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Allow InProcessExampleBrowser to use a malloc allocated memory block, instead of system shared memory.

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Make shared memory client/server a bit more robust, in case the server is terminated early.
This commit is contained in:
erwincoumans
2016-03-10 14:36:46 -08:00
parent 40a9b8cea0
commit efbb1edecc
19 changed files with 186 additions and 23 deletions
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35
examples/SharedMemory/PhysicsClientSharedMemory.cpp
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@@ -23,6 +23,7 @@ struct BodyJointInfoCache
struct PhysicsClientSharedMemoryInternalData {
SharedMemoryInterface* m_sharedMemory;
bool m_ownsSharedMemory;
SharedMemoryBlock* m_testBlock1;
btHashMap<btHashInt,BodyJointInfoCache*> m_bodyJointMap;
@@ -43,6 +44,7 @@ struct PhysicsClientSharedMemoryInternalData {
PhysicsClientSharedMemoryInternalData()
: m_sharedMemory(0),
m_ownsSharedMemory(false),
m_testBlock1(0),
m_counter(0),
m_serverLoadUrdfOK(false),
@@ -95,23 +97,40 @@ PhysicsClientSharedMemory::PhysicsClientSharedMemory()
#else
m_data->m_sharedMemory = new PosixSharedMemory();
#endif
m_data->m_ownsSharedMemory = true;
}
PhysicsClientSharedMemory::~PhysicsClientSharedMemory() {
if (m_data->m_isConnected) {
disconnectSharedMemory();
}
delete m_data->m_sharedMemory;
if (m_data->m_ownsSharedMemory)
{
delete m_data->m_sharedMemory;
}
delete m_data;
}
void PhysicsClientSharedMemory::setSharedMemoryKey(int key) { m_data->m_sharedMemoryKey = key; }
void PhysicsClientSharedMemory::setSharedMemoryInterface(class SharedMemoryInterface* sharedMem)
{
if (m_data->m_sharedMemory && m_data->m_ownsSharedMemory)
{
delete m_data->m_sharedMemory;
}
m_data->m_ownsSharedMemory = false;
m_data->m_sharedMemory = sharedMem;
}
void PhysicsClientSharedMemory::disconnectSharedMemory() {
if (m_data->m_isConnected) {
if (m_data->m_isConnected && m_data->m_sharedMemory) {
m_data->m_sharedMemory->releaseSharedMemory(m_data->m_sharedMemoryKey, SHARED_MEMORY_SIZE);
m_data->m_isConnected = false;
}
m_data->m_isConnected = false;
}
bool PhysicsClientSharedMemory::isConnected() const { return m_data->m_isConnected; }
@@ -146,13 +165,20 @@ const SharedMemoryStatus* PhysicsClientSharedMemory::processServerStatus() {
SharedMemoryStatus* stat = 0;
if (!m_data->m_testBlock1) {
return 0;
m_data->m_lastServerStatus.m_type = CMD_SHARED_MEMORY_NOT_INITIALIZED;
return &m_data->m_lastServerStatus;
}
if (!m_data->m_waitingForServer) {
return 0;
}
if (m_data->m_testBlock1->m_magicId != SHARED_MEMORY_MAGIC_NUMBER)
{
m_data->m_lastServerStatus.m_type = CMD_SHARED_MEMORY_NOT_INITIALIZED;
return &m_data->m_lastServerStatus;
}
if (m_data->m_testBlock1->m_numServerCommands >
m_data->m_testBlock1->m_numProcessedServerCommands) {
btAssert(m_data->m_testBlock1->m_numServerCommands ==
@@ -446,7 +472,6 @@ bool PhysicsClientSharedMemory::submitClientCommand(const SharedMemoryCommand& c
/// at the moment we allow a maximum of 1 outstanding command, so we check for this
// once the server processed the command and returns a status, we clear the flag
// "m_data->m_waitingForServer" and allow submitting the next command
btAssert(!m_data->m_waitingForServer);
if (!m_data->m_waitingForServer) {
if (&m_data->m_testBlock1->m_clientCommands[0] != &command) {