4f7dfc2069
Will add GRPC client and PyBullet GRPC server plugin. Will cover most/all SharedMemoryCommand/SharedMemoryStatus messages. Run the server, then test using the pybullet_client.py
99 lines
2.9 KiB
C++
99 lines
2.9 KiB
C++
#include "ConvertGRPCBullet.h"
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#include "PhysicsClientC_API.h"
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#include "SharedMemoryCommands.h"
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#include <memory>
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#include <iostream>
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#include <string>
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#include <thread>
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#include <grpc++/grpc++.h>
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#include <grpc/support/log.h>
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#include "pybullet.grpc.pb.h"
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using grpc::Server;
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using grpc::ServerAsyncResponseWriter;
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using grpc::ServerBuilder;
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using grpc::ServerContext;
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using grpc::ServerCompletionQueue;
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using grpc::Status;
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using pybullet_grpc::PyBulletCommand;
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using pybullet_grpc::PyBulletStatus;
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using pybullet_grpc::PyBulletAPI;
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SharedMemoryCommand* convertGRPCAndSubmitCommand(PyBulletCommand& grpcCommand, SharedMemoryCommand& cmd)
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{
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SharedMemoryCommand* cmdPtr = 0;
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if (grpcCommand.has_loadurdfcommand())
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{
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auto grpcCmd = grpcCommand.loadurdfcommand();
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std::string fileName = grpcCmd.urdffilename();
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if (fileName.length())
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{
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cmdPtr = &cmd;
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b3SharedMemoryCommandHandle commandHandle = (b3SharedMemoryCommandHandle)cmdPtr;
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b3LoadUrdfCommandInit2(commandHandle, fileName.c_str());
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if (grpcCmd.has_initialposition())
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{
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const ::pybullet_grpc::vec3& pos = grpcCmd.initialposition();
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b3LoadUrdfCommandSetStartPosition(commandHandle, pos.x(), pos.y(), pos.z());
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}
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if (grpcCmd.has_initialorientation())
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{
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const ::pybullet_grpc::quat4& orn = grpcCmd.initialorientation();
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b3LoadUrdfCommandSetStartOrientation(commandHandle, orn.x(), orn.y(), orn.z(), orn.w());
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}
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if (grpcCmd.hasUseMultiBody_case()== ::pybullet_grpc::LoadUrdfCommand::HasUseMultiBodyCase::kUseMultiBody)
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{
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b3LoadUrdfCommandSetUseMultiBody( commandHandle, grpcCmd.usemultibody());
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}
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if (grpcCmd.hasGlobalScaling_case() == ::pybullet_grpc::LoadUrdfCommand::HasGlobalScalingCase::kGlobalScaling)
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{
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b3LoadUrdfCommandSetGlobalScaling(commandHandle, grpcCmd.globalscaling());
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}
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if (grpcCmd.hasUseFixedBase_case() == ::pybullet_grpc::LoadUrdfCommand::HasUseFixedBaseCase::kUseFixedBase)
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{
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b3LoadUrdfCommandSetUseFixedBase(commandHandle, grpcCmd.usefixedbase());
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}
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if (grpcCmd.urdfflags())
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{
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b3LoadUrdfCommandSetFlags(commandHandle, grpcCmd.urdfflags());
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}
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}
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}
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if (grpcCommand.has_stepsimulationcommand())
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{
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cmdPtr = &cmd;
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b3SharedMemoryCommandHandle commandHandle = (b3SharedMemoryCommandHandle)cmdPtr;
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b3InitStepSimulationCommand2(commandHandle);
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}
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return cmdPtr;
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}
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bool convertStatusToGRPC(const SharedMemoryStatus& serverStatus, char* bufferServerToClient, int bufferSizeInBytes, PyBulletStatus& grpcReply)
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{
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bool converted = false;
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grpcReply.set_statustype(serverStatus.m_type);
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switch (serverStatus.m_type)
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{
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case CMD_URDF_LOADING_COMPLETED:
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{
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::pybullet_grpc::LoadUrdfStatus* stat = grpcReply.mutable_urdfstatus();
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b3SharedMemoryStatusHandle statusHandle = (b3SharedMemoryStatusHandle)&serverStatus;
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int objectUniqueId = b3GetStatusBodyIndex(statusHandle);
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stat->set_objectuniqueid(objectUniqueId);
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}
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break;
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}
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return converted;
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}
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