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])
30 lines
783 B
C
30 lines
783 B
C
#ifndef GRPC_PLUGIN_H
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#define GRPC_PLUGIN_H
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#include "../b3PluginAPI.h"
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#ifdef __cplusplus
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extern "C"
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{
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#endif
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//the following 3 APIs are required
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B3_SHARED_API int initPlugin_grpcPlugin(struct b3PluginContext* context);
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B3_SHARED_API void exitPlugin_grpcPlugin(struct b3PluginContext* context);
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B3_SHARED_API int executePluginCommand_grpcPlugin(struct b3PluginContext* context, const struct b3PluginArguments* arguments);
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//all the APIs below are optional
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B3_SHARED_API int preTickPluginCallback_grpcPlugin(struct b3PluginContext* context);
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B3_SHARED_API int postTickPluginCallback_grpcPlugin(struct b3PluginContext* context);
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B3_SHARED_API int processClientCommands_grpcPlugin(struct b3PluginContext* context);
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#ifdef __cplusplus
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};
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#endif
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#endif//#define GRPC_PLUGIN_H
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