b563c7c8ce
(load urdf, get state, set desired state, step simulation) Create SharedMemoryCommand and put that into the queue move arrays for Q, Qdot etc into the command
59 lines
1.8 KiB
C++
59 lines
1.8 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 32
|
|
#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;
|
|
|
|
//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];
|
|
};
|
|
|
|
|
|
inline void InitSharedMemoryExampleData(SharedMemoryExampleData* sharedMemoryBlock)
|
|
{
|
|
sharedMemoryBlock->m_numClientCommands = 0;
|
|
sharedMemoryBlock->m_numServerCommands = 0;
|
|
sharedMemoryBlock->m_numProcessedClientCommands=0;
|
|
sharedMemoryBlock->m_numProcessedServerCommands=0;
|
|
sharedMemoryBlock->m_magicId = SHARED_MEMORY_MAGIC_NUMBER;
|
|
}
|
|
|
|
#define SHARED_MEMORY_SIZE sizeof(SharedMemoryExampleData)
|
|
|
|
|
|
|
|
|
|
class SharedMemoryInterface
|
|
{
|
|
public:
|
|
virtual ~SharedMemoryInterface()
|
|
{
|
|
}
|
|
|
|
virtual void* allocateSharedMemory(int key, int size, bool allowCreation) =0;
|
|
virtual void releaseSharedMemory(int key, int size) =0;
|
|
};
|
|
#endif
|
|
|