhysicsClientHandle phys
struct SharedMemoryCommand* command = cl->getAvailableSharedMemoryCommand();
b3Assert(command);
command->m_type = CMD_ROBOT_LOGGING;
command->m_type = CMD_STATE_LOGGING;
command->m_updateFlags = 0;
command->m_stateLoggingArguments.m_numBodyUniqueIds = 0;
return (b3SharedMemoryCommandHandle)command;
}
int b3RobotLoggingStartMinitaurLog(b3SharedMemoryCommandHandle commandHandle, const char* fileName, int objectUniqueId)
int b3StateLoggingStart(b3SharedMemoryCommandHandle commandHandle, int loggingType, const char* fileName)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
b3Assert(command);
b3Assert(command->m_type == CMD_ROBOT_LOGGING);
if (command->m_type == CMD_ROBOT_LOGGING)
b3Assert(command->m_type == CMD_STATE_LOGGING);
if (command->m_type == CMD_STATE_LOGGING)
{
command->m_updateFlags |= ROBOT_LOGGING_START_MINITAUR_LOG;
command->m_updateFlags |= STATE_LOGGING_START_LOG;
int len = strlen(fileName);
if (len < MAX_FILENAME_LENGTH)
{
strcpy(command->m_stateLoggingArguments.m_fileName, fileName);
}
else
{
command->m_stateLoggingArguments.m_fileName[0] = 0;
}
command->m_stateLoggingArguments.m_logType = loggingType;
}
return 0;
}
int b3RobotLoggingStopMinitaurLog(b3SharedMemoryCommandHandle commandHandle)
int b3GetStatusLoggingUniqueId(b3SharedMemoryStatusHandle statusHandle)
{
const SharedMemoryStatus* status = (const SharedMemoryStatus* ) statusHandle;
b3Assert(status);
b3Assert(status->m_type == CMD_STATE_LOGGING_START_COMPLETED);
if (status && status->m_type == CMD_STATE_LOGGING_START_COMPLETED)
{
return status->m_stateLoggingResultArgs.m_loggingUniqueId;
}
return -1;
}
int b3StateLoggingAddLoggingObjectUniqueId(b3SharedMemoryCommandHandle commandHandle, int objectUniqueId)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
b3Assert(command);
b3Assert(command->m_type == CMD_ROBOT_LOGGING);
if (command->m_type == CMD_ROBOT_LOGGING)
b3Assert(command->m_type == CMD_STATE_LOGGING);
if (command->m_type == CMD_STATE_LOGGING)
{
command->m_updateFlags |= ROBOT_LOGGING_STOP_MINITAUR_LOG;
command->m_updateFlags |= STATE_LOGGING_FILTER_OBJECT_UNIQUE_ID;
if (command->m_stateLoggingArguments.m_numBodyUniqueIds < MAX_SDF_BODIES)
{
command->m_stateLoggingArguments.m_bodyUniqueIds[command->m_stateLoggingArguments.m_numBodyUniqueIds++] = objectUniqueId;
}
}
return 0;
}
int b3StateLoggingStop(b3SharedMemoryCommandHandle commandHandle, int loggingUid)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
b3Assert(command);
b3Assert(command->m_type == CMD_STATE_LOGGING);
if (command->m_type == CMD_STATE_LOGGING)
{
command->m_updateFlags |= STATE_LOGGING_STOP_LOG;
command->m_stateLoggingArguments.m_loggingUniqueId = loggingUid;
}
return 0;
}