mirror of
https://github.com/bulletphysics/bullet3.git
synced 2026-06-14 03:09:18 +00:00
embed TCP graphics server in PyBullet for easier working-from-home
This allows to render at a different machine, sending all assets across the TCP network, using port 6667 by default. You can use ssh port forwarding to get this working: ssh -R 6667:localhost:6667 username@remotehost.com -v python3 -m pybullet_utils.graphicsServer python3 -m pybullet_utils.graphicsClient Note that there are still some tcp networking issues that can cause a hang, just restart graphics server and graphics client if it hangs.
This commit is contained in:
Erwin Coumans
@@ -11,10 +11,557 @@
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#include "GraphicsSharedMemoryBlock.h"
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#include "../CommonInterfaces/CommonGUIHelperInterface.h"
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#include "SharedMemoryPublic.h"
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#include "../MultiThreading/b3ThreadSupportInterface.h"
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#include "Utils/b3Clock.h"
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#ifdef BT_ENABLE_CLSOCKET
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#include "PassiveSocket.h" // Include header for active socket object definition
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#include <stdio.h>
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#include "../CommonInterfaces/CommonGUIHelperInterface.h"
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#include "Bullet3Common/b3CommandLineArgs.h"
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#include "RemoteGUIHelper.h"
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#include "GraphicsSharedMemoryPublic.h"
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#include "GraphicsSharedMemoryCommands.h"
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bool gVerboseNetworkMessagesServer = false;
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void MySerializeInt(unsigned int sz, unsigned char* output)
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{
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unsigned int tmp = sz;
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output[0] = tmp & 255;
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tmp = tmp >> 8;
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output[1] = tmp & 255;
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tmp = tmp >> 8;
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output[2] = tmp & 255;
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tmp = tmp >> 8;
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output[3] = tmp & 255;
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}
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void submitStatus(CActiveSocket* pClient, GraphicsSharedMemoryStatus& serverStatus, b3AlignedObjectArray<char>& buffer)
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{
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b3AlignedObjectArray<unsigned char> packetData;
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unsigned char* statBytes = (unsigned char*)&serverStatus;
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//create packetData with [int packetSizeInBytes, status, streamBytes)
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packetData.resize(4 + sizeof(GraphicsSharedMemoryStatus) + serverStatus.m_numDataStreamBytes);
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int sz = packetData.size();
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int curPos = 0;
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if (gVerboseNetworkMessagesServer)
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{
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//printf("buffer.size = %d\n", buffer.size());
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printf("serverStatus packed size = %d\n", sz);
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}
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MySerializeInt(sz, &packetData[curPos]);
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curPos += 4;
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for (int i = 0; i < sizeof(GraphicsSharedMemoryStatus); i++)
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{
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packetData[i + curPos] = statBytes[i];
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}
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curPos += sizeof(GraphicsSharedMemoryStatus);
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for (int i = 0; i < serverStatus.m_numDataStreamBytes; i++)
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{
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packetData[i + curPos] = buffer[i];
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}
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pClient->Send(&packetData[0], packetData.size());
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if (gVerboseNetworkMessagesServer)
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printf("pClient->Send serverStatus: %d\n", packetData.size());
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}
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#endif //BT_ENABLE_CLSOCKET
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#define MAX_GRAPHICS_SHARED_MEMORY_BLOCKS 1
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struct TCPArgs
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{
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TCPArgs()
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: m_cs(0),
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m_port(6667)
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{
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}
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b3CriticalSection* m_cs;
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int m_port;
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};
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struct TCPThreadLocalStorage
