75 lines
2.7 KiB
C++
75 lines
2.7 KiB
C++
#ifndef SHARED_MEMORY_INTERFACE_H
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#define SHARED_MEMORY_INTERFACE_H
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#define SHARED_MEMORY_KEY 12347
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#define SHARED_MEMORY_MAGIC_NUMBER 64738
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#define SHARED_MEMORY_MAX_COMMANDS 64
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#define SHARED_MEMORY_MAX_STREAM_CHUNK_SIZE (256*1024)
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#include "SharedMemoryCommands.h"
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struct SharedMemoryExampleData
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{
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int m_magicId;
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SharedMemoryCommand m_clientCommands[SHARED_MEMORY_MAX_COMMANDS];
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SharedMemoryCommand m_serverCommands[SHARED_MEMORY_MAX_COMMANDS];
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int m_numClientCommands;
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int m_numProcessedClientCommands;
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int m_numServerCommands;
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int m_numProcessedServerCommands;
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//TODO: it is better to move this single desired/actual state (m_desiredStateQ, m_actualStateQ etc) into the command,
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//so we can deal with multiple bodies/robots
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//desired state is only written by the client, read-only access by server is expected
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double m_desiredStateQ[MAX_DEGREE_OF_FREEDOM];
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double m_desiredStateQdot[MAX_DEGREE_OF_FREEDOM];
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//m_desiredStateForceTorque is either the actual applied force/torque (in CONTROL_MODE_TORQUE) or
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//or m_desiredStateForceTorque is the maximum applied force/torque for the motor/constraint to reach the desired velocity in CONTROL_MODE_VELOCITY mode
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double m_desiredStateForceTorque[MAX_DEGREE_OF_FREEDOM];
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//actual state is only written by the server, read-only access by client is expected
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double m_actualStateQ[MAX_DEGREE_OF_FREEDOM];
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double m_actualStateQdot[MAX_DEGREE_OF_FREEDOM];
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double m_actualStateSensors[MAX_NUM_SENSORS];//these are force sensors and IMU information
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//m_bulletStreamDataClientToServer is a way for the client to create collision shapes, rigid bodies and constraints
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//the Bullet data structures are more general purpose than the capabilities of a URDF file.
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char m_bulletStreamDataClientToServer[SHARED_MEMORY_MAX_STREAM_CHUNK_SIZE];
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//m_bulletStreamDataServerToClient is used to send (debug) data from server to client, for
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//example to provide all details of a multibody including joint/link names, after loading a URDF file.
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char m_bulletStreamDataServerToClient[SHARED_MEMORY_MAX_STREAM_CHUNK_SIZE];
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};
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inline void InitSharedMemoryExampleData(SharedMemoryExampleData* sharedMemoryBlock)
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{
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sharedMemoryBlock->m_numClientCommands = 0;
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sharedMemoryBlock->m_numServerCommands = 0;
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sharedMemoryBlock->m_numProcessedClientCommands=0;
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sharedMemoryBlock->m_numProcessedServerCommands=0;
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sharedMemoryBlock->m_magicId = SHARED_MEMORY_MAGIC_NUMBER;
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}
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#define SHARED_MEMORY_SIZE sizeof(SharedMemoryExampleData)
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class SharedMemoryInterface
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{
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public:
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virtual ~SharedMemoryInterface()
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{
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}
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virtual void* allocateSharedMemory(int key, int size, bool allowCreation) =0;
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virtual void releaseSharedMemory(int key, int size) =0;
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};
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#endif
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