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Code Issues Releases Wiki Activity

more GRPC work

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This commit is contained in:
erwincoumans 2018-09-03 23:13:15 -07:00
parent 23e84ca9b6
commit 9e2f6c7935
21 changed files with 22906 additions and 780 deletions
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4
build3/premake4.lua
View File

@ -201,6 +201,10 @@ end
defines {"BT_USE_DOUBLE_PRECISION"}
end
if _OPTIONS["grpc"] then
defines {"BT_ENABLE_GRPC"}
end
configurations {"Release", "Debug"}
configuration "Release"
flags { "Optimize", "EnableSSE2","StaticRuntime", "NoMinimalRebuild", "FloatFast"}

1
build_visual_studio_vr_pybullet_double.bat
View File

@ -19,6 +19,7 @@ cd build3
premake4 --double --enable_multithreading --midi --enable_static_vr_plugin --enable_openvr --enable_pybullet --python_include_dir="%myvar%/include" --python_lib_dir="%myvar%/libs" --targetdir="../bin" vs2010
#premake4 --double --grpc --enable_multithreading --midi --enable_static_vr_plugin --enable_openvr --enable_pybullet --python_include_dir="%myvar%/include" --python_lib_dir="%myvar%/libs" --targetdir="../binserver" vs2010
#premake4 --serial --audio --double --midi --enable_openvr --enable_pybullet --python_include_dir="%myvar%/include" --python_lib_dir="%myvar%/libs" --targetdir="../bin" vs2010

13
examples/RobotSimulator/b3RobotSimulatorClientAPI.cpp
View File

@ -17,6 +17,9 @@
#include "../SharedMemory/SharedMemoryPublic.h"
#include "Bullet3Common/b3Logging.h"
#ifdef BT_ENABLE_GRPC
#include "../SharedMemory/PhysicsClientGRPC_C_API.h"
#endif
b3RobotSimulatorClientAPI::b3RobotSimulatorClientAPI()
{
@ -170,7 +173,15 @@ bool b3RobotSimulatorClientAPI::connect(int mode, const std::string& hostName, i
#endif //BT_ENABLE_CLSOCKET
break;
}
case eCONNECT_GRPC:
{
#ifdef BT_ENABLE_GRPC
sm = b3ConnectPhysicsGRPC(hostName.c_str(), tcpPort);
#else
b3Warning("GRPC is not enabled in this pybullet build");
#endif
break;
}
default:
{
b3Warning("connectPhysicsServer unexpected argument");

