bullet3/examples/SharedMemory/PhysicsClientSharedMemory.cpp
erwin coumans a0e507280c Implement CMD_INIT_POSE to set base position, base orientation and joint position (angle).
See PhysicsClientExample for example use of CMD_INIT_POSE.
Change: CMD_INIT_POSE uses m_initPoseArgs and not m_sendDesiredStateCommandArgument
2015-10-13 22:23:28 -07:00

561 lines
22 KiB
C++

#include "PhysicsClientSharedMemory.h"
#include "PosixSharedMemory.h"
#include "Win32SharedMemory.h"
#include "LinearMath/btAlignedObjectArray.h"
#include "LinearMath/btVector3.h"
#include "Bullet3Common/b3Logging.h"
#include "../Utils/b3ResourcePath.h"
#include "../../Extras/Serialize/BulletFileLoader/btBulletFile.h"
#include "../../Extras/Serialize/BulletFileLoader/autogenerated/bullet.h"
#include "SharedMemoryBlock.h"
// copied from btMultiBodyLink.h
enum JointType {
eRevoluteType = 0,
ePrismaticType = 1,
};
struct TmpFloat3 {
float m_x;
float m_y;
float m_z;
};
TmpFloat3 CreateTmpFloat3(float x, float y, float z) {
TmpFloat3 tmp;
tmp.m_x = x;
tmp.m_y = y;
tmp.m_z = z;
return tmp;
}
struct BodyJointInfoCache
{
btAlignedObjectArray<b3JointInfo> m_jointInfo;
};
struct PhysicsClientSharedMemoryInternalData {
SharedMemoryInterface* m_sharedMemory;
SharedMemoryBlock* m_testBlock1;
btHashMap<btHashInt,BodyJointInfoCache*> m_bodyJointMap;
btAlignedObjectArray<TmpFloat3> m_debugLinesFrom;
btAlignedObjectArray<TmpFloat3> m_debugLinesTo;
btAlignedObjectArray<TmpFloat3> m_debugLinesColor;
SharedMemoryStatus m_lastServerStatus;
int m_counter;
bool m_serverLoadUrdfOK;
bool m_isConnected;
bool m_waitingForServer;
bool m_hasLastServerStatus;
int m_sharedMemoryKey;
bool m_verboseOutput;
PhysicsClientSharedMemoryInternalData()
: m_sharedMemory(0),
m_testBlock1(0),
m_counter(0),
m_serverLoadUrdfOK(false),
m_isConnected(false),
m_waitingForServer(false),
m_hasLastServerStatus(false),
m_sharedMemoryKey(SHARED_MEMORY_KEY),
m_verboseOutput(false) {}
void processServerStatus();
bool canSubmitCommand() const;
};
int PhysicsClientSharedMemory::getNumJoints(int bodyIndex) const
{
BodyJointInfoCache** bodyJointsPtr = m_data->m_bodyJointMap[bodyIndex];
if (bodyJointsPtr && *bodyJointsPtr)
{
BodyJointInfoCache* bodyJoints = *bodyJointsPtr;
return bodyJoints->m_jointInfo.size();
}
btAssert(0);
return 0;
}
void PhysicsClientSharedMemory::getJointInfo(int bodyIndex, int jointIndex, b3JointInfo& info) const
{
BodyJointInfoCache** bodyJointsPtr = m_data->m_bodyJointMap[bodyIndex];
if (bodyJointsPtr && *bodyJointsPtr)
{
BodyJointInfoCache* bodyJoints = *bodyJointsPtr;
info = bodyJoints->m_jointInfo[jointIndex];
}
}
PhysicsClientSharedMemory::PhysicsClientSharedMemory()
{
m_data = new PhysicsClientSharedMemoryInternalData;
#ifdef _WIN32
m_data->m_sharedMemory = new Win32SharedMemoryClient();
#else
m_data->m_sharedMemory = new PosixSharedMemory();
#endif
}
PhysicsClientSharedMemory::~PhysicsClientSharedMemory() {
if (m_data->m_isConnected) {
disconnectSharedMemory();
}
delete m_data->m_sharedMemory;
delete m_data;
}
void PhysicsClientSharedMemory::setSharedMemoryKey(int key) { m_data->m_sharedMemoryKey = key; }
