Replace large timeout (1024*1024*1024) using real-time clock timeout …

…(10 seconds default) Change SHARED_MEMORY_MAGIC_NUMBER to make sure server/client are using the same version (shared memory) add --realtimesimulation to physics server (GUI, VR) remove --G Xcode from build_cmake_pybullet_double.sh
m-7761 · Feb 22, 2017 · bd30ba3 · bd30ba3
1 parent 35b92c4
commit bd30ba3
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Showing 13 changed files with 172 additions and 80 deletions.
diff --git a/build_cmake_pybullet_double.sh b/build_cmake_pybullet_double.sh
@@ -2,7 +2,7 @@
 rm CMakeCache.txt
 mkdir build_cmake
 cd build_cmake
-cmake -DBUILD_PYBULLET=ON -DBUILD_PYBULLET_NUMPY=OFF -DUSE_DOUBLE_PRECISION=ON -DCMAKE_BUILD_TYPE=Release -G Xcode ..
+cmake -DBUILD_PYBULLET=ON -DBUILD_PYBULLET_NUMPY=OFF -DUSE_DOUBLE_PRECISION=ON -DCMAKE_BUILD_TYPE=Release ..
 make -j12
 cd examples
 cd pybullet

diff --git a/examples/SharedMemory/PhysicsClientC_API.cpp b/examples/SharedMemory/PhysicsClientC_API.cpp
@@ -1033,17 +1033,23 @@ int	b3SubmitClientCommand(b3PhysicsClientHandle physClient, const b3SharedMemory
 
 }
 
+#include "../Utils/b3Clock.h"
+
+
 b3SharedMemoryStatusHandle b3SubmitClientCommandAndWaitStatus(b3PhysicsClientHandle physClient, const b3SharedMemoryCommandHandle commandHandle)
 {
-	int timeout = 1024 * 1024 * 1024;
+	b3Clock clock;
+	double startTime = clock.getTimeInSeconds();
+	double timeOutInSeconds = 10;
+
 	b3SharedMemoryStatusHandle statusHandle = 0;
 	b3Assert(commandHandle);
 	b3Assert(physClient);
 	if (physClient && commandHandle)
 	{
 		b3SubmitClientCommand(physClient, commandHandle);
 
-		while ((statusHandle == 0) && (timeout-- > 0))
+		while ((statusHandle == 0) && (clock.getTimeInSeconds()-startTime < timeOutInSeconds))
 		{
 			statusHandle = b3ProcessServerStatus(physClient);
 		}

diff --git a/examples/SharedMemory/PhysicsClientSharedMemory.cpp b/examples/SharedMemory/PhysicsClientSharedMemory.cpp
@@ -268,11 +268,13 @@ bool PhysicsClientSharedMemory::connect() {
 		command.m_type = CMD_REQUEST_BODY_INFO;
 		command.m_sdfRequestInfoArgs.m_bodyUniqueId = 37;
 		submitClientCommand(command);
-		int timeout = 1024 * 1024 * 1024;
-
+
+		double startTime = clock.getTimeInSeconds();
+		double timeOutInSeconds = 10;
+
 		const SharedMemoryStatus* status = 0;
 
-		while ((status == 0) && (timeout-- > 0))
+		while ((status == 0) && (clock.getTimeInSeconds()-startTime < timeOutInSeconds))
 		{
 			status = processServerStatus();
 

diff --git a/examples/SharedMemory/PhysicsClientTCP.cpp b/examples/SharedMemory/PhysicsClientTCP.cpp
@@ -64,7 +64,14 @@ struct	TcpNetworkedInternalData
         m_tcpSocket.Initialize();
 
         m_isConnected = m_tcpSocket.Open(m_hostName.c_str(),m_port);
-
+        if (m_isConnected)
+		{
+			m_tcpSocket.SetSendTimeout(5,0);
+			m_tcpSocket.SetReceiveTimeout(5,0);
+		}
+		int key = SHARED_MEMORY_MAGIC_NUMBER;
+		m_tcpSocket.Send((uint8*)&key,4);
+
 		return m_isConnected;
 	}
 
@@ -243,6 +250,8 @@ bool TcpNetworkedPhysicsProcessor::connect()
 
 void TcpNetworkedPhysicsProcessor::disconnect()
 {
+	const char msg[16]="disconnect";
+	m_data->m_tcpSocket.Send((const uint8 *)msg,10);
 	m_data->m_tcpSocket.Close();
 	m_data->m_isConnected = false;
 }

diff --git a/examples/SharedMemory/PhysicsClientUDP.cpp b/examples/SharedMemory/PhysicsClientUDP.cpp
@@ -464,26 +464,32 @@ bool UdpNetworkedPhysicsProcessor::processCommand(const struct SharedMemoryComma
 		printf("PhysicsClientUDP::processCommand\n");
 	}
 //	int sz = sizeof(SharedMemoryCommand);
-	int timeout = 1024 * 1024 * 1024;
+
+	b3Clock clock;
+	double startTime = clock.getTimeInSeconds();
+	double timeOutInSeconds = 10;
 
 	m_data->m_cs->lock();
 	m_data->m_clientCmd = clientCmd;
 	m_data->m_hasCommand = true;
 	m_data->m_cs->unlock();
 