116
examples/SharedMemory/PhysicsClientC_API.cpp
View File

@ -495,11 +495,18 @@ B3_SHARED_API b3SharedMemoryCommandHandle b3InitPhysicsParamCommand(b3Physic
b3Assert(cl->canSubmitCommand());
struct SharedMemoryCommand* command = cl->getAvailableSharedMemoryCommand();
b3Assert(command);
return b3InitPhysicsParamCommand2((b3SharedMemoryCommandHandle) command);
}
B3_SHARED_API b3SharedMemoryCommandHandle b3InitPhysicsParamCommand2(b3SharedMemoryCommandHandle commandHandle)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
command->m_type = CMD_SEND_PHYSICS_SIMULATION_PARAMETERS;
command->m_updateFlags = 0;
return (b3SharedMemoryCommandHandle) command;
return (b3SharedMemoryCommandHandle)command;
}
B3_SHARED_API int b3PhysicsParamSetGravity(b3SharedMemoryCommandHandle commandHandle, double gravx,double gravy, double gravz)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
@ -778,13 +785,21 @@ B3_SHARED_API b3SharedMemoryCommandHandle b3InitResetSimulationCommand(b3Phy
b3Assert(cl->canSubmitCommand());
struct SharedMemoryCommand* command = cl->getAvailableSharedMemoryCommand();
b3Assert(command);
command->m_type = CMD_RESET_SIMULATION;
command->m_updateFlags = 0;
return (b3SharedMemoryCommandHandle) command;
return b3InitResetSimulationCommand2((b3SharedMemoryCommandHandle)command);
}
B3_SHARED_API b3SharedMemoryCommandHandle b3InitResetSimulationCommand2(b3SharedMemoryCommandHandle commandHandle)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
b3Assert(command);
command->m_type = CMD_RESET_SIMULATION;
command->m_updateFlags = 0;
return (b3SharedMemoryCommandHandle)command;
}
B3_SHARED_API b3SharedMemoryCommandHandle b3JointControlCommandInit(b3PhysicsClientHandle physClient, int controlMode)
{
@ -798,15 +813,22 @@ B3_SHARED_API b3SharedMemoryCommandHandle b3JointControlCommandInit2( b3PhysicsC
b3Assert(cl->canSubmitCommand());
struct SharedMemoryCommand* command = cl->getAvailableSharedMemoryCommand();
b3Assert(command);
return b3JointControlCommandInit2Internal((b3SharedMemoryCommandHandle)command, bodyUniqueId, controlMode);
}
B3_SHARED_API b3SharedMemoryCommandHandle b3JointControlCommandInit2Internal(b3SharedMemoryCommandHandle commandHandle, int bodyUniqueId, int controlMode)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
command->m_type = CMD_SEND_DESIRED_STATE;
command->m_sendDesiredStateCommandArgument.m_controlMode = controlMode;
command->m_sendDesiredStateCommandArgument.m_controlMode = controlMode;
command->m_sendDesiredStateCommandArgument.m_bodyUniqueId = bodyUniqueId;
command->m_updateFlags = 0;
for (int i=0;i<MAX_DEGREE_OF_FREEDOM;i++)
{
command->m_sendDesiredStateCommandArgument.m_hasDesiredStateFlags[i] = 0;
}
return (b3SharedMemoryCommandHandle) command;
for (int i = 0; i<MAX_DEGREE_OF_FREEDOM; i++)
{
command->m_sendDesiredStateCommandArgument.m_hasDesiredStateFlags[i] = 0;
}
return (b3SharedMemoryCommandHandle)command;
}
B3_SHARED_API int b3JointControlSetDesiredPosition(b3SharedMemoryCommandHandle commandHandle, int qIndex, double value)
@ -2055,7 +2077,7 @@ B3_SHARED_API int b3GetStatusActualState2(b3SharedMemoryStatusHandle statusHandl
{
*linkWorldVelocities = args.m_linkWorldVelocities;
}
return 1;
}
B3_SHARED_API int b3GetStatusActualState(b3SharedMemoryStatusHandle statusHandle,
@ -2634,23 +2656,29 @@ B3_SHARED_API b3SharedMemoryCommandHandle b3InitCreateUserConstraintCommand(b3Ph
b3Assert(cl->canSubmitCommand());
struct SharedMemoryCommand* command = cl->getAvailableSharedMemoryCommand();
b3Assert(command);
command->m_type = CMD_USER_CONSTRAINT;
return b3InitCreateUserConstraintCommand2((b3SharedMemoryCommandHandle)command, parentBodyUniqueId, parentJointIndex, childBodyUniqueId, childJointIndex, info);
}
B3_SHARED_API b3SharedMemoryCommandHandle b3InitCreateUserConstraintCommand2(b3SharedMemoryCommandHandle commandHandle, int parentBodyUniqueId, int parentJointIndex, int childBodyUniqueId, int childJointIndex, struct b3JointInfo* info)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
command->m_type = CMD_USER_CONSTRAINT;
command->m_updateFlags = USER_CONSTRAINT_ADD_CONSTRAINT;
command->m_userConstraintArguments.m_parentBodyIndex = parentBodyUniqueId;
command->m_userConstraintArguments.m_parentJointIndex = parentJointIndex;
command->m_userConstraintArguments.m_childBodyIndex = childBodyUniqueId;
command->m_userConstraintArguments.m_childJointIndex = childJointIndex;
for (int i = 0; i < 7; ++i) {
command->m_userConstraintArguments.m_parentFrame[i] = info->m_parentFrame[i];
command->m_userConstraintArguments.m_childFrame[i] = info->m_childFrame[i];
}
for (int i = 0; i < 3; ++i) {
command->m_userConstraintArguments.m_jointAxis[i] = info->m_jointAxis[i];
}
command->m_userConstraintArguments.m_jointType = info->m_jointType;
return (b3SharedMemoryCommandHandle)command;
command->m_userConstraintArguments.m_parentBodyIndex = parentBodyUniqueId;
command->m_userConstraintArguments.m_parentJointIndex = parentJointIndex;
command->m_userConstraintArguments.m_childBodyIndex = childBodyUniqueId;
command->m_userConstraintArguments.m_childJointIndex = childJointIndex;
for (int i = 0; i < 7; ++i) {
command->m_userConstraintArguments.m_parentFrame[i] = info->m_parentFrame[i];
command->m_userConstraintArguments.m_childFrame[i] = info->m_childFrame[i];
}
for (int i = 0; i < 3; ++i) {
command->m_userConstraintArguments.m_jointAxis[i] = info->m_jointAxis[i];
}
command->m_userConstraintArguments.m_jointType = info->m_jointType;
return (b3SharedMemoryCommandHandle)command;
}
B3_SHARED_API b3SharedMemoryCommandHandle b3InitChangeUserConstraintCommand(b3PhysicsClientHandle physClient, int userConstraintUniqueId)
@ -3392,10 +3420,16 @@ B3_SHARED_API b3SharedMemoryCommandHandle b3InitRequestCameraImage(b3PhysicsClie
b3Assert(cl->canSubmitCommand());
struct SharedMemoryCommand* command = cl->getAvailableSharedMemoryCommand();
b3Assert(command);
command->m_type =CMD_REQUEST_CAMERA_IMAGE_DATA;
return b3InitRequestCameraImage2((b3SharedMemoryCommandHandle)command);
}
B3_SHARED_API b3SharedMemoryCommandHandle b3InitRequestCameraImage2(b3SharedMemoryCommandHandle commandHandle)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
command->m_type = CMD_REQUEST_CAMERA_IMAGE_DATA;
command->m_requestPixelDataArguments.m_startPixelIndex = 0;
command->m_updateFlags = 0;//REQUEST_PIXEL_ARGS_USE_HARDWARE_OPENGL;
return (b3SharedMemoryCommandHandle) command;
command->m_updateFlags = 0;//REQUEST_PIXEL_ARGS_USE_HARDWARE_OPENGL;
return (b3SharedMemoryCommandHandle)command;
}
B3_SHARED_API void b3RequestCameraImageSelectRenderer(b3SharedMemoryCommandHandle commandHandle, int renderer)
@ -4559,7 +4593,13 @@ B3_SHARED_API b3SharedMemoryCommandHandle b3RequestKeyboardEventsCommandInit(b3P
b3Assert(cl->canSubmitCommand());
struct SharedMemoryCommand* command = cl->getAvailableSharedMemoryCommand();
b3Assert(command);
return b3RequestKeyboardEventsCommandInit2((b3SharedMemoryCommandHandle)command);
}
B3_SHARED_API b3SharedMemoryCommandHandle b3RequestKeyboardEventsCommandInit2(b3SharedMemoryCommandHandle commandHandle)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
command->m_type = CMD_REQUEST_KEYBOARD_EVENTS_DATA;
command->m_updateFlags = 0;
@ -4836,10 +4876,16 @@ B3_SHARED_API b3SharedMemoryCommandHandle b3InitConfigureOpenGLVisualizer(b3Phys
struct SharedMemoryCommand* command = cl->getAvailableSharedMemoryCommand();
b3Assert(command);
command->m_type = CMD_CONFIGURE_OPENGL_VISUALIZER;
command->m_updateFlags = 0;
return (b3SharedMemoryCommandHandle)command;
return b3InitConfigureOpenGLVisualizer2((b3SharedMemoryCommandHandle)command);
}
B3_SHARED_API b3SharedMemoryCommandHandle b3InitConfigureOpenGLVisualizer2(b3SharedMemoryCommandHandle commandHandle)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
command->m_type = CMD_CONFIGURE_OPENGL_VISUALIZER;
command->m_updateFlags = 0;
return (b3SharedMemoryCommandHandle)command;
}
B3_SHARED_API void b3ConfigureOpenGLVisualizerSetVisualizationFlags(b3SharedMemoryCommandHandle commandHandle, int flag, int enabled)

