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
86 lines
1.4 KiB
Protocol Buffer
86 lines
1.4 KiB
Protocol Buffer
syntax = "proto3";
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option java_multiple_files = true;
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option java_package = "io.grpc.pybullet_grpc";
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option java_outer_classname = "PyBulletProto";
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option objc_class_prefix = "PBG";
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package pybullet_grpc;
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service PyBulletAPI {
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// Sends a greeting
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rpc SubmitCommand (PyBulletCommand) returns (PyBulletStatus) {}
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}
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message vec3
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{
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double x=1;
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double y=2;
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double z=3;
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};
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message quat4
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{
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double x=1;
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double y=2;
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double z=3;
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double w=4;
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};
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message TerminateServerCommand
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{
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string exitReason=1;
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};
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message StepSimulationCommand
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{
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};
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message LoadUrdfCommand {
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string urdfFileName=1;
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vec3 initialPosition=2;
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quat4 initialOrientation=3;
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//for why oneof here, see the sad decision here:
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//https://github.com/protocolbuffers/protobuf/issues/1606
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oneof hasUseMultiBody { int32 useMultiBody=4; }
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oneof hasUseFixedBase{ bool useFixedBase=5; }
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int32 urdfFlags=6;
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oneof hasGlobalScaling { double globalScaling=7;
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}
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};
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message LoadUrdfStatus {
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int32 objectUniqueId=1;
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}
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// The request message containing the command
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message PyBulletCommand {
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int32 commandType=1;
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oneof commands {
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LoadUrdfCommand loadUrdfCommand = 3;
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TerminateServerCommand terminateServerCommand=4;
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StepSimulationCommand stepSimulationCommand= 5;
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}
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}
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// The response message containing the status
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message PyBulletStatus {
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int32 statusType=1;
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oneof status
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{
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LoadUrdfStatus urdfStatus = 2;
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}
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}
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