-	while (m_data->m_hasCommand &&  (timeout-- > 0))
+	while ((m_data->m_hasCommand) && (clock.getTimeInSeconds()-startTime < timeOutInSeconds))
 	{
 		b3Clock::usleep(0);
 	}
 
 #if 0
 
-	timeout = 1024 * 1024 * 1024;
 
 	bool hasStatus = false;
 
+	b3Clock clock;
+	double startTime = clock.getTimeInSeconds();
+	double timeOutInSeconds = 10;
+
 	const SharedMemoryStatus* stat = 0;
-	while ((!hasStatus) && (timeout-- > 0))
+	while ((!hasStatus) && (clock.getTimeInSeconds() - startTime < timeOutInSeconds))
 	{
 		hasStatus = receiveStatus(serverStatusOut, bufferServerToClient, bufferSizeInBytes);
 		b3Clock::usleep(100);

diff --git a/examples/SharedMemory/PhysicsDirect.cpp b/examples/SharedMemory/PhysicsDirect.cpp
@@ -4,7 +4,7 @@
 #include "../CommonInterfaces/CommonGUIHelperInterface.h"
 #include "SharedMemoryCommands.h"
 #include "PhysicsCommandProcessorInterface.h"
-
+#include "../Utils/b3Clock.h"
 
 #include "LinearMath/btHashMap.h"
 #include "LinearMath/btAlignedObjectArray.h"
@@ -137,8 +137,10 @@ bool PhysicsDirect::connect()
 		}
 		else
 		{
-			int timeout = 1024 * 1024 * 1024;
-			while ((!hasStatus) && (timeout-- > 0))
+			b3Clock clock;
+			double timeSec = clock.getTimeInSeconds();
+
+			while ((!hasStatus) && (clock.getTimeInSeconds()-timeSec <10 ))
 			{
 				const  SharedMemoryStatus* stat = processServerStatus();
 				if (stat)
@@ -226,8 +228,11 @@ bool PhysicsDirect::processDebugLines(const struct SharedMemoryCommand& orgComma
 
 		bool hasStatus = m_data->m_commandProcessor->processCommand(command,m_data->m_serverStatus,&m_data->m_bulletStreamDataServerToClient[0],SHARED_MEMORY_MAX_STREAM_CHUNK_SIZE);
 
-		int timeout = 1024 * 1024 * 1024;
-		while ((!hasStatus) && (timeout-- > 0))
+		b3Clock clock;
+		double startTime = clock.getTimeInSeconds();
+		double timeOutInSeconds = 10;
+
+		while ((!hasStatus) && (clock.getTimeInSeconds()-startTime < timeOutInSeconds))
 		{
 			const  SharedMemoryStatus* stat = processServerStatus();
 			if (stat)
@@ -308,8 +313,11 @@ bool PhysicsDirect::processVisualShapeData(const struct SharedMemoryCommand& org
 	{
 		bool hasStatus = m_data->m_commandProcessor->processCommand(command, m_data->m_serverStatus, &m_data->m_bulletStreamDataServerToClient[0], SHARED_MEMORY_MAX_STREAM_CHUNK_SIZE);
 
-		int timeout = 1024 * 1024 * 1024;
-		while ((!hasStatus) && (timeout-- > 0))
+		b3Clock clock;
+		double startTime = clock.getTimeInSeconds();
+		double timeOutInSeconds = 10;
+
+		while ((!hasStatus) && (clock.getTimeInSeconds()-startTime < timeOutInSeconds))
 		{
 			const  SharedMemoryStatus* stat = processServerStatus();
 			if (stat)
@@ -359,8 +367,11 @@ bool PhysicsDirect::processOverlappingObjects(const struct SharedMemoryCommand&
 	{
 		bool hasStatus = m_data->m_commandProcessor->processCommand(command, m_data->m_serverStatus, &m_data->m_bulletStreamDataServerToClient[0], SHARED_MEMORY_MAX_STREAM_CHUNK_SIZE);
 
-		int timeout = 1024 * 1024 * 1024;
-		while ((!hasStatus) && (timeout-- > 0))
+		b3Clock clock;
+		double startTime = clock.getTimeInSeconds();
+		double timeOutInSeconds = 10;
+
+		while ((!hasStatus) && (clock.getTimeInSeconds()-startTime < timeOutInSeconds))
 		{
 			const  SharedMemoryStatus* stat = processServerStatus();
 			if (stat)
@@ -414,8 +425,11 @@ bool PhysicsDirect::processContactPointData(const struct SharedMemoryCommand& or
     {
         bool hasStatus = m_data->m_commandProcessor->processCommand(command,m_data->m_serverStatus,&m_data->m_bulletStreamDataServerToClient[0],SHARED_MEMORY_MAX_STREAM_CHUNK_SIZE);
 
