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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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17
test/SharedMemory/test.c
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@@ -66,6 +66,7 @@ int main(int argc, char* argv[])
{
b3SharedMemoryStatusHandle statusHandle;
int statusType;
b3SharedMemoryCommandHandle command = b3LoadUrdfCommandInit(sm, urdfFileName);
//setting the initial position, orientation and other arguments are optional
@@ -74,6 +75,11 @@ int main(int argc, char* argv[])
startPosZ = 1;
ret = b3LoadUrdfCommandSetStartPosition(command, startPosX,startPosY,startPosZ);
statusHandle = b3SubmitClientCommandAndWaitStatus(sm, command);
statusType = b3GetStatusType(statusHandle);
if (statusType != CMD_URDF_LOADING_COMPLETED)
{
printf("Loading URDF failed, status type = %d\n",statusType);
}
bodyIndex = b3GetStatusBodyIndex(statusHandle);
}
@@ -169,7 +175,16 @@ int main(int argc, char* argv[])
///perform some simulation steps for testing
for ( i=0;i<100;i++)
{
b3SubmitClientCommandAndWaitStatus(sm, b3InitStepSimulationCommand(sm));
b3SharedMemoryStatusHandle statusHandle;
int statusType;
statusHandle = b3SubmitClientCommandAndWaitStatus(sm, b3InitStepSimulationCommand(sm));
statusType = b3GetStatusType(statusHandle);
if (statusType != CMD_STEP_FORWARD_SIMULATION_COMPLETED)
{
printf("Step Simulation failed, Unexpected status type = %d\n",statusType);
break;
}
}
{