74 lines
1.7 KiB
C++
74 lines
1.7 KiB
C++
#ifndef SHARED_MEMORY_INTERFACE_H
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#define SHARED_MEMORY_INTERFACE_H
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#define SHARED_MEMORY_KEY 12345
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#define SHARED_MEMORY_MAGIC_NUMBER 64738
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#define SHARED_MEMORY_MAX_COMMANDS 64
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enum SharedMemoryServerCommand{
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CMD_URDF_LOADING_COMPLETED,
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CMD_URDF_LOADING_FAILED,
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CMD_SERVER_STATE_UPDATE_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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CMD_LOAD_URDF,
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CMD_STATE_UPDATED,
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CMD_STEP_FORWARD_SIMULATION, //includes CMD_REQUEST_STATE
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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 CommandArguments
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{
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double m_deltaTimeInSeconds;
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char m_urdfFileName[MAX_URDF_FILENAME_LENGTH];
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};
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struct SharedMemoryExampleData
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{
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int m_magicId;
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int m_clientCommands[SHARED_MEMORY_MAX_COMMANDS];
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int 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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double m_stateQ[MAX_DEGREE_OF_FREEDOM];
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double m_stateQdot[MAX_DEGREE_OF_FREEDOM];
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double m_stateSensors[MAX_NUM_SENSORS];//these are force sensors and IMU information
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CommandArguments m_clientCommandArguments[SHARED_MEMORY_MAX_COMMANDS];
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CommandArguments m_serverCommandArguments[SHARED_MEMORY_MAX_COMMANDS];
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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) =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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