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Merge pull request #748 from erwincoumans/master

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avoid MT crash in VR/physics server due to printf from separate thread.
This commit is contained in:
erwincoumans 2016-08-19 10:49:25 -07:00 committed by GitHub
commit e5626b954f
11 changed files with 194 additions and 127 deletions
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6
examples/CommonInterfaces/CommonGraphicsAppInterface.h
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@ -66,9 +66,9 @@ struct CommonGraphicsApp
m_mouseYpos(0.f),
m_mouseInitialized(false)
{
m_backgroundColorRGB[0] = 0.9;
m_backgroundColorRGB[1] = 0.9;
m_backgroundColorRGB[2] = 1;
m_backgroundColorRGB[0] = 0.7;
m_backgroundColorRGB[1] = 0.7;
m_backgroundColorRGB[2] = 0.8;
}
virtual ~CommonGraphicsApp()
{

19
examples/ExampleBrowser/OpenGLExampleBrowser.cpp
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@ -123,6 +123,7 @@ static bool enable_experimental_opencl = false;
int gDebugDrawFlags = 0;
static bool pauseSimulation=false;
static bool singleStepSimulation = false;
int midiBaseIndex = 176;
extern bool gDisableDeactivation;
@ -227,6 +228,12 @@ void MyKeyboardCallback(int key, int state)
{
pauseSimulation = !pauseSimulation;
}
if (key == 'o' && state)
{
singleStepSimulation = true;
}
#ifndef NO_OPENGL3
if (key=='s' && state)
{
@ -490,7 +497,7 @@ void MyComboBoxCallback(int comboId, const char* item)
void MyGuiPrintf(const char* msg)
{
printf("b3Printf: %s\n",msg);
if (gui2)
if (!gDisableDemoSelection)
{
gui2->textOutput(msg);
gui2->forceUpdateScrollBars();
@ -502,7 +509,7 @@ void MyGuiPrintf(const char* msg)
void MyStatusBarPrintf(const char* msg)
{
printf("b3Printf: %s\n", msg);
if (gui2)
if (!gDisableDemoSelection)
{
bool isLeft = true;
gui2->setStatusBarMessage(msg,isLeft);
@ -513,7 +520,7 @@ void MyStatusBarPrintf(const char* msg)
void MyStatusBarError(const char* msg)
{
printf("Warning: %s\n", msg);
if (gui2)
if (!gDisableDemoSelection)
{
bool isLeft = false;
gui2->setStatusBarMessage(msg,isLeft);
@ -1124,12 +1131,12 @@ void OpenGLExampleBrowser::update(float deltaTime)
if (sCurrentDemo)
{
if (!pauseSimulation)
if (!pauseSimulation || singleStepSimulation)
{
singleStepSimulation = false;
//printf("---------------------------------------------------\n");
//printf("Framecount = %d\n",frameCount);
if (gFixedTimeStep>0)
{
sCurrentDemo->stepSimulation(gFixedTimeStep);

5
examples/ExampleBrowser/OpenGLGuiHelper.cpp
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@ -84,7 +84,10 @@ public:
virtual void drawContactPoint(const btVector3& PointOnB,const btVector3& normalOnB,btScalar distance,int lifeTime,const btVector3& color)
{
drawLine(PointOnB,PointOnB+normalOnB,color);
drawLine(PointOnB,PointOnB+normalOnB*distance,color);
btVector3 red(0.3, 1., 0.3);
drawLine(PointOnB, PointOnB + normalOnB*0.01, red);
}