void PhysicsClientSharedMemory::disconnectSharedMemory() {
if (m_data->m_isConnected) {
m_data->m_sharedMemory->releaseSharedMemory(m_data->m_sharedMemoryKey, SHARED_MEMORY_SIZE);
m_data->m_isConnected = false;
}
}
bool PhysicsClientSharedMemory::isConnected() const { return m_data->m_isConnected; }
bool PhysicsClientSharedMemory::connect() {
/// server always has to create and initialize shared memory
bool allowCreation = false;
m_data->m_testBlock1 = (SharedMemoryBlock*)m_data->m_sharedMemory->allocateSharedMemory(
m_data->m_sharedMemoryKey, SHARED_MEMORY_SIZE, allowCreation);
if (m_data->m_testBlock1) {
if (m_data->m_testBlock1->m_magicId != SHARED_MEMORY_MAGIC_NUMBER) {
b3Error("Error: please start server before client\n");
m_data->m_sharedMemory->releaseSharedMemory(m_data->m_sharedMemoryKey,
SHARED_MEMORY_SIZE);
m_data->m_testBlock1 = 0;
return false;
} else {
if (m_data->m_verboseOutput) {
b3Printf("Connected to existing shared memory, status OK.\n");
}
m_data->m_isConnected = true;
}
} else {
b3Error("Cannot connect to shared memory");
return false;
}
return true;
}
const SharedMemoryStatus* PhysicsClientSharedMemory::processServerStatus() {
SharedMemoryStatus* stat = 0;
if (!m_data->m_testBlock1) {
return 0;
}
if (!m_data->m_waitingForServer) {
return 0;
}
if (m_data->m_testBlock1->m_numServerCommands >
m_data->m_testBlock1->m_numProcessedServerCommands) {
btAssert(m_data->m_testBlock1->m_numServerCommands ==
m_data->m_testBlock1->m_numProcessedServerCommands + 1);
const SharedMemoryStatus& serverCmd = m_data->m_testBlock1->m_serverCommands[0];
m_data->m_lastServerStatus = serverCmd;
EnumSharedMemoryServerStatus s = (EnumSharedMemoryServerStatus)serverCmd.m_type;
// consume the command
switch (serverCmd.m_type) {
case CMD_CLIENT_COMMAND_COMPLETED: {
if (m_data->m_verboseOutput) {
b3Printf("Server completed command");
}
break;
}
case CMD_URDF_LOADING_COMPLETED: {
m_data->m_serverLoadUrdfOK = true;
if (m_data->m_verboseOutput) {
b3Printf("Server loading the URDF OK\n");
}
if (serverCmd.m_dataStreamArguments.m_streamChunkLength > 0) {
bParse::btBulletFile* bf = new bParse::btBulletFile(
this->m_data->m_testBlock1->m_bulletStreamDataServerToClient,
serverCmd.m_dataStreamArguments.m_streamChunkLength);
bf->setFileDNAisMemoryDNA();
bf->parse(false);
int bodyIndex = serverCmd.m_dataStreamArguments.m_bodyUniqueId;
BodyJointInfoCache* bodyJoints = new BodyJointInfoCache;
m_data->m_bodyJointMap.insert(bodyIndex,bodyJoints);
for (int i = 0; i < bf->m_multiBodies.size(); i++) {
int flag = bf->getFlags();
int qOffset = 7;
int uOffset = 6;
if ((flag & bParse::FD_DOUBLE_PRECISION) != 0) {
Bullet::btMultiBodyDoubleData* mb =
(Bullet::btMultiBodyDoubleData*)bf->m_multiBodies[i];
if (mb->m_baseName) {
if (m_data->m_verboseOutput) {
b3Printf("mb->m_baseName = %s\n", mb->m_baseName);
}
}
for (int link = 0; link < mb->m_numLinks; link++) {
{
b3JointInfo info;
info.m_flags = 0;
info.m_jointIndex = link;
info.m_qIndex =
(0 < mb->m_links[link].m_posVarCount) ? qOffset : -1;
