0efc67841d
add grpcPlugin, it can work in GUI, SHARED_MEMORY_SERVER, DIRECT and other modes.
example script to start server from pybullet:
import pybullet as p
p.connect(p.GUI)
#if statically linked plugin
id = p.loadPlugin("grpcPlugin")
#dynamics loading the plugin
#id = p.loadPlugin("E:/develop/bullet3/bin/pybullet_grpcPlugin_vs2010_x64_debug.dll", postFix="_grpcPlugin")
#start the GRPC server at hostname, port
if (id>=0):
p.executePluginCommand(id, "localhost:1234")
Only in DIRECT mode, since there is no 'ping' you need to call to handle RCPs:
numRPC = 10
while (1):
p.executePluginCommand(id, intArgs=[numRPC])
60 lines
2.5 KiB
C++
60 lines
2.5 KiB
C++
// Generated by the gRPC C++ plugin.
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// If you make any local change, they will be lost.
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// source: pybullet.proto
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#include "pybullet.pb.h"
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#include "pybullet.grpc.pb.h"
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#include <grpc++/impl/codegen/async_stream.h>
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#include <grpc++/impl/codegen/async_unary_call.h>
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#include <grpc++/impl/codegen/channel_interface.h>
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#include <grpc++/impl/codegen/client_unary_call.h>
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#include <grpc++/impl/codegen/method_handler_impl.h>
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#include <grpc++/impl/codegen/rpc_service_method.h>
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#include <grpc++/impl/codegen/service_type.h>
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#include <grpc++/impl/codegen/sync_stream.h>
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namespace pybullet_grpc {
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static const char* PyBulletAPI_method_names[] = {
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"/pybullet_grpc.PyBulletAPI/SubmitCommand",
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};
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std::unique_ptr< PyBulletAPI::Stub> PyBulletAPI::NewStub(const std::shared_ptr< ::grpc::ChannelInterface>& channel, const ::grpc::StubOptions& options) {
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std::unique_ptr< PyBulletAPI::Stub> stub(new PyBulletAPI::Stub(channel));
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return stub;
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}
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PyBulletAPI::Stub::Stub(const std::shared_ptr< ::grpc::ChannelInterface>& channel)
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: channel_(channel), rpcmethod_SubmitCommand_(PyBulletAPI_method_names[0], ::grpc::RpcMethod::NORMAL_RPC, channel)
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{}
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::grpc::Status PyBulletAPI::Stub::SubmitCommand(::grpc::ClientContext* context, const ::pybullet_grpc::PyBulletCommand& request, ::pybullet_grpc::PyBulletStatus* response) {
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return ::grpc::BlockingUnaryCall(channel_.get(), rpcmethod_SubmitCommand_, context, request, response);
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}
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::grpc::ClientAsyncResponseReader< ::pybullet_grpc::PyBulletStatus>* PyBulletAPI::Stub::AsyncSubmitCommandRaw(::grpc::ClientContext* context, const ::pybullet_grpc::PyBulletCommand& request, ::grpc::CompletionQueue* cq) {
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return new ::grpc::ClientAsyncResponseReader< ::pybullet_grpc::PyBulletStatus>(channel_.get(), cq, rpcmethod_SubmitCommand_, context, request);
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}
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PyBulletAPI::Service::Service() {
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AddMethod(new ::grpc::RpcServiceMethod(
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PyBulletAPI_method_names[0],
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::grpc::RpcMethod::NORMAL_RPC,
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new ::grpc::RpcMethodHandler< PyBulletAPI::Service, ::pybullet_grpc::PyBulletCommand, ::pybullet_grpc::PyBulletStatus>(
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std::mem_fn(&PyBulletAPI::Service::SubmitCommand), this)));
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}
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PyBulletAPI::Service::~Service() {
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}
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::grpc::Status PyBulletAPI::Service::SubmitCommand(::grpc::ServerContext* context, const ::pybullet_grpc::PyBulletCommand* request, ::pybullet_grpc::PyBulletStatus* response) {
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(void) context;
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(void) request;
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(void) response;
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return ::grpc::Status(::grpc::StatusCode::UNIMPLEMENTED, "");
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}
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} // namespace pybullet_grpc
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