7
examples/SharedMemory/PhysicsClientC_API.h
View File

@ -163,6 +163,7 @@ B3_SHARED_API int b3ChangeDynamicsInfoSetContactProcessingThreshold(b3SharedMemo
B3_SHARED_API int b3ChangeDynamicsInfoSetActivationState(b3SharedMemoryCommandHandle commandHandle, int bodyUniqueId, int activationState);
B3_SHARED_API b3SharedMemoryCommandHandle b3InitCreateUserConstraintCommand(b3PhysicsClientHandle physClient, int parentBodyUniqueId, int parentJointIndex, int childBodyUniqueId, int childJointIndex, struct b3JointInfo* info);
B3_SHARED_API b3SharedMemoryCommandHandle b3InitCreateUserConstraintCommand2(b3SharedMemoryCommandHandle commandHandle, int parentBodyUniqueId, int parentJointIndex, int childBodyUniqueId, int childJointIndex, struct b3JointInfo* info);
///return a unique id for the user constraint, after successful creation, or -1 for an invalid constraint id
B3_SHARED_API int b3GetStatusUserConstraintUniqueId(b3SharedMemoryStatusHandle statusHandle);
@ -199,6 +200,7 @@ B3_SHARED_API void b3GetDebugLines(b3PhysicsClientHandle physClient, struct b
///configure the 3D OpenGL debug visualizer (enable/disable GUI widgets, shadows, position camera etc)
B3_SHARED_API b3SharedMemoryCommandHandle b3InitConfigureOpenGLVisualizer(b3PhysicsClientHandle physClient);
B3_SHARED_API b3SharedMemoryCommandHandle b3InitConfigureOpenGLVisualizer2(b3SharedMemoryCommandHandle commandHandle);
B3_SHARED_API void b3ConfigureOpenGLVisualizerSetVisualizationFlags(b3SharedMemoryCommandHandle commandHandle, int flag, int enabled);
B3_SHARED_API void b3ConfigureOpenGLVisualizerSetViewMatrix(b3SharedMemoryCommandHandle commandHandle, float cameraDistance, float cameraPitch, float cameraYaw, const float cameraTargetPosition[/*3*/]);
@ -234,6 +236,7 @@ B3_SHARED_API int b3GetDebugItemUniqueId(b3SharedMemoryStatusHandle statusHandle
///request an image from a simulated camera, using a software renderer.
B3_SHARED_API b3SharedMemoryCommandHandle b3InitRequestCameraImage(b3PhysicsClientHandle physClient);
B3_SHARED_API b3SharedMemoryCommandHandle b3InitRequestCameraImage2(b3SharedMemoryCommandHandle commandHandle);
B3_SHARED_API void b3RequestCameraImageSetCameraMatrices(b3SharedMemoryCommandHandle commandHandle, float viewMatrix[/*16*/], float projectionMatrix[/*16*/]);
B3_SHARED_API void b3RequestCameraImageSetPixelResolution(b3SharedMemoryCommandHandle commandHandle, int width, int height );
B3_SHARED_API void b3RequestCameraImageSetLightDirection(b3SharedMemoryCommandHandle commandHandle, const float lightDirection[/*3*/]);
@ -313,6 +316,7 @@ B3_SHARED_API void b3UpdateVisualShapeSpecularColor(b3SharedMemoryCommandHandle
B3_SHARED_API b3SharedMemoryCommandHandle b3InitPhysicsParamCommand(b3PhysicsClientHandle physClient);
B3_SHARED_API b3SharedMemoryCommandHandle b3InitPhysicsParamCommand2(b3SharedMemoryCommandHandle commandHandle);
B3_SHARED_API int b3PhysicsParamSetGravity(b3SharedMemoryCommandHandle commandHandle, double gravx,double gravy, double gravz);
B3_SHARED_API int b3PhysicsParamSetTimeStep(b3SharedMemoryCommandHandle commandHandle, double timeStep);
B3_SHARED_API int b3PhysicsParamSetDefaultContactERP(b3SharedMemoryCommandHandle commandHandle, double defaultContactERP);
@ -359,6 +363,7 @@ B3_SHARED_API b3SharedMemoryCommandHandle b3InitStepSimulationCommand(b3PhysicsC
B3_SHARED_API b3SharedMemoryCommandHandle b3InitStepSimulationCommand2(b3SharedMemoryCommandHandle commandHandle);
B3_SHARED_API b3SharedMemoryCommandHandle b3InitResetSimulationCommand(b3PhysicsClientHandle physClient);
B3_SHARED_API b3SharedMemoryCommandHandle b3InitResetSimulationCommand2(b3SharedMemoryCommandHandle commandHandle);
///Load a robot from a URDF file. Status type will CMD_URDF_LOADING_COMPLETED.
///Access the robot from the unique body index, through b3GetStatusBodyIndex(statusHandle);
@ -444,6 +449,7 @@ B3_SHARED_API b3SharedMemoryCommandHandle b3JointControlCommandInit(b3PhysicsCl
///Set joint motor control variables such as desired position/angle, desired velocity,
///applied joint forces, dependent on the control mode (CONTROL_MODE_VELOCITY or CONTROL_MODE_TORQUE)
B3_SHARED_API b3SharedMemoryCommandHandle b3JointControlCommandInit2(b3PhysicsClientHandle physClient, int bodyUniqueId, int controlMode);
B3_SHARED_API b3SharedMemoryCommandHandle b3JointControlCommandInit2Internal(b3SharedMemoryCommandHandle commandHandle, int bodyUniqueId, int controlMode);
///Only use when controlMode is CONTROL_MODE_POSITION_VELOCITY_PD
B3_SHARED_API int b3JointControlSetDesiredPosition(b3SharedMemoryCommandHandle commandHandle, int qIndex, double value);
@ -609,6 +615,7 @@ B3_SHARED_API int b3SetVRCameraTrackingObject(b3SharedMemoryCommandHandle comman
B3_SHARED_API int b3SetVRCameraTrackingObjectFlag(b3SharedMemoryCommandHandle commandHandle, int flag);
B3_SHARED_API b3SharedMemoryCommandHandle b3RequestKeyboardEventsCommandInit(b3PhysicsClientHandle physClient);
B3_SHARED_API b3SharedMemoryCommandHandle b3RequestKeyboardEventsCommandInit2(b3SharedMemoryCommandHandle commandHandle);
B3_SHARED_API void b3GetKeyboardEventsData(b3PhysicsClientHandle physClient, struct b3KeyboardEventsData* keyboardEventsData);
B3_SHARED_API b3SharedMemoryCommandHandle b3RequestMouseEventsCommandInit(b3PhysicsClientHandle physClient);