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{
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int threadId;
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};
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enum TCPCommunicationEnums
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{
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eTCPRequestTerminate = 11,
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eTCPIsUnInitialized,
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eTCPIsInitialized,
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eTCPInitializationFailed,
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eTCPHasTerminated
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};
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void TCPThreadFunc(void* userPtr, void* lsMemory)
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{
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printf("TCPThreadFunc thread started\n");
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TCPArgs* args = (TCPArgs*)userPtr;
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//int workLeft = true;
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b3Clock clock;
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clock.reset();
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b3Clock sleepClock;
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bool init = true;
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if (init)
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{
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unsigned int cachedSharedParam = eTCPIsInitialized;
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args->m_cs->lock();
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args->m_cs->setSharedParam(0, eTCPIsInitialized);
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args->m_cs->unlock();
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double deltaTimeInSeconds = 0;
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int numCmdSinceSleep1ms = 0;
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unsigned long long int prevTime = clock.getTimeMicroseconds();
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#ifdef BT_ENABLE_CLSOCKET
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b3Clock clock;
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double timeOutInSeconds = 10;
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RemoteGUIHelper guiHelper;
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bool isPhysicsClientConnected = guiHelper.isConnected();
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bool exitRequested = false;
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b3AlignedObjectArray< b3AlignedObjectArray<char> > slots;
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int maxSlots = 10;
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slots.resize(maxSlots);
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if (!isPhysicsClientConnected)
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{
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printf("TCP thread error connecting to shared memory. Machine needs a reboot?\n");
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}
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btAssert(isPhysicsClientConnected);
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printf("Starting TCP server using port %d\n", args->m_port);
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CPassiveSocket socket;
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CActiveSocket* pClient = NULL;
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//--------------------------------------------------------------------------
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// Initialize our socket object
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//--------------------------------------------------------------------------
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socket.Initialize();
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socket.Listen("localhost", args->m_port);
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//socket.SetReceiveTimeout(1, 0);
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//socket.SetNonblocking();
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int curNumErr = 0;
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#endif
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do
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{
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{
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b3Clock::usleep(0);
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}
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///////////////////////////////
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#ifdef BT_ENABLE_CLSOCKET
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{
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b3Clock::usleep(0);
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if ((pClient = socket.Accept()) != NULL)
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{
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b3AlignedObjectArray<char> bytesReceived;
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int clientPort = socket.GetClientPort();
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if (gVerboseNetworkMessagesServer)
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printf("connected from %s:%d\n", socket.GetClientAddr(), clientPort);
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if (pClient->Receive(4))
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{
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int clientKey = *(int*)pClient->GetData();
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if (clientKey == GRAPHICS_SHARED_MEMORY_MAGIC_NUMBER)
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{
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printf("Client version OK %d\n", clientKey);
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}
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else