28
examples/RoboticsLearning/GripperGraspExample.cpp
View File

@ -58,7 +58,7 @@ public:
virtual void physicsDebugDraw(int debugDrawMode)
{
m_robotSim.debugDraw(debugDrawMode);
}
virtual void initPhysics()
{
@ -81,7 +81,16 @@ public:
slider.m_maxVal=1;
m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
}
{
b3RobotSimLoadFileArgs args("");
b3RobotSimLoadFileResults results;
args.m_fileName = "cube_small.urdf";
args.m_startPosition.setValue(0, 0, .107);
args.m_startOrientation.setEulerZYX(0, 0, 0);
args.m_useMultiBody = true;
m_robotSim.loadFile(args, results);
}
{
b3RobotSimLoadFileArgs args("");
args.m_fileName = "gripper/wsg50_with_r2d2_gripper.sdf";
@ -129,15 +138,7 @@ public:
}
}
}
{
b3RobotSimLoadFileArgs args("");
b3RobotSimLoadFileResults results;
args.m_fileName = "cube_small.urdf";
args.m_startPosition.setValue(0,0,.107);
args.m_startOrientation.setEulerZYX(0,0,0);
args.m_useMultiBody = false;
m_robotSim.loadFile(args,results);
}
if (1)
{
b3RobotSimLoadFileArgs args("");
@ -179,19 +180,20 @@ public:
m_robotSim.setJointMotorControl(m_gripperIndex,fingerJointIndices[i],controlArgs);
}
}
m_robotSim.stepSimulation();
m_robotSim.stepSimulation();
}
virtual void renderScene()
{
m_robotSim.renderScene();
//m_app->m_renderer->renderScene();
}
virtual void physicsDebugDraw()
{
}
virtual bool mouseMoveCallback(float x,float y)
{