1
examples/SharedMemory/PhysicsClientTCP.h
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@ -32,6 +32,7 @@ public:
virtual void setTimeOut(double timeOutInSeconds);
virtual void reportNotifications() {}
};

2
examples/SharedMemory/PhysicsClientUDP.h
View File

@ -31,6 +31,8 @@ public:
virtual void setGuiHelper(struct GUIHelperInterface* guiHelper);
virtual void setTimeOut(double timeOutInSeconds);
virtual void reportNotifications() {}
};

3
examples/SharedMemory/PhysicsCommandProcessorInterface.h
View File

@ -27,6 +27,7 @@ public:
virtual void setGuiHelper(struct GUIHelperInterface* guiHelper) = 0;
virtual void setTimeOut(double timeOutInSeconds) = 0;
virtual void reportNotifications() = 0;
};
@ -44,7 +45,7 @@ public:
virtual void enableRealTimeSimulation(bool enableRealTimeSim)=0;
virtual bool isRealTimeSimulationEnabled() const=0;
virtual void reportNotifications() = 0;
virtual void enableCommandLogging(bool enable, const char* fileName)=0;
virtual void replayFromLogFile(const char* fileName)=0;

3
examples/SharedMemory/PhysicsDirect.cpp
View File

@ -1217,8 +1217,7 @@ bool PhysicsDirect::submitClientCommand(const struct SharedMemoryCommand& comman
if (m_data->m_ownsCommandProcessor)
{
CommandProcessorInterface *commandProcessor = (CommandProcessorInterface *)m_data->m_commandProcessor;
commandProcessor->reportNotifications();
m_data->m_commandProcessor->reportNotifications();
}
/*if (hasStatus)
{

1
examples/SharedMemory/SharedMemoryCommandProcessor.h
View File

@ -31,6 +31,7 @@ public:
void setSharedMemoryKey(int key);
virtual void setTimeOut(double timeOutInSeconds);
virtual void reportNotifications() {}
};
#endif //SHARED_MEMORY_COMMAND_PROCESSOR_H

5
examples/SharedMemory/SharedMemoryPublic.h
View File

@ -7,7 +7,8 @@
//Please don't replace an existing magic number:
//instead, only ADD a new one at the top, comment-out previous one
#define SHARED_MEMORY_MAGIC_NUMBER 201809010
#define SHARED_MEMORY_MAGIC_NUMBER 2018090300
//#define SHARED_MEMORY_MAGIC_NUMBER 201809010
//#define SHARED_MEMORY_MAGIC_NUMBER 201807040
//#define SHARED_MEMORY_MAGIC_NUMBER 201806150
//#define SHARED_MEMORY_MAGIC_NUMBER 201806020
@ -26,6 +27,7 @@
enum EnumSharedMemoryClientCommand
{
CMD_INVALID=0,
CMD_LOAD_SDF,
CMD_LOAD_URDF,
CMD_LOAD_BULLET,
@ -812,6 +814,7 @@ enum eCONNECT_METHOD {
eCONNECT_SHARED_MEMORY_SERVER=9,
eCONNECT_DART=10,
eCONNECT_MUJOCO=11,
eCONNECT_GRPC=12,
};
enum eURDF_Flags