info.m_uIndex =
(0 < mb->m_links[link].m_dofCount) ? uOffset : -1;
if (mb->m_links[link].m_linkName) {
if (m_data->m_verboseOutput) {
b3Printf("mb->m_links[%d].m_linkName = %s\n", link,
mb->m_links[link].m_linkName);
}
info.m_linkName = mb->m_links[link].m_linkName;
}
if (mb->m_links[link].m_jointName) {
if (m_data->m_verboseOutput) {
b3Printf("mb->m_links[%d].m_jointName = %s\n", link,
mb->m_links[link].m_jointName);
}
info.m_jointName = mb->m_links[link].m_jointName;
}
info.m_jointType = mb->m_links[link].m_jointType;
if ((mb->m_links[link].m_jointType == eRevoluteType) ||
(mb->m_links[link].m_jointType == ePrismaticType)) {
info.m_flags |= JOINT_HAS_MOTORIZED_POWER;
}
bodyJoints->m_jointInfo.push_back(info);
}
qOffset += mb->m_links[link].m_posVarCount;
uOffset += mb->m_links[link].m_dofCount;
}
} else {
Bullet::btMultiBodyFloatData* mb =
(Bullet::btMultiBodyFloatData*)bf->m_multiBodies[i];
if (mb->m_baseName) {
if (m_data->m_verboseOutput) {
b3Printf("mb->m_baseName = %s\n", mb->m_baseName);
}
}
for (int link = 0; link < mb->m_numLinks; link++) {
{
b3JointInfo info;
info.m_flags = 0;
info.m_jointIndex = link;
info.m_qIndex =
(0 < mb->m_links[link].m_posVarCount) ? qOffset : -1;
info.m_uIndex =
(0 < mb->m_links[link].m_dofCount) ? uOffset : -1;
if (mb->m_links[link].m_linkName) {
if (m_data->m_verboseOutput) {
b3Printf("mb->m_links[%d].m_linkName = %s\n", link,
mb->m_links[link].m_linkName);
}
info.m_linkName = mb->m_links[link].m_linkName;
}
if (mb->m_links[link].m_jointName) {
if (m_data->m_verboseOutput) {
b3Printf("mb->m_links[%d].m_jointName = %s\n", link,
mb->m_links[link].m_jointName);
}
info.m_jointName = mb->m_links[link].m_jointName;
}
info.m_jointType = mb->m_links[link].m_jointType;
if ((mb->m_links[link].m_jointType == eRevoluteType) ||
(mb->m_links[link].m_jointType == ePrismaticType)) {
info.m_flags |= JOINT_HAS_MOTORIZED_POWER;
}
bodyJoints->m_jointInfo.push_back(info);
}
qOffset += mb->m_links[link].m_posVarCount;
uOffset += mb->m_links[link].m_dofCount;
}
}
}
if (bf->ok()) {
if (m_data->m_verboseOutput) {
b3Printf("Received robot description ok!\n");
}
} else {
b3Warning("Robot description not received");
}
}
break;
}
case CMD_DESIRED_STATE_RECEIVED_COMPLETED: {
if (m_data->m_verboseOutput) {
b3Printf("Server received desired state");
}
break;
}
case CMD_STEP_FORWARD_SIMULATION_COMPLETED: {
if (m_data->m_verboseOutput) {
b3Printf("Server completed step simulation");
}
break;
}
case CMD_URDF_LOADING_FAILED: {
if (m_data->m_verboseOutput) {
b3Printf("Server failed loading the URDF...\n");
}
m_data->m_serverLoadUrdfOK = false;
break;
}
case CMD_BULLET_DATA_STREAM_RECEIVED_COMPLETED: {
if (m_data->m_verboseOutput) {
b3Printf("Server received bullet data stream OK\n");
}
break;
}
case CMD_BULLET_DATA_STREAM_RECEIVED_FAILED: {
if (m_data->m_verboseOutput) {
b3Printf("Server failed receiving bullet data stream\n");
}
break;
}
case CMD_ACTUAL_STATE_UPDATE_COMPLETED: {
if (m_data->m_verboseOutput) {
b3Printf("Received actual state\n");
}