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{
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printf("Server version (%d) mismatches Client Version (%d)\n", GRAPHICS_SHARED_MEMORY_MAGIC_NUMBER, clientKey);
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continue;
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}
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}
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//----------------------------------------------------------------------
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// Receive request from the client.
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//----------------------------------------------------------------------
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while (cachedSharedParam != eTCPRequestTerminate)
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{
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//printf("try receive\n");
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bool receivedData = false;
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int maxLen = 4 + sizeof(GraphicsSharedMemoryCommand) + GRAPHICS_SHARED_MEMORY_MAX_STREAM_CHUNK_SIZE;
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if (pClient->Receive(maxLen))
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{
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//heuristic to detect disconnected clients
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CSimpleSocket::CSocketError err = pClient->GetSocketError();
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if (err != CSimpleSocket::SocketSuccess || !pClient->IsSocketValid())
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{
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b3Clock::usleep(100);
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curNumErr++;
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if (curNumErr > 100)
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{
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printf("TCP Connection error = %d, curNumErr = %d\n", (int)err, curNumErr);
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break;
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}
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}
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curNumErr = 0;
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char* msg2 = (char*)pClient->GetData();
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int numBytesRec2 = pClient->GetBytesReceived();
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if (numBytesRec2 < 0)
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{
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numBytesRec2 = 0;
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}
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int curSize = bytesReceived.size();
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bytesReceived.resize(bytesReceived.size() + numBytesRec2);
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for (int i = 0; i < numBytesRec2; i++)
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{
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bytesReceived[curSize + i] = msg2[i];
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}
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if (bytesReceived.size() >= 4)
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{
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int numBytesRec = bytesReceived.size();
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if (numBytesRec >= 10)
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{
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if (strncmp(&bytesReceived[0], "disconnect", 10) == 0)
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{
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printf("Disconnect request received\n");
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bytesReceived.clear();
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break;
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}
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}
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if (gVerboseNetworkMessagesServer)
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{
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printf("received message length [%d]\n", numBytesRec);
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}
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receivedData = true;
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GraphicsSharedMemoryCommand cmd;
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GraphicsSharedMemoryCommand* cmdPtr = 0;
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int type = *(int*)&bytesReceived[0];
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//performance test
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if (numBytesRec == sizeof(int))
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{
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cmdPtr = &cmd;
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cmd.m_type = *(int*)&bytesReceived[0];
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}
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else
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{
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if (numBytesRec == sizeof(GraphicsSharedMemoryCommand))
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{
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cmdPtr = (GraphicsSharedMemoryCommand*)&bytesReceived[0];
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}
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else
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{
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if (numBytesRec == 36)
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{
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cmdPtr = &cmd;
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memcpy(&cmd, &bytesReceived[0], numBytesRec);
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}
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}
