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