18
examples/SharedMemory/b3RobotSimulatorClientAPI_NoDirect.cpp
View File

@ -789,10 +789,13 @@ void b3RobotSimulatorClientAPI_NoDirect::setJointMotorControl(int bodyUniqueId,
b3JointInfo jointInfo;
b3GetJointInfo(m_data->m_physicsClientHandle, bodyUniqueId, jointIndex, &jointInfo);
int uIndex = jointInfo.m_uIndex;
b3JointControlSetKd(command, uIndex, args.m_kd);
b3JointControlSetDesiredVelocity(command, uIndex, args.m_targetVelocity);
b3JointControlSetMaximumForce(command, uIndex, args.m_maxTorqueValue);
statusHandle = b3SubmitClientCommandAndWaitStatus(m_data->m_physicsClientHandle, command);
if (uIndex >= 0)
{
b3JointControlSetKd(command, uIndex, args.m_kd);
b3JointControlSetDesiredVelocity(command, uIndex, args.m_targetVelocity);
b3JointControlSetMaximumForce(command, uIndex, args.m_maxTorqueValue);
statusHandle = b3SubmitClientCommandAndWaitStatus(m_data->m_physicsClientHandle, command);
}
break;
}
case CONTROL_MODE_POSITION_VELOCITY_PD:
@ -817,8 +820,11 @@ void b3RobotSimulatorClientAPI_NoDirect::setJointMotorControl(int bodyUniqueId,
b3JointInfo jointInfo;
b3GetJointInfo(m_data->m_physicsClientHandle, bodyUniqueId, jointIndex, &jointInfo);
int uIndex = jointInfo.m_uIndex;
b3JointControlSetDesiredForceTorque(command, uIndex, args.m_maxTorqueValue);
statusHandle = b3SubmitClientCommandAndWaitStatus(m_data->m_physicsClientHandle, command);
if (uIndex >= 0)
{
b3JointControlSetDesiredForceTorque(command, uIndex, args.m_maxTorqueValue);
statusHandle = b3SubmitClientCommandAndWaitStatus(m_data->m_physicsClientHandle, command);
}
break;
}
case CONTROL_MODE_PD:

1829
examples/SharedMemory/grpc/ConvertGRPCBullet.cpp
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File diff suppressed because it is too large Load Diff

6
examples/SharedMemory/grpc/ConvertGRPCBullet.h
View File

@ -10,7 +10,11 @@ namespace pybullet_grpc
class PyBulletStatus;
};
struct SharedMemoryCommand* convertGRPCAndSubmitCommand(pybullet_grpc::PyBulletCommand& grpcCommand, struct SharedMemoryCommand& cmd);
struct SharedMemoryCommand* convertGRPCToBulletCommand(const pybullet_grpc::PyBulletCommand& grpcCommand, struct SharedMemoryCommand& cmd);
pybullet_grpc::PyBulletCommand* convertBulletToGRPCCommand(const struct SharedMemoryCommand& clientCmd, pybullet_grpc::PyBulletCommand& grpcCommand);
bool convertGRPCToStatus(const pybullet_grpc::PyBulletStatus& grpcReply, struct SharedMemoryStatus& serverStatus, char* bufferServerToClient, int bufferSizeInBytes);
bool convertStatusToGRPC(const struct SharedMemoryStatus& serverStatus, char* bufferServerToClient, int bufferSizeInBytes, pybullet_grpc::PyBulletStatus& grpcReply);