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}
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if (cmdPtr)
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{
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GraphicsSharedMemoryStatus serverStatus;
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serverStatus.m_type = GFX_CMD_CLIENT_COMMAND_FAILED;
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serverStatus.m_numDataStreamBytes = 0;
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b3AlignedObjectArray<char> buffer;
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buffer.resize(GRAPHICS_SHARED_MEMORY_MAX_STREAM_CHUNK_SIZE);
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bool hasStatus = true;
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if (gVerboseNetworkMessagesServer)
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printf("processing command:");
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switch (cmdPtr->m_type)
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{
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case GFX_CMD_0:
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{
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int axis = cmdPtr->m_upAxisYCommand.m_enableUpAxisY ? 1 : 2;
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guiHelper.setUpAxis(axis);
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serverStatus.m_type = GFX_CMD_CLIENT_COMMAND_COMPLETED;
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if (gVerboseNetworkMessagesServer)
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printf("GFX_CMD_0\n");
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break;
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}
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case GFX_CMD_SET_VISUALIZER_FLAG:
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{
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guiHelper.setVisualizerFlag(
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cmdPtr->m_visualizerFlagCommand.m_visualizerFlag,
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cmdPtr->m_visualizerFlagCommand.m_enable);
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serverStatus.m_type = GFX_CMD_CLIENT_COMMAND_COMPLETED;
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if (gVerboseNetworkMessagesServer)
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printf("GFX_CMD_SET_VISUALIZER_FLAG\n");
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break;
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}
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case GFX_CMD_UPLOAD_DATA:
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{
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int slot = cmdPtr->m_uploadDataCommand.m_dataSlot;
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submitStatus(pClient, serverStatus, buffer);
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if (gVerboseNetworkMessagesServer)
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printf("GFX_CMD_UPLOAD_DATA receiving data\n");
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if (pClient->Receive(cmdPtr->m_uploadDataCommand.m_numBytes))
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{
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//heuristic to detect disconnected clients
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CSimpleSocket::CSocketError err = pClient->GetSocketError();
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if (err != CSimpleSocket::SocketSuccess || !pClient->IsSocketValid())
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{
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curNumErr++;
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printf("TCP Connection error = %d, curNumErr = %d\n", (int)err, curNumErr);
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}
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char* msg2 = (char*)pClient->GetData();
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int numBytesRec2 = pClient->GetBytesReceived();
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if (gVerboseNetworkMessagesServer)
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printf("received %d bytes\n", numBytesRec2);
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slots[slot].resize(numBytesRec2);
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for (int i = 0; i < numBytesRec2; i++)
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{
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slots[slot][i] = msg2[i];
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}
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}
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serverStatus.m_type = GFX_CMD_CLIENT_COMMAND_COMPLETED;
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if (gVerboseNetworkMessagesServer)
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printf("GFX_CMD_UPLOAD_DATA\n");
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break;
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}
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case GFX_CMD_REGISTER_TEXTURE:
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{
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const unsigned char* texels = (const unsigned char*)&slots[0][0];
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serverStatus.m_registerTextureStatus.m_textureId = guiHelper.registerTexture(texels, cmdPtr->m_registerTextureCommand.m_width,
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cmdPtr->m_registerTextureCommand.m_height);
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serverStatus.m_type = GFX_CMD_REGISTER_TEXTURE_COMPLETED;
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if (gVerboseNetworkMessagesServer)
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printf("GFX_CMD_REGISTER_TEXTURE\n");
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break;
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}
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case GFX_CMD_REGISTER_GRAPHICS_SHAPE:
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{
