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Add an option for a plugin to report return data after calling executePluginCommand. Also add python binding.

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Currently the return data has to fit in shared memory, 8MB (Linux, Windows) or 1MB (Apple)
Preparation for streaming is added (to allow unlimited return data, see CMD_CUSTOM_COMMAND_STREAM_RETURN_DATA)

New C-API: b3GetStatusPluginCommandReturnData
PyBullet reports return data if available, in pybullet_executePluginCommand

For the plugin developer:
plugin can provide additional return data for executePluginCommand in the b3PluginContext, during executePluginCommand.
Lifetime of this m_returnData pointer is minimum of next call to the next executePluginCommand or plugin termination.
This commit is contained in:
Erwin Coumans
2020-10-06 20:19:39 -07:00
parent 7a6c90409f
commit 954ceff2ec
14 changed files with 182 additions and 9 deletions
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42
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -5757,6 +5757,8 @@ bool PhysicsServerCommandProcessor::processCustomCommand(const struct SharedMemo
SharedMemoryStatus& serverCmd = serverStatusOut;
serverCmd.m_type = CMD_CUSTOM_COMMAND_FAILED;
serverCmd.m_customCommandResultArgs.m_returnDataSizeInBytes = 0;
serverCmd.m_customCommandResultArgs.m_returnDataType = -1;
serverCmd.m_customCommandResultArgs.m_pluginUniqueId = -1;
if (clientCmd.m_updateFlags & CMD_CUSTOM_COMMAND_LOAD_PLUGIN)
@@ -5772,6 +5774,7 @@ bool PhysicsServerCommandProcessor::processCustomCommand(const struct SharedMemo
if (pluginUniqueId >= 0)
{
serverCmd.m_customCommandResultArgs.m_pluginUniqueId = pluginUniqueId;
serverCmd.m_type = CMD_CUSTOM_COMMAND_COMPLETED;
}
}
@@ -5780,10 +5783,49 @@ bool PhysicsServerCommandProcessor::processCustomCommand(const struct SharedMemo
m_data->m_pluginManager.unloadPlugin(clientCmd.m_customCommandArgs.m_pluginUniqueId);
serverCmd.m_type = CMD_CUSTOM_COMMAND_COMPLETED;
}
if (clientCmd.m_updateFlags & CMD_CUSTOM_COMMAND_STREAM_RETURN_DATA)
{
serverCmd.m_type = CMD_CUSTOM_COMMAND_STREAM_RETURN_DATA_FAILED;
const b3UserDataValue* returnData = m_data->m_pluginManager.getReturnData(clientCmd.m_customCommandArgs.m_pluginUniqueId);
if (returnData)
{
int startBytes = clientCmd.m_customCommandArgs.m_startingReturnBytes;
if (startBytes >= 0 && startBytes < returnData->m_length)
{
int totalRemain = returnData->m_length - startBytes;
int numBytes = totalRemain <= bufferSizeInBytes ? totalRemain : bufferSizeInBytes;
serverStatusOut.m_numDataStreamBytes = numBytes;
for (int i = 0; i < numBytes; i++)
{
bufferServerToClient[i] = returnData->m_data1[i + startBytes];
}
serverCmd.m_customCommandResultArgs.m_returnDataSizeInBytes = returnData->m_length;
serverCmd.m_customCommandResultArgs.m_returnDataType = returnData->m_type;
serverCmd.m_type = CMD_CUSTOM_COMMAND_STREAM_RETURN_DATA_COMPLETED;
}
}
}
if (clientCmd.m_updateFlags & CMD_CUSTOM_COMMAND_EXECUTE_PLUGIN_COMMAND)
{
int result = m_data->m_pluginManager.executePluginCommand(clientCmd.m_customCommandArgs.m_pluginUniqueId, &clientCmd.m_customCommandArgs.m_arguments);
serverCmd.m_customCommandResultArgs.m_executeCommandResult = result;
const b3UserDataValue* returnData = m_data->m_pluginManager.getReturnData(clientCmd.m_customCommandArgs.m_pluginUniqueId);
if (returnData)
{
int numBytes = returnData->m_length <= bufferSizeInBytes ? returnData->m_length : bufferSizeInBytes;
serverStatusOut.m_numDataStreamBytes = numBytes;
for (int i = 0; i < numBytes; i++)
{
bufferServerToClient[i] = returnData->m_data1[i];
}
serverCmd.m_customCommandResultArgs.m_returnDataSizeInBytes = returnData->m_length;
serverCmd.m_customCommandResultArgs.m_returnDataType = returnData->m_type;
}
else
{
serverStatusOut.m_numDataStreamBytes = 0;
}
serverCmd.m_type = CMD_CUSTOM_COMMAND_COMPLETED;
}
return hasStatus;