76
examples/SharedMemory/grpc/main.cpp
View File

@ -53,12 +53,12 @@ public:
}
void Run(MyCommandProcessor* comProc) {
std::string server_address("0.0.0.0:50051");
void Run(MyCommandProcessor* comProc, const std::string& hostNamePort) {
ServerBuilder builder;
// Listen on the given address without any authentication mechanism.
builder.AddListeningPort(server_address, grpc::InsecureServerCredentials());
builder.AddListeningPort(hostNamePort, grpc::InsecureServerCredentials());
// Register "service_" as the instance through which we'll communicate with
// clients. In this case it corresponds to an *asynchronous* service.
builder.RegisterService(&service_);
@ -67,7 +67,7 @@ public:
cq_ = builder.AddCompletionQueue();
// Finally assemble the server.
server_ = builder.BuildAndStart();
std::cout << "Server listening on " << server_address << std::endl;
std::cout << "Server listening on " << hostNamePort << std::endl;
// Proceed to the server's main loop.
HandleRpcs(comProc);
@ -121,41 +121,49 @@ private:
m_status.set_statustype(CMD_UNKNOWN_COMMAND_FLUSHED);
cmdPtr = convertGRPCAndSubmitCommand(m_command, cmd);
if (cmdPtr)
if (m_command.has_checkversioncommand())
{
bool hasStatus = m_comProc->processCommand(*cmdPtr, serverStatus, &buffer[0], buffer.size());
double timeOutInSeconds = 10;
b3Clock clock;
double startTimeSeconds = clock.getTimeInSeconds();
double curTimeSeconds = clock.getTimeInSeconds();
m_status.set_statustype(CMD_CLIENT_COMMAND_COMPLETED);
m_status.mutable_checkversionstatus()->set_serverversion(SHARED_MEMORY_MAGIC_NUMBER);
}
else
{
cmdPtr = convertGRPCToBulletCommand(m_command, cmd);
while ((!hasStatus) && ((curTimeSeconds - startTimeSeconds) <timeOutInSeconds))
if (cmdPtr)
{
hasStatus = m_comProc->receiveStatus(serverStatus, &buffer[0], buffer.size());
curTimeSeconds = clock.getTimeInSeconds();
bool hasStatus = m_comProc->processCommand(*cmdPtr, serverStatus, &buffer[0], buffer.size());
double timeOutInSeconds = 10;
b3Clock clock;
double startTimeSeconds = clock.getTimeInSeconds();
double curTimeSeconds = clock.getTimeInSeconds();
while ((!hasStatus) && ((curTimeSeconds - startTimeSeconds) < timeOutInSeconds))
{
hasStatus = m_comProc->receiveStatus(serverStatus, &buffer[0], buffer.size());
curTimeSeconds = clock.getTimeInSeconds();
}
if (gVerboseNetworkMessagesServer)
{
//printf("buffer.size = %d\n", buffer.size());
printf("serverStatus.m_numDataStreamBytes = %d\n", serverStatus.m_numDataStreamBytes);
}
if (hasStatus)
{
b3AlignedObjectArray<unsigned char> packetData;
unsigned char* statBytes = (unsigned char*)&serverStatus;
convertStatusToGRPC(serverStatus, &buffer[0], buffer.size(), m_status);
}
}
if (gVerboseNetworkMessagesServer)
if (m_command.has_terminateservercommand())
{
//printf("buffer.size = %d\n", buffer.size());
printf("serverStatus.m_numDataStreamBytes = %d\n", serverStatus.m_numDataStreamBytes);
}
if (hasStatus)
{
b3AlignedObjectArray<unsigned char> packetData;
unsigned char* statBytes = (unsigned char*)&serverStatus;
convertStatusToGRPC(serverStatus, &buffer[0], buffer.size(), m_status);
status_ = TERMINATE;
}
}
if (m_command.has_terminateservercommand())
{
status_ = TERMINATE;
}
// And we are done! Let the gRPC runtime know we've finished, using the
// memory address of this instance as the uniquely identifying tag for
@ -245,6 +253,8 @@ int main(int argc, char** argv)
int port = 6667;
parseArgs.GetCmdLineArgument("port", port);
std::string hostName = "localhost";
std::string hostNamePort = hostName + ":" + std::to_string(port);
gVerboseNetworkMessagesServer = parseArgs.CheckCmdLineFlag("verbose");
@ -263,7 +273,7 @@ int main(int argc, char** argv)
{
ServerImpl server;
server.Run(sm);
server.Run(sm, hostNamePort);
}
else
{