207
examples/RoboticsLearning/b3RobotSimAPI.cpp
View File

@ -7,15 +7,15 @@
//#include "../CommonInterfaces/CommonExampleInterface.h"
#include "../CommonInterfaces/CommonGUIHelperInterface.h"
#include "../SharedMemory/PhysicsServerSharedMemory.h"
#include "../SharedMemory/PhysicsServerSharedMemory.h"
#include "../SharedMemory/PhysicsClientC_API.h"
#include "../SharedMemory/PhysicsDirectC_API.h"
#include "../SharedMemory/PhysicsDirect.h"
#include <string>
#include "../Utils/b3Clock.h"
#include "../MultiThreading/b3ThreadSupportInterface.h"
@ -406,24 +406,27 @@ public:
struct b3RobotSimAPI_InternalData
{
//GUIHelperInterface* m_guiHelper;
PhysicsServerSharedMemory m_physicsServer;
b3PhysicsClientHandle m_physicsClient;
b3ThreadSupportInterface* m_threadSupport;
RobotSimArgs m_args[MAX_ROBOT_NUM_THREADS];
MultiThreadedOpenGLGuiHelper2* m_multiThreadedHelper;
PhysicsDirect* m_clientServerDirect;
bool m_useMultiThreading;
bool m_connected;
b3RobotSimAPI_InternalData()
:m_multiThreadedHelper(0),
:m_threadSupport(0),
m_multiThreadedHelper(0),
m_clientServerDirect(0),
m_physicsClient(0),
m_useMultiThreading(false),
m_connected(false)
{
}
@ -464,6 +467,9 @@ b3RobotSimAPI::~b3RobotSimAPI()
void b3RobotSimAPI::processMultiThreadedGraphicsRequests()
{
if (0==m_data->m_multiThreadedHelper)
return;
switch (m_data->m_multiThreadedHelper->getCriticalSection()->getSharedParam(1))
{
case eRobotSimGUIHelperCreateCollisionShapeGraphicsObject:
@ -563,27 +569,6 @@ void b3RobotSimAPI::processMultiThreadedGraphicsRequests()
}
}
#if 0
if (m_options == PHYSICS_SERVER_USE_RTC_CLOCK)
{
btClock rtc;
btScalar endTime = rtc.getTimeMilliseconds() + deltaTime*btScalar(800);
while (rtc.getTimeMilliseconds()<endTime)
{
m_physicsServer.processClientCommands();
}
} else
{
//for (int i=0;i<10;i++)
m_physicsServer.processClientCommands();
}
#endif
}
b3SharedMemoryStatusHandle b3RobotSimAPI::submitClientCommandAndWaitStatusMultiThreaded(b3PhysicsClientHandle physClient, b3SharedMemoryCommandHandle commandHandle)
@ -733,94 +718,124 @@ bool b3RobotSimAPI::loadFile(const struct b3RobotSimLoadFileArgs& args, b3RobotS
bool b3RobotSimAPI::connect(GUIHelperInterface* guiHelper)
{
m_data->m_multiThreadedHelper = new MultiThreadedOpenGLGuiHelper2(guiHelper->getAppInterface(),guiHelper);
MultiThreadedOpenGLGuiHelper2* guiHelperWrapper = new MultiThreadedOpenGLGuiHelper2(guiHelper->getAppInterface(),guiHelper);
m_data->m_threadSupport = createRobotSimThreadSupport(MAX_ROBOT_NUM_THREADS);
for (int i=0;i<m_data->m_threadSupport->getNumTasks();i++)
if (m_data->m_useMultiThreading)
{
RobotSimThreadLocalStorage* storage = (RobotSimThreadLocalStorage*) m_data->m_threadSupport->getThreadLocalMemory(i);
b3Assert(storage);
storage->threadId = i;
//storage->m_sharedMem = data->m_sharedMem;
}
m_data->m_multiThreadedHelper = new MultiThreadedOpenGLGuiHelper2(guiHelper->getAppInterface(), guiHelper);
MultiThreadedOpenGLGuiHelper2* guiHelperWrapper = new MultiThreadedOpenGLGuiHelper2(guiHelper->getAppInterface(), guiHelper);
for (int w=0;w<MAX_ROBOT_NUM_THREADS;w++)
{
m_data->m_args[w].m_cs = m_data->m_threadSupport->createCriticalSection();
m_data->m_args[w].m_cs->setSharedParam(0,eRobotSimIsUnInitialized);
int numMoving = 0;
m_data->m_args[w].m_positions.resize(numMoving);
m_data->m_args[w].m_physicsServerPtr = &m_data->m_physicsServer;
int index = 0;
m_data->m_threadSupport->runTask(B3_THREAD_SCHEDULE_TASK, (void*) &m_data->m_args[w], w);
while (m_data->m_args[w].m_cs->getSharedParam(0)==eRobotSimIsUnInitialized)
m_data->m_threadSupport = createRobotSimThreadSupport(MAX_ROBOT_NUM_THREADS);
for (int i = 0; i < m_data->m_threadSupport->getNumTasks(); i++)
{
RobotSimThreadLocalStorage* storage = (RobotSimThreadLocalStorage*)m_data->m_threadSupport->getThreadLocalMemory(i);
