118 lines
2.3 KiB
C
118 lines
2.3 KiB
C
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#ifndef SHARED_MEMORY_COMMANDS_H
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#define SHARED_MEMORY_COMMANDS_H
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//this is a very experimental draft of commands. We will iterate on this API (commands, arguments etc)
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enum SharedMemoryServerCommand
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{
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CMD_URDF_LOADING_COMPLETED,
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CMD_URDF_LOADING_FAILED,
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CMD_BULLET_DATA_STREAM_RECEIVED_COMPLETED,
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CMD_BULLET_DATA_STREAM_RECEIVED_FAILED,
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CMD_BOX_COLLISION_SHAPE_CREATION_COMPLETED,
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CMD_RIGID_BODY_CREATION_COMPLETED,
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CMD_SET_JOINT_FEEDBACK_COMPLETED,
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CMD_ACTUAL_STATE_UPDATE_COMPLETED,
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CMD_DESIRED_STATE_RECEIVED_COMPLETED,
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CMD_STEP_FORWARD_SIMULATION_COMPLETED,
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CMD_MAX_SERVER_COMMANDS
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};
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enum SharedMemoryClientCommand
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{
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CMD_LOAD_URDF,
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CMD_SEND_BULLET_DATA_STREAM,
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CMD_CREATE_BOX_COLLISION_SHAPE,
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CMD_DELETE_BOX_COLLISION_SHAPE,
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CMD_CREATE_RIGID_BODY,
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CMD_DELETE_RIGID_BODY,
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CMD_SET_JOINT_FEEDBACK,///enable or disable joint feedback
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CMD_SEND_DESIRED_STATE,
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CMD_REQUEST_ACTUAL_STATE,
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CMD_STEP_FORWARD_SIMULATION, //includes CMD_REQUEST_STATE
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CMD_SHUTDOWN,
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CMD_MAX_CLIENT_COMMANDS
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};
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#define SHARED_MEMORY_SERVER_TEST_C
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#define MAX_DEGREE_OF_FREEDOM 1024
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#define MAX_NUM_SENSORS 1024
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#define MAX_URDF_FILENAME_LENGTH 1024
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struct UrdfArgs
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{
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char m_urdfFileName[MAX_URDF_FILENAME_LENGTH];
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bool m_useMultiBody;
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bool m_useFixedBase;
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};
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struct BulletDataStreamArgs
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{
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int m_streamChunkLength;
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};
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struct SetJointFeedbackArgs
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{
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int m_bodyUniqueId;
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int m_linkId;
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bool m_isEnabled;
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};
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struct SendDesiredStateArgs
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{
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int m_bodyUniqueId;
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};
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struct RequestActualStateArgs
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{
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int m_bodyUniqueId;
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};
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struct CreateBoxShapeArgs
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{
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double m_halfExtents[3];
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};
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struct CreateRigidBodyArgs
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{
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int m_shapeId;
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double m_initialPosition[3];
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double m_initialOrientation[3];
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};
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struct SendActualStateArgs
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{
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int m_bodyUniqueId;
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int m_numDegreeOfFreedomQ;
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int m_numDegreeOfFreedomU;
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};
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struct StepSimulationArgs
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{
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double m_deltaTimeInSeconds;
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};
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struct SharedMemoryCommand
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{
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int m_type;
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union
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{
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UrdfArgs m_urdfArguments;
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BulletDataStreamArgs m_dataStreamArguments;
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StepSimulationArgs m_stepSimulationArguments;
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SendDesiredStateArgs m_sendDesiredQandUStateCommandArgument;
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RequestActualStateArgs m_requestActualStateInformationCommandArgument;
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SendActualStateArgs m_sendActualStateArgs;
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};
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};
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#endif //SHARED_MEMORY_COMMANDS_H
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