292
examples/SharedMemory/grpc/proto/pybullet.proto
View File

@ -24,6 +24,7 @@ message vec3
double z=3;
};
message quat4
{
double x=1;
@ -32,6 +33,38 @@ message quat4
double w=4;
};
message vec4
{
double x=1;
double y=2;
double z=3;
double w=4;
};
message transform
{
vec3 origin=1;
quat4 orientation=2;
};
message matrix4x4
{
//assume 16 elements, with translation in 12,13,14,
//'right' vector is elements 0,1,3 and 4
repeated double elems=1;
};
message CheckVersionCommand
{
int32 clientVersion=1;
};
message CheckVersionStatus
{
int32 serverVersion=1;
};
message TerminateServerCommand
{
@ -42,6 +75,31 @@ message StepSimulationCommand
{
};
message SyncBodiesCommand
{
};
message SyncBodiesStatus
{
repeated int32 bodyUniqueIds=1;
repeated int32 userConstraintUniqueIds=2;
};
message RequestBodyInfoCommand
{
int32 bodyUniqueId=1;
};
message RequestBodyInfoStatus
{
int32 bodyUniqueId=1;
string bodyName=2;
};
message LoadUrdfCommand {
string fileName=1;
vec3 initialPosition=2;
@ -54,8 +112,11 @@ message LoadUrdfCommand {
oneof hasGlobalScaling { double globalScaling=7;
}
};
message LoadUrdfStatus {
int32 bodyUniqueId=1;
string bodyName=2;
string fileName=3;
}
@ -133,10 +194,11 @@ message GetDynamicsStatus
message InitPoseCommand
{
int32 bodyUniqueId=1;
repeated int32 hasInitialStateQ=2;
repeated double initialStateQ=3;
repeated int32 hasInitialStateQdot=4;
repeated double initialStateQdot=5;
int32 updateflags=2;
repeated int32 hasInitialStateQ=3;
repeated double initialStateQ=4;
repeated int32 hasInitialStateQdot=5;
repeated double initialStateQdot=6;
};
@ -147,6 +209,7 @@ message RequestActualStateCommand
bool computeLinkVelocities=3;
};
message SendActualStateStatus
{
int32 bodyUniqueId=1;
@ -171,37 +234,230 @@ message SendActualStateStatus
};
message ConfigureOpenGLVisualizerCommand
{
int32 updateFlags=1;
double cameraDistance=2;
double cameraPitch=3;
double cameraYaw=4;
vec3 cameraTargetPosition=5;
int32 setFlag=6;
int32 setEnabled=7;
};
message PhysicsSimulationParameters
{
double deltaTime=1;
vec3 gravityAcceleration=2;
int32 numSimulationSubSteps=3;
int32 numSolverIterations=4;
int32 useRealTimeSimulation=5;
int32 useSplitImpulse=6;
double splitImpulsePenetrationThreshold=7;
double contactBreakingThreshold=8;
int32 internalSimFlags=9;
double defaultContactERP=10;
int32 collisionFilterMode=11;
int32 enableFileCaching=12;
double restitutionVelocityThreshold=13;
double defaultNonContactERP=14;
double frictionERP=15;
double defaultGlobalCFM=16;
double frictionCFM=17;
int32 enableConeFriction=18;
int32 deterministicOverlappingPairs=19;
double allowedCcdPenetration=20;
int32 jointFeedbackMode=21;
double solverResidualThreshold=22;
double contactSlop=23;
int32 enableSAT=24;
int32 constraintSolverType=25;
int32 minimumSolverIslandSize=26;
};
message PhysicsSimulationParametersCommand
{
int32 updateFlags=1;
PhysicsSimulationParameters params=2;
};
message JointMotorControlCommand
{
int32 bodyUniqueId=1;
int32 controlMode=2;
int32 updateFlags=3;
//PD parameters in case controlMode == CONTROL_MODE_POSITION_VELOCITY_PD
repeated double Kp=4;//indexed by degree of freedom, 6 for base, and then the dofs for each link
repeated double Kd=5;//indexed by degree of freedom, 6 for base, and then the dofs for each link
repeated double maxVelocity=6;
repeated int32 hasDesiredStateFlags=7;
//desired state is only written by the client, read-only access by server is expected
//desiredStateQ is indexed by position variables,
//starting with 3 base position variables, 4 base orientation variables (quaternion), then link position variables
repeated double desiredStateQ=8;
//desiredStateQdot is index by velocity degrees of freedom, 3 linear and 3 angular variables for the base and then link velocity variables
repeated double desiredStateQdot=9;
//desiredStateForceTorque is either the actual applied force/torque (in CONTROL_MODE_TORQUE) or
//or the maximum applied force/torque for the PD/motor/constraint to reach the desired velocity in CONTROL_MODE_VELOCITY and CONTROL_MODE_POSITION_VELOCITY_PD mode
//indexed by degree of freedom, 6 dof base, and then dofs for each link
repeated double desiredStateForceTorque=10;
};
message UserConstraintCommand
{
int32 parentBodyIndex=1;
int32 parentJointIndex=2;
int32 childBodyIndex=3;
int32 childJointIndex=4;
transform parentFrame=5;
transform childFrame=6;
vec3 jointAxis=7;
int32 jointType=8;
double maxAppliedForce=9;
int32 userConstraintUniqueId=10;
double gearRatio=11;
int32 gearAuxLink=12;
double relativePositionTarget=13;
double erp=14;
int32 updateFlags=15;
};
message UserConstraintStatus
{
double maxAppliedForce=9;
int32 userConstraintUniqueId=10;
};
message UserConstraintStateStatus
{
vec3 appliedConstraintForcesLinear=1;
vec3 appliedConstraintForcesAngular=2;
int32 numDofs=3;
};
message RequestKeyboardEventsCommand
{
};
message KeyboardEvent
{
int32 keyCode=1;//ascii
int32 keyState=2;// see b3VRButtonInfo
};
message KeyboardEventsStatus
{
repeated KeyboardEvent keyboardEvents=1;
};
message RequestCameraImageCommand
{
int32 updateFlags=1;
int32 cameraFlags=2;
matrix4x4 viewMatrix=3;
matrix4x4 projectionMatrix=4;
int32 startPixelIndex=5;
int32 pixelWidth=6;
int32 pixelHeight=7;
vec3 lightDirection=8;
vec3 lightColor=9;
double lightDistance=10;
double lightAmbientCoeff=11;
double lightDiffuseCoeff=12;
double lightSpecularCoeff=13;
int32 hasShadow=14;
matrix4x4 projectiveTextureViewMatrix=15;
matrix4x4 projectiveTextureProjectionMatrix=16;
};
message RequestCameraImageStatus
{
int32 imageWidth=1;
int32 imageHeight=2;
int32 startingPixelIndex=3;
int32 numPixelsCopied=4;
int32 numRemainingPixels=5;
};
// The request message containing the command
message PyBulletCommand {
int32 commandType=1;
repeated bytes binaryBlob=2;
repeated bytes unknownCommandBinaryBlob=3;
oneof commands {
LoadUrdfCommand loadUrdfCommand = 3;
TerminateServerCommand terminateServerCommand=4;
StepSimulationCommand stepSimulationCommand= 5;
LoadSdfCommand loadSdfCommand=6;
LoadMjcfCommand loadMjcfCommand=7;
ChangeDynamicsCommand changeDynamicsCommand=8;
GetDynamicsCommand getDynamicsCommand=9;
InitPoseCommand initPoseCommand=10;
RequestActualStateCommand requestActualStateCommand=11;
LoadUrdfCommand loadUrdfCommand = 4;
TerminateServerCommand terminateServerCommand=5;
StepSimulationCommand stepSimulationCommand= 6;
LoadSdfCommand loadSdfCommand=7;
LoadMjcfCommand loadMjcfCommand=8;
ChangeDynamicsCommand changeDynamicsCommand=9;
GetDynamicsCommand getDynamicsCommand=10;
InitPoseCommand initPoseCommand=11;
RequestActualStateCommand requestActualStateCommand=12;
ConfigureOpenGLVisualizerCommand configureOpenGLVisualizerCommand =13;
SyncBodiesCommand syncBodiesCommand=14;
RequestBodyInfoCommand requestBodyInfoCommand=15;
PhysicsSimulationParametersCommand setPhysicsSimulationParametersCommand=16;
JointMotorControlCommand jointMotorControlCommand=17;
UserConstraintCommand userConstraintCommand=18;
CheckVersionCommand checkVersionCommand=19;
RequestKeyboardEventsCommand requestKeyboardEventsCommand=20;
RequestCameraImageCommand requestCameraImageCommand=21;
}
}
// The response message containing the status
message PyBulletStatus {
int32 statusType=1;
repeated bytes binaryBlob=2;
repeated bytes unknownStatusBinaryBlob=3;
oneof status
{
LoadUrdfStatus urdfStatus = 2;
SdfLoadedStatus sdfStatus = 3;
MjcfLoadedStatus mjcfStatus = 4;
GetDynamicsStatus getDynamicsStatus = 5;
SendActualStateStatus actualStateStatus = 6;
LoadUrdfStatus urdfStatus = 4;
SdfLoadedStatus sdfStatus = 5;
MjcfLoadedStatus mjcfStatus = 6;
GetDynamicsStatus getDynamicsStatus = 7;
SendActualStateStatus actualStateStatus = 8;
SyncBodiesStatus syncBodiesStatus=9;
RequestBodyInfoStatus requestBodyInfoStatus = 10;
PhysicsSimulationParameters requestPhysicsSimulationParametersStatus=11;
CheckVersionStatus checkVersionStatus=12;
UserConstraintStatus userConstraintStatus=13;
UserConstraintStateStatus userConstraintStateStatus=14;
KeyboardEventsStatus keyboardEventsStatus=15;
RequestCameraImageStatus requestCameraImageStatus=16;
}
}