b3Assert(storage);
storage->threadId = i;
//storage->m_sharedMem = data->m_sharedMem;
}
for (int w = 0; w < MAX_ROBOT_NUM_THREADS; w++)
{
m_data->m_args[w].m_cs = m_data->m_threadSupport->createCriticalSection();
m_data->m_args[w].m_cs->setSharedParam(0, eRobotSimIsUnInitialized);
int numMoving = 0;
m_data->m_args[w].m_positions.resize(numMoving);
m_data->m_args[w].m_physicsServerPtr = &m_data->m_physicsServer;
int index = 0;
m_data->m_threadSupport->runTask(B3_THREAD_SCHEDULE_TASK, (void*)&m_data->m_args[w], w);
while (m_data->m_args[w].m_cs->getSharedParam(0) == eRobotSimIsUnInitialized)
{
}
}
m_data->m_args[0].m_cs->setSharedParam(1, eRobotSimGUIHelperIdle);
m_data->m_multiThreadedHelper->setCriticalSection(m_data->m_args[0].m_cs);
bool serverConnected = m_data->m_physicsServer.connectSharedMemory(m_data->m_multiThreadedHelper);
b3Assert(serverConnected);
m_data->m_physicsClient = b3ConnectSharedMemory(SHARED_MEMORY_KEY);
}
else
{
m_data->m_clientServerDirect = new PhysicsDirect();
bool connected = m_data->m_clientServerDirect->connect(guiHelper);
m_data->m_physicsClient = (b3PhysicsClientHandle)m_data->m_clientServerDirect;
}
m_data->m_args[0].m_cs->setSharedParam(1,eRobotSimGUIHelperIdle);
m_data->m_multiThreadedHelper->setCriticalSection(m_data->m_args[0].m_cs);
m_data->m_connected = m_data->m_physicsServer.connectSharedMemory( m_data->m_multiThreadedHelper);
b3Assert(m_data->m_connected);
m_data->m_physicsClient = b3ConnectSharedMemory(SHARED_MEMORY_KEY);
int canSubmit = b3CanSubmitCommand(m_data->m_physicsClient);
b3Assert(canSubmit);
return m_data->m_connected && canSubmit;
//client connected
m_data->m_connected = b3CanSubmitCommand(m_data->m_physicsClient);
b3Assert(m_data->m_connected);
return m_data->m_connected && m_data->m_connected;
}
void b3RobotSimAPI::disconnect()
{
for (int i=0;i<MAX_ROBOT_NUM_THREADS;i++)
if (m_data->m_useMultiThreading)
{
m_data->m_args[i].m_cs->lock();
m_data->m_args[i].m_cs->setSharedParam(0,eRequestTerminateRobotSim);
m_data->m_args[i].m_cs->unlock();
for (int i = 0; i < MAX_ROBOT_NUM_THREADS; i++)
{
m_data->m_args[i].m_cs->lock();
m_data->m_args[i].m_cs->setSharedParam(0, eRequestTerminateRobotSim);
m_data->m_args[i].m_cs->unlock();
}
int numActiveThreads = MAX_ROBOT_NUM_THREADS;
while (numActiveThreads)
{
int arg0, arg1;
if (m_data->m_threadSupport->isTaskCompleted(&arg0, &arg1, 0))
{
numActiveThreads--;
printf("numActiveThreads = %d\n", numActiveThreads);
}
else
{
}
};
printf("stopping threads\n");
delete m_data->m_threadSupport;
m_data->m_threadSupport = 0;
}
int numActiveThreads = MAX_ROBOT_NUM_THREADS;
while (numActiveThreads)
{
int arg0,arg1;
if (m_data->m_threadSupport->isTaskCompleted(&arg0,&arg1,0))
{
numActiveThreads--;
printf("numActiveThreads = %d\n",numActiveThreads);
} else
{
}
};
printf("stopping threads\n");
delete m_data->m_threadSupport;
m_data->m_threadSupport = 0;
b3DisconnectSharedMemory(m_data->m_physicsClient);
m_data->m_physicsServer.disconnectSharedMemory(true);
m_data->m_connected = false;
}
void b3RobotSimAPI::debugDraw(int debugDrawMode)
{
if (m_data->m_clientServerDirect)
{
m_data->m_clientServerDirect->debugDraw(debugDrawMode);
}
}
void b3RobotSimAPI::renderScene()
{
if (m_data->m_multiThreadedHelper->m_childGuiHelper->getRenderInterface())
if (m_data->m_useMultiThreading)
{
m_data->m_multiThreadedHelper->m_childGuiHelper->getRenderInterface()->writeTransforms();
if (m_data->m_multiThreadedHelper->m_childGuiHelper->getRenderInterface())
{
m_data->m_multiThreadedHelper->m_childGuiHelper->getRenderInterface()->writeTransforms();
}
}
if (m_data->m_clientServerDirect)
{
m_data->m_clientServerDirect->renderScene();
}
m_data->m_physicsServer.renderScene();
}