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const float* vertices = (const float*)&slots[0][0];
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const int* indices = (const int*)&slots[1][0];
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serverStatus.m_registerGraphicsShapeStatus.m_shapeId = guiHelper.registerGraphicsShape(vertices, cmdPtr->m_registerGraphicsShapeCommand.m_numVertices, indices,
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cmdPtr->m_registerGraphicsShapeCommand.m_numIndices, cmdPtr->m_registerGraphicsShapeCommand.m_primitiveType,
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cmdPtr->m_registerGraphicsShapeCommand.m_textureId);
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serverStatus.m_type = GFX_CMD_REGISTER_GRAPHICS_SHAPE_COMPLETED;
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if (gVerboseNetworkMessagesServer)
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printf("GFX_CMD_REGISTER_GRAPHICS_SHAPE\n");
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break;
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}
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case GFX_CMD_REGISTER_GRAPHICS_INSTANCE:
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{
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serverStatus.m_registerGraphicsInstanceStatus.m_graphicsInstanceId =
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guiHelper.registerGraphicsInstance(
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cmdPtr->m_registerGraphicsInstanceCommand.m_shapeIndex,
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cmdPtr->m_registerGraphicsInstanceCommand.m_position,
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cmdPtr->m_registerGraphicsInstanceCommand.m_quaternion,
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cmdPtr->m_registerGraphicsInstanceCommand.m_color,
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cmdPtr->m_registerGraphicsInstanceCommand.m_scaling);
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serverStatus.m_type = GFX_CMD_REGISTER_GRAPHICS_INSTANCE_COMPLETED;
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if (gVerboseNetworkMessagesServer)
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printf("GFX_CMD_REGISTER_GRAPHICS_INSTANCE\n");
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break;
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}
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case GFX_CMD_SYNCHRONIZE_TRANSFORMS:
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{
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const GUISyncPosition* positions = (const GUISyncPosition*)&slots[0][0];
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guiHelper.syncPhysicsToGraphics2(positions, cmdPtr->m_syncTransformsCommand.m_numPositions);
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serverStatus.m_type = GFX_CMD_CLIENT_COMMAND_COMPLETED;
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if (gVerboseNetworkMessagesServer)
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printf("GFX_CMD_SYNCHRONIZE_TRANSFORMS\n");
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break;
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}
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case GFX_CMD_REMOVE_ALL_GRAPHICS_INSTANCES:
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{
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guiHelper.removeAllGraphicsInstances();
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serverStatus.m_type = GFX_CMD_CLIENT_COMMAND_COMPLETED;
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if (gVerboseNetworkMessagesServer)
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printf("GFX_CMD_REMOVE_ALL_GRAPHICS_INSTANCES\n");
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break;
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}
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case GFX_CMD_REMOVE_SINGLE_GRAPHICS_INSTANCE:
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{
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guiHelper.removeGraphicsInstance(cmdPtr->m_removeGraphicsInstanceCommand.m_graphicsUid);
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serverStatus.m_type = GFX_CMD_CLIENT_COMMAND_COMPLETED;
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if (gVerboseNetworkMessagesServer)
|
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printf("GFX_CMD_REMOVE_SINGLE_GRAPHICS_INSTANCE\n");
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break;
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}
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case GFX_CMD_CHANGE_RGBA_COLOR:
|
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{
|
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guiHelper.changeRGBAColor(cmdPtr->m_changeRGBAColorCommand.m_graphicsUid,
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cmdPtr->m_changeRGBAColorCommand.m_rgbaColor);
|
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serverStatus.m_type = GFX_CMD_CLIENT_COMMAND_COMPLETED;
|
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if (gVerboseNetworkMessagesServer)
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printf("GFX_CMD_CHANGE_RGBA_COLOR\n");
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break;
|
||||
}
|
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case GFX_CMD_GET_CAMERA_INFO:
|
||||
{
|
||||
//bool RemoteGUIHelper::getCameraInfo(int* width, int* height,
|
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// float viewMatrix[16], float projectionMatrix[16],
|
||||
// float camUp[3], float camForward[3], float hor[3], float vert[3],
|
||||
// float* yaw, float* pitch, float* camDist, float camTarget[3]) const
|
||||
|
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guiHelper.getCameraInfo(&serverStatus.m_getCameraInfoStatus.width,
|
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&serverStatus.m_getCameraInfoStatus.height,
|
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serverStatus.m_getCameraInfoStatus.viewMatrix,
|
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serverStatus.m_getCameraInfoStatus.projectionMatrix,
|