-		int timeout = 1024 * 1024 * 1024;
-		while ((!hasStatus) && (timeout-- > 0))
+		b3Clock clock;
+		double startTime = clock.getTimeInSeconds();
+		double timeOutInSeconds = 10;
+
+		while ((!hasStatus) && (clock.getTimeInSeconds()-startTime < timeOutInSeconds))
 		{
 			const  SharedMemoryStatus* stat = processServerStatus();
 			if (stat)
@@ -475,8 +489,11 @@ bool PhysicsDirect::processCamera(const struct SharedMemoryCommand& orgCommand)
 
 		bool hasStatus = m_data->m_commandProcessor->processCommand(command,m_data->m_serverStatus,&m_data->m_bulletStreamDataServerToClient[0],SHARED_MEMORY_MAX_STREAM_CHUNK_SIZE);
 
-		int timeout = 1024 * 1024 * 1024;
-		while ((!hasStatus) && (timeout-- > 0))
+		b3Clock clock;
+		double startTime = clock.getTimeInSeconds();
+		double timeOutInSeconds = 10;
+
+		while ((!hasStatus) && (clock.getTimeInSeconds()-startTime < timeOutInSeconds))
 		{
 			const  SharedMemoryStatus* stat = processServerStatus();
 			if (stat)
@@ -735,8 +752,11 @@ void PhysicsDirect::postProcessStatus(const struct SharedMemoryStatus& serverCmd
 			bool hasStatus = m_data->m_commandProcessor->processCommand(infoRequestCommand, infoStatus, &m_data->m_bulletStreamDataServerToClient[0], SHARED_MEMORY_MAX_STREAM_CHUNK_SIZE);
 
 
-			int timeout = 1024 * 1024 * 1024;
-			while ((!hasStatus) && (timeout-- > 0))
+			b3Clock clock;
+			double startTime = clock.getTimeInSeconds();
+			double timeOutInSeconds = 10;
+
+			while ((!hasStatus) && (clock.getTimeInSeconds()-startTime < timeOutInSeconds))
 			{
 				hasStatus = m_data->m_commandProcessor->receiveStatus(infoStatus, &m_data->m_bulletStreamDataServerToClient[0], SHARED_MEMORY_MAX_STREAM_CHUNK_SIZE);
 			}
@@ -759,8 +779,11 @@ void PhysicsDirect::postProcessStatus(const struct SharedMemoryStatus& serverCmd
 			bool hasStatus = m_data->m_commandProcessor->processCommand(infoRequestCommand, infoStatus, &m_data->m_bulletStreamDataServerToClient[0], SHARED_MEMORY_MAX_STREAM_CHUNK_SIZE);
 
 
-			int timeout = 1024 * 1024 * 1024;
-			while ((!hasStatus) && (timeout-- > 0))
+			b3Clock clock;
+			double startTime = clock.getTimeInSeconds();
+			double timeOutInSeconds = 10;
+
+			while ((!hasStatus) && (clock.getTimeInSeconds()-startTime < timeOutInSeconds))
 			{
 				hasStatus = m_data->m_commandProcessor->receiveStatus(infoStatus, &m_data->m_bulletStreamDataServerToClient[0], SHARED_MEMORY_MAX_STREAM_CHUNK_SIZE);
 			}

diff --git a/examples/SharedMemory/PhysicsServerExample.cpp b/examples/SharedMemory/PhysicsServerExample.cpp
@@ -1153,6 +1153,12 @@ class PhysicsServerExample : public SharedMemoryCommon
 			gCreateDefaultRobotAssets = true;
 		}
 
+		if (args.CheckCmdLineFlag("realtimesimulation"))
+		{
+			//gEnableRealTimeSimVR = true;
+			m_physicsServer.enableRealTimeSimulation(true);
+		}
+
 		if (args.CheckCmdLineFlag("norobotassets"))
 		{
 			gCreateDefaultRobotAssets = false;

diff --git a/examples/SharedMemory/SharedMemoryBlock.h b/examples/SharedMemory/SharedMemoryBlock.h
@@ -1,9 +1,9 @@
 #ifndef SHARED_MEMORY_BLOCK_H
 #define SHARED_MEMORY_BLOCK_H
 
-#define SHARED_MEMORY_MAGIC_NUMBER 64738
 #define SHARED_MEMORY_MAX_COMMANDS 4
 
+
 #include "SharedMemoryCommands.h"
 
 struct SharedMemoryBlock

diff --git a/examples/SharedMemory/SharedMemoryPublic.h b/examples/SharedMemory/SharedMemoryPublic.h
@@ -2,6 +2,9 @@
 #define SHARED_MEMORY_PUBLIC_H
 
 #define SHARED_MEMORY_KEY 12347
+///increase the SHARED_MEMORY_MAGIC_NUMBER whenever incompatible changes are made in the structures
+///my convention is year/month/day/rev
+#define SHARED_MEMORY_MAGIC_NUMBER 201702220
 
 enum EnumSharedMemoryClientCommand
 {