151 lines
3.6 KiB
C
151 lines
3.6 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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#ifdef __GNUC__
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#include <stdint.h>
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typedef int32_t smInt32_t;
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typedef int64_t smInt64_t;
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typedef uint32_t smUint32_t;
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typedef uint64_t smUint64_t;
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#elif defined(_MSC_VER)
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typedef __int32 smInt32_t;
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typedef __int64 smInt64_t;
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typedef unsigned __int32 smUint32_t;
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typedef unsigned __int64 smUint64_t;
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#else
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typedef int smInt32_t;
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typedef long long int smInt64_t;
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typedef unsigned int smUint32_t;
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typedef unsigned long long int smUint64_t;
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#endif
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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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double m_initialPosition[3];
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double m_initialOrientation[4];
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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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int m_bodyUniqueId;
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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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//todo: discuss and decide about control mode and combinations
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enum {
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// POSITION_CONTROL=0,
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CONTROL_MODE_VELOCITY,
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CONTROL_MODE_TORQUE,
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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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int m_controlMode;
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//desired state is only written by the client, read-only access by server is expected
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double m_desiredStateQ[MAX_DEGREE_OF_FREEDOM];
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double m_desiredStateQdot[MAX_DEGREE_OF_FREEDOM];
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//m_desiredStateForceTorque is either the actual applied force/torque (in CONTROL_MODE_TORQUE) or
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//or m_desiredStateForceTorque is the maximum applied force/torque for the motor/constraint to reach the desired velocity in CONTROL_MODE_VELOCITY mode
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double m_desiredStateForceTorque[MAX_DEGREE_OF_FREEDOM];
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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 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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//actual state is only written by the server, read-only access by client is expected
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double m_actualStateQ[MAX_DEGREE_OF_FREEDOM];
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double m_actualStateQdot[MAX_DEGREE_OF_FREEDOM];
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double m_actualStateSensors[MAX_NUM_SENSORS];//these are force sensors and IMU information
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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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smUint64_t m_timeStamp;
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int m_sequenceNumber;
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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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SendDesiredStateArgs m_sendDesiredStateCommandArgument;
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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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typedef SharedMemoryCommand ServerStatus;
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#endif //SHARED_MEMORY_COMMANDS_H
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