||||
serverStatus.m_getCameraInfoStatus.camUp,
|
||||
serverStatus.m_getCameraInfoStatus.camForward,
|
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serverStatus.m_getCameraInfoStatus.hor,
|
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serverStatus.m_getCameraInfoStatus.vert,
|
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&serverStatus.m_getCameraInfoStatus.yaw,
|
||||
&serverStatus.m_getCameraInfoStatus.pitch,
|
||||
&serverStatus.m_getCameraInfoStatus.camDist,
|
||||
serverStatus.m_getCameraInfoStatus.camTarget);
|
||||
serverStatus.m_type = GFX_CMD_GET_CAMERA_INFO_COMPLETED;
|
||||
if (gVerboseNetworkMessagesServer)
|
||||
printf("GFX_CMD_GET_CAMERA_INFO\n");
|
||||
break;
|
||||
}
|
||||
|
||||
case GFX_CMD_INVALID:
|
||||
case GFX_CMD_MAX_CLIENT_COMMANDS:
|
||||
default:
|
||||
{
|
||||
printf("UNKNOWN COMMAND!\n");
|
||||
btAssert(0);
|
||||
hasStatus = false;
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
double startTimeSeconds = clock.getTimeInSeconds();
|
||||
double curTimeSeconds = clock.getTimeInSeconds();
|
||||
|
||||
if (gVerboseNetworkMessagesServer)
|
||||
{
|
||||
//printf("buffer.size = %d\n", buffer.size());
|
||||
printf("serverStatus.m_numDataStreamBytes = %d\n", serverStatus.m_numDataStreamBytes);
|
||||
}
|
||||
if (hasStatus)
|
||||
{
|
||||
submitStatus(pClient, serverStatus, buffer);
|
||||
}
|
||||
|
||||
bytesReceived.clear();
|
||||
}
|
||||
else
|
||||
{
|
||||
//likely an incomplete packet, let's append more bytes
|
||||
//printf("received packet with unknown contents\n");
|
||||
}
|
||||
}
|
||||
}
|
||||
if (!receivedData)
|
||||
{
|
||||
//printf("Didn't receive data.\n");
|
||||
}
|
||||
}
|
||||
|
||||
printf("Disconnecting client.\n");
|
||||
pClient->Close();
|
||||
delete pClient;
|
||||
}
|
||||
}
|
||||
|
||||
#endif //BT_ENABLE_CLSOCKET
|
||||
|
||||
|
||||
|
||||
///////////////////////////////
|
||||
args->m_cs->lock();
|
||||
cachedSharedParam = args->m_cs->getSharedParam(0);
|
||||
args->m_cs->unlock();
|
||||
|
||||
} while (cachedSharedParam != eTCPRequestTerminate);
|
||||
|
||||
socket.Close();
|
||||
socket.Shutdown(CSimpleSocket::Both);
|
||||
}
|
||||
else
|
||||
{
|
||||
args->m_cs->lock();
|
||||
args->m_cs->setSharedParam(0, eTCPInitializationFailed);
|
||||
args->m_cs->unlock();
|
||||
}
|
||||
|
||||
printf("TCPThreadFunc thread exit\n");
|
||||
//do nothing
|
||||
}
|
||||
|
||||
void* TCPlsMemoryFunc()
|
||||
{
|
||||
//don't create local store memory, just return 0
|
||||
return new TCPThreadLocalStorage;
|
||||
}
|
||||
|
||||
void TCPlsMemoryReleaseFunc(void* ptr)
|
||||
{
|
||||
TCPThreadLocalStorage* p = (TCPThreadLocalStorage*)ptr;
|
||||
delete p;
|
||||
}
|
||||
|
||||
|
||||
#ifndef _WIN32
|
||||
#include "../MultiThreading/b3PosixThreadSupport.h"
|
||||
|
||||
b3ThreadSupportInterface* createTCPThreadSupport(int numThreads)
|
||||
{
|
||||
b3PosixThreadSupport::ThreadConstructionInfo constructionInfo("TCPThreads",
|
||||
TCPThreadFunc,
|
||||
TCPlsMemoryFunc,
|
||||
TCPlsMemoryReleaseFunc,
|
||||
numThreads);
|
||||
b3ThreadSupportInterface* threadSupport = new b3PosixThreadSupport(constructionInfo);
|
||||
|
||||
return threadSupport;
|
||||
}
|
||||
|
||||
#elif defined(_WIN32)
|
||||
#include "../MultiThreading/b3Win32ThreadSupport.h"
|
||||
|
||||
b3ThreadSupportInterface* createTCPThreadSupport(int numThreads)
|
||||
{
|
||||
b3Win32ThreadSupport::Win32ThreadConstructionInfo threadConstructionInfo("TCPThreads", TCPThreadFunc, TCPlsMemoryFunc, TCPlsMemoryReleaseFunc, numThreads);
|
||||
b3Win32ThreadSupport* threadSupport = new b3Win32ThreadSupport(threadConstructionInfo);
|
||||
return threadSupport;
|
||||
}
|
||||
#endif
|
||||
|
||||
|
||||
class GraphicsServerExample : public CommonExampleInterface
|
||||
{
|
||||
CommonGraphicsApp* m_app;
|
||||
@@ -29,7 +576,10 @@ class GraphicsServerExample : public CommonExampleInterface
|
||||
float m_x;
|
||||
float m_y;
|
||||
float m_z;
|
||||
|
||||
|
||||
b3ThreadSupportInterface* m_threadSupport;
|
||||
TCPArgs m_args;
|
||||
|
||||
public:
|
||||
GraphicsServerExample(GUIHelperInterface* guiHelper)
|
||||
: m_guiHelper(guiHelper),
|
||||
@@ -42,6 +592,7 @@ public:
|
||||
m_app = guiHelper->getAppInterface();
|
||||
m_app->setUpAxis(2);
|
||||
|
||||
|
||||
|
||||
for (int i = 0; i < MAX_GRAPHICS_SHARED_MEMORY_BLOCKS; i++)
|
||||
{
|
||||
@@ -54,23 +605,54 @@ public:
|
||||
m_sharedMemory = new PosixSharedMemory();
|
||||
#endif
|
||||
|
||||
#if 0
|
||||
{
|
||||
int boxId = m_app->registerCubeShape(0.1, 0.1, 0.1);
|
||||
btVector3 pos(0, 0, 0);
|
||||
btQuaternion orn(0, 0, 0, 1);
|
||||
btVector4 color(0.3, 0.3, 0.3, 1);
|
||||
btVector3 scaling(1, 1, 1);
|
||||
m_app->m_renderer->registerGraphicsInstance(boxId, pos, orn, color, scaling);
|
||||
}
|
||||
|
||||
m_app->m_renderer->writeTransforms();
|
||||
#endif
|
||||
connectSharedMemory(m_guiHelper, m_sharedMemoryKey);
|
||||
|
||||
|
||||
|
||||
m_threadSupport = createTCPThreadSupport(1);
|
||||
m_args.m_cs = m_threadSupport->createCriticalSection();
|
||||
m_args.m_cs->setSharedParam(0, eTCPIsUnInitialized);
|
||||
m_threadSupport->runTask(B3_THREAD_SCHEDULE_TASK, (void*)&this->m_args, 0);
|
||||
|
||||
bool isUninitialized = true;
|
||||
|
||||
while (isUninitialized)
|
||||
{
|
||||
m_args.m_cs->lock();
|
||||
isUninitialized = (m_args.m_cs->getSharedParam(0) == eTCPIsUnInitialized);
|
||||
m_args.m_cs->unlock();
|
||||
#ifdef _WIN32
|
||||
b3Clock::usleep(1000);
|
||||
#endif
|
||||
}
|
||||
|
||||
}
|
||||
virtual ~GraphicsServerExample()
|
||||
{
|
||||
|
||||
m_args.m_cs->setSharedParam(0, eTCPRequestTerminate);
|
||||
|
||||
int numActiveThreads = 1;
|
||||
while (numActiveThreads)
|
||||
{
|
||||
int arg0, arg1;
|
||||
if (m_threadSupport->isTaskCompleted(&arg0, &arg1, 0))
|
||||
{
|
||||
numActiveThreads--;
|
||||
printf("numActiveThreads = %d\n", numActiveThreads);
|
||||
}
|
||||
else
|
||||
{
|
||||
b3Clock::usleep(0);
|
||||
}
|
||||
};
|
||||
|
||||
m_threadSupport->deleteCriticalSection(m_args.m_cs);
|
||||
|
||||
delete m_threadSupport;
|
||||
m_threadSupport = 0;
|
||||
|
||||
disconnectSharedMemory();
|
||||
}
|
||||
|
||||
|
||||
Reference in New Issue
Block a user