13210
examples/SharedMemory/grpc/pybullet.pb.cpp
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examples/SharedMemory/grpc/pybullet.pb.h
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18
examples/SharedMemory/grpc/pybullet_client.py
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@ -12,11 +12,23 @@ MJCF_COLORS_FROM_FILE = 512
def run():
print("grpc.insecure_channel")
channel = grpc.insecure_channel('localhost:50051')
channel = grpc.insecure_channel('localhost:6667')
print("pybullet_pb2_grpc.PyBulletAPIStub")
stub = pybullet_pb2_grpc.PyBulletAPIStub(channel)
response=0
print("submit CheckVersionCommand")
response = stub.SubmitCommand(pybullet_pb2.PyBulletCommand(checkVersionCommand=pybullet_pb2.CheckVersionCommand(clientVersion=123)))
print("PyBullet client received: " , response)
print("submit LoadUrdfCommand ")
response = stub.SubmitCommand(pybullet_pb2.PyBulletCommand(loadUrdfCommand=pybullet_pb2.LoadUrdfCommand(fileName="door.urdf", initialPosition=pybullet_pb2.vec3(x=0,y=0,z=0), useMultiBody=True, useFixedBase=True, globalScaling=2, flags = 1)))
print("PyBullet client received: " , response)
bodyUniqueId = response.urdfStatus.bodyUniqueId
print("submit LoadSdfCommand")
response = stub.SubmitCommand(pybullet_pb2.PyBulletCommand(loadSdfCommand=pybullet_pb2.LoadSdfCommand(fileName="two_cubes.sdf", useMultiBody=True, globalScaling=2)))
print("PyBullet client received: " , response)
@ -27,10 +39,6 @@ def run():
print("PyBullet client received: " , response)
print("submit LoadUrdfCommand ")
response = stub.SubmitCommand(pybullet_pb2.PyBulletCommand(loadUrdfCommand=pybullet_pb2.LoadUrdfCommand(fileName="door.urdf", initialPosition=pybullet_pb2.vec3(x=0,y=0,z=0), useMultiBody=True, useFixedBase=True, globalScaling=2, flags = 1)))
print("PyBullet client received: " , response)
bodyUniqueId = response.urdfStatus.bodyUniqueId
print("submit ChangeDynamicsCommand ")
response = stub.SubmitCommand(pybullet_pb2.PyBulletCommand(changeDynamicsCommand=pybullet_pb2.ChangeDynamicsCommand(bodyUniqueId=bodyUniqueId, linkIndex=-1, mass=10)))

1772
examples/SharedMemory/grpc/pybullet_pb2.py
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16
examples/pybullet/pybullet.c
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@ -14,6 +14,9 @@
#include "../SharedMemory/mujoco/MuJoCoPhysicsC_API.h"
#endif
#ifdef BT_ENABLE_GRPC
#include "../SharedMemory/PhysicsClientGRPC_C_API.h"
#endif
#ifdef BT_ENABLE_CLSOCKET
#include "../SharedMemory/PhysicsClientTCP_C_API.h"
#endif //BT_ENABLE_CLSOCKET
@ -431,7 +434,15 @@ static PyObject* pybullet_connectPhysicsServer(PyObject* self, PyObject* args, P
break;
}
#endif
case eCONNECT_GRPC:
{
#ifdef BT_ENABLE_GRPC
sm = b3ConnectPhysicsGRPC(hostName.c_str(), tcpPort);
#else
b3Warning("GRPC is not enabled in this pybullet build");
#endif
break;
}
case eCONNECT_SHARED_MEMORY:
{
sm = b3ConnectSharedMemory(key);
@ -9625,6 +9636,9 @@ initpybullet(void)
#ifdef BT_ENABLE_MUJOCO
PyModule_AddIntConstant(m, "MuJoCo", eCONNECT_MUJOCO); // user read
#endif
#ifdef BT_ENABLE_GRPC
PyModule_AddIntConstant(m, "GRPC", eCONNECT_GRPC); // user read
#endif
PyModule_AddIntConstant(m, "SHARED_MEMORY_KEY", SHARED_MEMORY_KEY);