SharedMemoryStatus& command = m_data->m_testBlock1->m_serverCommands[0];
int numQ = command.m_sendActualStateArgs.m_numDegreeOfFreedomQ;
int numU = command.m_sendActualStateArgs.m_numDegreeOfFreedomU;
if (m_data->m_verboseOutput) {
b3Printf("size Q = %d, size U = %d\n", numQ, numU);
}
char msg[1024];
{
sprintf(msg, "Q=[");
for (int i = 0; i < numQ; i++) {
if (i < numQ - 1) {
sprintf(msg, "%s%f,", msg,
command.m_sendActualStateArgs.m_actualStateQ[i]);
} else {
sprintf(msg, "%s%f", msg,
command.m_sendActualStateArgs.m_actualStateQ[i]);
}
}
sprintf(msg, "%s]", msg);
}
if (m_data->m_verboseOutput) {
b3Printf(msg);
}
{
sprintf(msg, "U=[");
for (int i = 0; i < numU; i++) {
if (i < numU - 1) {
sprintf(msg, "%s%f,", msg,
command.m_sendActualStateArgs.m_actualStateQdot[i]);
} else {
sprintf(msg, "%s%f", msg,
command.m_sendActualStateArgs.m_actualStateQdot[i]);
}
}
sprintf(msg, "%s]", msg);
}
if (m_data->m_verboseOutput) {
b3Printf(msg);
}
if (m_data->m_verboseOutput) {
b3Printf("\n");
}
break;
}
case CMD_RESET_SIMULATION_COMPLETED: {
if (m_data->m_verboseOutput) {
b3Printf("CMD_RESET_SIMULATION_COMPLETED clean data\n");
}
for (int i=0;i<m_data->m_bodyJointMap.size();i++)
{
BodyJointInfoCache** bodyJointsPtr = m_data->m_bodyJointMap.getAtIndex(i);
if (bodyJointsPtr && *bodyJointsPtr)
{
delete (*bodyJointsPtr);
}
}
m_data->m_bodyJointMap.clear();
break;
}
case CMD_DEBUG_LINES_COMPLETED: {
if (m_data->m_verboseOutput) {
b3Printf("Success receiving %d debug lines",
serverCmd.m_sendDebugLinesArgs.m_numDebugLines);
}
int numLines = serverCmd.m_sendDebugLinesArgs.m_numDebugLines;
float* linesFrom =
(float*)&m_data->m_testBlock1->m_bulletStreamDataServerToClient[0];
float* linesTo =
(float*)(&m_data->m_testBlock1->m_bulletStreamDataServerToClient[0] +
numLines * 3 * sizeof(float));
float* linesColor =
(float*)(&m_data->m_testBlock1->m_bulletStreamDataServerToClient[0] +
2 * numLines * 3 * sizeof(float));
m_data->m_debugLinesFrom.resize(serverCmd.m_sendDebugLinesArgs.m_startingLineIndex +
numLines);
m_data->m_debugLinesTo.resize(serverCmd.m_sendDebugLinesArgs.m_startingLineIndex +
numLines);
m_data->m_debugLinesColor.resize(
serverCmd.m_sendDebugLinesArgs.m_startingLineIndex + numLines);
for (int i = 0; i < numLines; i++) {
TmpFloat3 from = CreateTmpFloat3(linesFrom[i * 3], linesFrom[i * 3 + 1],
linesFrom[i * 3 + 2]);
TmpFloat3 to =
CreateTmpFloat3(linesTo[i * 3], linesTo[i * 3 + 1], linesTo[i * 3 + 2]);
TmpFloat3 color = CreateTmpFloat3(linesColor[i * 3], linesColor[i * 3 + 1],
linesColor[i * 3 + 2]);
m_data
->m_debugLinesFrom[serverCmd.m_sendDebugLinesArgs.m_startingLineIndex + i] =
from;
m_data->m_debugLinesTo[serverCmd.m_sendDebugLinesArgs.m_startingLineIndex + i] =
to;
m_data->m_debugLinesColor[serverCmd.m_sendDebugLinesArgs.m_startingLineIndex +
i] = color;
}
break;
}
case CMD_DEBUG_LINES_OVERFLOW_FAILED: {
b3Warning("Error receiving debug lines");
m_data->m_debugLinesFrom.resize(0);
m_data->m_debugLinesTo.resize(0);
m_data->m_debugLinesColor.resize(0);
break;
}
default: {
b3Error("Unknown server status\n");
btAssert(0);
}
};