1
examples/RoboticsLearning/b3RobotSimAPI.h
View File

@ -95,6 +95,7 @@ public:
void setGravity(const b3Vector3& gravityAcceleration);
void renderScene();
void debugDraw(int debugDrawMode);
};
#endif //B3_ROBOT_SIM_API_H

18
examples/SharedMemory/PhysicsDirect.cpp
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@ -69,9 +69,27 @@ PhysicsDirect::~PhysicsDirect()
bool PhysicsDirect::connect()
{
m_data->m_commandProcessor->setGuiHelper(&m_data->m_noGfx);
return true;
}
// return true if connection succesfull, can also check 'isConnected'
bool PhysicsDirect::connect(struct GUIHelperInterface* guiHelper)
{
m_data->m_commandProcessor->setGuiHelper(guiHelper);
return true;
}
void PhysicsDirect::renderScene()
{
m_data->m_commandProcessor->renderScene();
}
void PhysicsDirect::debugDraw(int debugDrawMode)
{
m_data->m_commandProcessor->physicsDebugDraw(debugDrawMode);
}
////todo: rename to 'disconnect'
void PhysicsDirect::disconnectSharedMemory()
{

12
examples/SharedMemory/PhysicsDirect.h
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@ -29,9 +29,10 @@ public:
virtual ~PhysicsDirect();
// return true if connection succesfull, can also check 'isConnected'
// return true if connection succesfull, can also check 'isConnected'
//it is OK to pass a null pointer for the gui helper
virtual bool connect();
////todo: rename to 'disconnect'
virtual void disconnectSharedMemory();
@ -62,7 +63,12 @@ public:
virtual const float* getDebugLinesColor() const;
virtual void getCachedCameraImage(b3CameraImageData* cameraData);
//those 2 APIs are for internal use for visualization
virtual bool connect(struct GUIHelperInterface* guiHelper);
virtual void renderScene();
virtual void debugDraw(int debugDrawMode);
};
#endif //PHYSICS_DIRECT_H

2
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
View File

@ -2445,7 +2445,7 @@ void PhysicsServerCommandProcessor::stepSimulationRealTime(double dtInSec)
loadUrdf("plane.urdf", btVector3(0, 0, 0), btQuaternion(0, 0, 0, 1), true, true, &bodyId, &bufferServerToClient[0], bufferServerToClient.size());
}
m_data->m_dynamicsWorld->stepSimulation(dtInSec);
m_data->m_dynamicsWorld->stepSimulation(dtInSec,10,1./240.);
}
}

17
examples/SharedMemory/PhysicsServerExample.cpp
View File

@ -872,7 +872,22 @@ void PhysicsServerExample::renderScene()
static int frameCount=0;
frameCount++;
char bla[1024];
sprintf(bla,"VR sub-title text test, frame %d", frameCount/2);
static btScalar prevTime = m_clock.getTimeSeconds();
btScalar curTime = m_clock.getTimeSeconds();
static btScalar deltaTime = 0.f;
static int count = 10;
if (count-- < 0)
{
count = 10;
deltaTime = curTime - prevTime;
}
if (deltaTime == 0)
deltaTime = 1000;
prevTime = curTime;
sprintf(bla,"VR sub-title text test,fps = %f, frame %d", 1./deltaTime, frameCount/2);
float pos[4];
m_guiHelper->getAppInterface()->m_renderer->getActiveCamera()->getCameraTargetPosition(pos);
btTransform viewTr;

6
src/LinearMath/btIDebugDraw.h
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@ -166,9 +166,9 @@ class btIDebugDraw
virtual void drawTransform(const btTransform& transform, btScalar orthoLen)
{
btVector3 start = transform.getOrigin();
drawLine(start, start+transform.getBasis() * btVector3(orthoLen, 0, 0), btVector3(0.7f,0,0));
drawLine(start, start+transform.getBasis() * btVector3(0, orthoLen, 0), btVector3(0,0.7f,0));
drawLine(start, start+transform.getBasis() * btVector3(0, 0, orthoLen), btVector3(0,0,0.7f));
drawLine(start, start+transform.getBasis() * btVector3(orthoLen, 0, 0), btVector3(1.f,0.3,0.3));
drawLine(start, start+transform.getBasis() * btVector3(0, orthoLen, 0), btVector3(0.3,1.f, 0.3));
drawLine(start, start+transform.getBasis() * btVector3(0, 0, orthoLen), btVector3(0.3, 0.3,1.f));
}
virtual void drawArc(const btVector3& center, const btVector3& normal, const btVector3& axis, btScalar radiusA, btScalar radiusB, btScalar minAngle, btScalar maxAngle,