bullet3/examples/SharedMemory/udp/main.cpp

/* server.cpp */
#include <stdio.h>
#include <enet/enet.h>
#include "../../CommonInterfaces/CommonGUIHelperInterface.h"
#include "Bullet3Common/b3CommandLineArgs.h"

#ifdef NO_SHARED_MEMORY
#include "PhysicsServerCommandProcessor.h"
typedef PhysicsServerCommandProcessor MyCommandProcessor;
#else
#include "SharedMemoryCommandProcessor.h"
typedef SharedMemoryCommandProcessor MyCommandProcessor;
#endif  //NO_SHARED_MEMORY

#include "SharedMemoryCommands.h"
#include "Bullet3Common/b3AlignedObjectArray.h"
#include "PhysicsServerCommandProcessor.h"
#include "../Utils/b3Clock.h"

bool gVerboseNetworkMessagesServer = false;

void MySerializeInt(unsigned int sz, unsigned char* output)
{
	unsigned int tmp = sz;
	output[0] = tmp & 255;
	tmp = tmp >> 8;
	output[1] = tmp & 255;
	tmp = tmp >> 8;
	output[2] = tmp & 255;
	tmp = tmp >> 8;
	output[3] = tmp & 255;
}

int main(int argc, char* argv[])
{
	b3CommandLineArgs parseArgs(argc, argv);
	b3Clock clock;
	double timeOutInSeconds = 10;

	DummyGUIHelper guiHelper;
	MyCommandProcessor* sm = new MyCommandProcessor;
	sm->setGuiHelper(&guiHelper);

	int port = 1234;
	if (parseArgs.GetCmdLineArgument("port", port))
	{
		printf("Using UDP port %d\n", port);
	}

	gVerboseNetworkMessagesServer = parseArgs.CheckCmdLineFlag("verbose");

#ifndef NO_SHARED_MEMORY
	int key = 0;
	if (parseArgs.GetCmdLineArgument("sharedMemoryKey", key))
	{
		sm->setSharedMemoryKey(key);
	}
#endif  //NO_SHARED_MEMORY

	//	PhysicsDirect* sm = new PhysicsDirect(sdk);

	//PhysicsClientSharedMemory* sm = new PhysicsClientSharedMemory();

	bool isPhysicsClientConnected = sm->connect();

	if (isPhysicsClientConnected)
	{
		ENetAddress address;
		ENetHost* server;
		ENetEvent event;
		int serviceResult;

		puts("Starting server");

		if (enet_initialize() != 0)
		{
			puts("Error initialising enet");
			exit(EXIT_FAILURE);
		}

		/* Bind the server to the default localhost.     */
		/* A specific host address can be specified by   */
		/* enet_address_set_host (& address, "x.x.x.x"); */
		address.host = ENET_HOST_ANY;
		/* Bind the server to port 1234. */
		address.port = port;

		server = enet_host_create(&address,
								  32, /* number of clients */
								  2,  /* number of channels */
								  0,  /* Any incoming bandwith */
								  0); /* Any outgoing bandwith */

		if (server == NULL)
		{
			puts("Could not create server host");
			exit(EXIT_FAILURE);
		}

		while (true)
		{
			b3Clock::usleep(0);

			serviceResult = 1;

			/* Keep doing host_service until no events are left */
			while (serviceResult > 0)
			{
				/* Wait up to 1000 milliseconds for an event. */
				serviceResult = enet_host_service(server, &event, 0);
				if (serviceResult > 0)
				{
					switch (event.type)
					{
						case ENET_EVENT_TYPE_CONNECT:
						{
							printf("A new client connected from %x:%u.\n",
								   event.peer->address.host,
								   event.peer->address.port);

							/* Store any relevant client information here. */
							event.peer->data = (void*)"Client information";

							break;
						}
						case ENET_EVENT_TYPE_RECEIVE:
						{
							if (gVerboseNetworkMessagesServer)
							{
								int dataLen = (int)event.packet->dataLength;

								printf(
									"A packet of length %u containing '%s' was "
									"received from %s on channel %u.\n",
									dataLen,
									event.packet->data,
									event.peer->data,
									event.channelID);
							}
							SharedMemoryCommand cmd;

							SharedMemoryCommand* cmdPtr = 0;

							//performance test
							if (event.packet->dataLength == sizeof(int))
							{
								cmdPtr = &cmd;
								cmd.m_type = *(int*)event.packet->data;
							}

							if (event.packet->dataLength == sizeof(SharedMemoryCommand))
							{
								cmdPtr = (SharedMemoryCommand*)event.packet->data;
							}
							if (cmdPtr)
							{
								SharedMemoryStatus serverStatus;
								b3AlignedObjectArray<char> buffer;
								buffer.resize(SHARED_MEMORY_MAX_STREAM_CHUNK_SIZE);

								bool hasStatus = sm->processCommand(*cmdPtr, serverStatus, &buffer[0], buffer.size());

								double startTimeSeconds = clock.getTimeInSeconds();
								double curTimeSeconds = clock.getTimeInSeconds();

								while ((!hasStatus) && ((curTimeSeconds - startTimeSeconds) < timeOutInSeconds))
								{
									hasStatus = sm->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;

									if (cmdPtr->m_type == CMD_STEP_FORWARD_SIMULATION)
									{
										packetData.resize(4 + sizeof(int));
										int sz = packetData.size();
										int curPos = 0;

										MySerializeInt(sz, &packetData[curPos]);
										curPos += 4;
										for (int i = 0; i < sizeof(int); i++)
										{
											packetData[i + curPos] = statBytes[i];
										}
										curPos += sizeof(int);
										ENetPacket* packet = enet_packet_create(&packetData[0], packetData.size(), ENET_PACKET_FLAG_RELIABLE);
										enet_peer_send(event.peer, 0, packet);
									}
									else
									{
										//create packetData with [int packetSizeInBytes, status, streamBytes)
										packetData.resize(4 + sizeof(SharedMemoryStatus) + serverStatus.m_numDataStreamBytes);
										int sz = packetData.size();
										int curPos = 0;

										MySerializeInt(sz, &packetData[curPos]);
										curPos += 4;
										for (int i = 0; i < sizeof(SharedMemoryStatus); i++)
										{
											packetData[i + curPos] = statBytes[i];
										}
										curPos += sizeof(SharedMemoryStatus);

										for (int i = 0; i < serverStatus.m_numDataStreamBytes; i++)
										{
											packetData[i + curPos] = buffer[i];
										}

										ENetPacket* packet = enet_packet_create(&packetData[0], packetData.size(), ENET_PACKET_FLAG_RELIABLE);
										enet_peer_send(event.peer, 0, packet);
										//enet_host_broadcast(server, 0, packet);
									}
								}
							}
							else
							{
								printf("received packet with unknown contents\n");
							}

							/* Tell all clients about this message */
							//enet_host_broadcast(server, 0, event.packet);

							break;
						}
						case ENET_EVENT_TYPE_DISCONNECT:
						{
							printf("%s disconnected.\n", event.peer->data);

							/* Reset the peer's client information. */

							event.peer->data = NULL;

							break;
						}
						default:
						{
						}
					}
				}
				else if (serviceResult > 0)
				{
					puts("Error with servicing the server");
					exit(EXIT_FAILURE);
				}
			}
		}

		enet_host_destroy(server);
		enet_deinitialize();
	}
	delete sm;

	return 0;
}