m_data->m_testBlock1->m_numProcessedServerCommands++;
// we don't have more than 1 command outstanding (in total, either server or client)
btAssert(m_data->m_testBlock1->m_numProcessedServerCommands ==
m_data->m_testBlock1->m_numServerCommands);
if (m_data->m_testBlock1->m_numServerCommands ==
m_data->m_testBlock1->m_numProcessedServerCommands) {
m_data->m_waitingForServer = false;
} else {
m_data->m_waitingForServer = true;
}
if ((serverCmd.m_type == CMD_DEBUG_LINES_COMPLETED) &&
(serverCmd.m_sendDebugLinesArgs.m_numRemainingDebugLines > 0)) {
SharedMemoryCommand& command = m_data->m_testBlock1->m_clientCommands[0];
// continue requesting debug lines for drawing
command.m_type = CMD_REQUEST_DEBUG_LINES;
command.m_requestDebugLinesArguments.m_startingLineIndex =
serverCmd.m_sendDebugLinesArgs.m_numDebugLines +
serverCmd.m_sendDebugLinesArgs.m_startingLineIndex;
submitClientCommand(command);
return 0;
}
return &m_data->m_lastServerStatus;
} else {
if (m_data->m_verboseOutput) {
b3Printf("m_numServerStatus = %d, processed = %d\n",
m_data->m_testBlock1->m_numServerCommands,
m_data->m_testBlock1->m_numProcessedServerCommands);
}
}
return 0;
}
bool PhysicsClientSharedMemory::canSubmitCommand() const {
return (m_data->m_isConnected && !m_data->m_waitingForServer);
}
struct SharedMemoryCommand* PhysicsClientSharedMemory::getAvailableSharedMemoryCommand() {
return &m_data->m_testBlock1->m_clientCommands[0];
}
bool PhysicsClientSharedMemory::submitClientCommand(const SharedMemoryCommand& command) {
/// at the moment we allow a maximum of 1 outstanding command, so we check for this
// once the server processed the command and returns a status, we clear the flag
// "m_data->m_waitingForServer" and allow submitting the next command
btAssert(!m_data->m_waitingForServer);
if (!m_data->m_waitingForServer) {
if (&m_data->m_testBlock1->m_clientCommands[0] != &command) {
m_data->m_testBlock1->m_clientCommands[0] = command;
}
m_data->m_testBlock1->m_numClientCommands++;
m_data->m_waitingForServer = true;
return true;
}
return false;
}
void PhysicsClientSharedMemory::uploadBulletFileToSharedMemory(const char* data, int len) {
btAssert(len < SHARED_MEMORY_MAX_STREAM_CHUNK_SIZE);
if (len >= SHARED_MEMORY_MAX_STREAM_CHUNK_SIZE) {
b3Warning("uploadBulletFileToSharedMemory %d exceeds max size %d\n", len,
SHARED_MEMORY_MAX_STREAM_CHUNK_SIZE);
} else {
for (int i = 0; i < len; i++) {
m_data->m_testBlock1->m_bulletStreamDataClientToServer[i] = data[i];
}
}
}
const float* PhysicsClientSharedMemory::getDebugLinesFrom() const {
if (m_data->m_debugLinesFrom.size()) {
return &m_data->m_debugLinesFrom[0].m_x;
}
return 0;
}
const float* PhysicsClientSharedMemory::getDebugLinesTo() const {
if (m_data->m_debugLinesTo.size()) {
return &m_data->m_debugLinesTo[0].m_x;
}
return 0;
}
const float* PhysicsClientSharedMemory::getDebugLinesColor() const {
if (m_data->m_debugLinesColor.size()) {
return &m_data->m_debugLinesColor[0].m_x;
}
return 0;
}
int PhysicsClientSharedMemory::getNumDebugLines() const { return m_data->m_debugLinesFrom.size(); }