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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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20
examples/SharedMemory/b3PluginManager.cpp
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@@ -51,6 +51,7 @@ struct b3Plugin
PFN_GET_FILEIO_INTERFACE m_getFileIOFunc;
void* m_userPointer;
b3UserDataValue* m_returnData;
b3Plugin()
: m_pluginHandle(0),
@@ -67,7 +68,8 @@ struct b3Plugin
m_getRendererFunc(0),
m_getCollisionFunc(0),
m_getFileIOFunc(0),
m_userPointer(0)
m_userPointer(0),
m_returnData(0)
{
}
void clear()
@@ -88,6 +90,7 @@ struct b3Plugin
m_getCollisionFunc = 0;
m_getFileIOFunc = 0;
m_userPointer = 0;
m_returnData = 0;
m_isInitialized = false;
}
};
@@ -331,6 +334,7 @@ void b3PluginManager::unloadPlugin(int pluginUniqueId)
{
plugin->m_exitFunc(&context);
plugin->m_userPointer = 0;
plugin->m_returnData = 0;
plugin->m_isInitialized = false;
}
m_data->m_pluginMap.remove(plugin->m_pluginPath.c_str());
@@ -451,6 +455,7 @@ int b3PluginManager::executePluginCommand(int pluginUniqueId, const b3PluginArgu
context.m_rpcCommandProcessorInterface = m_data->m_rpcCommandProcessorInterface;
result = plugin->m_executeCommandFunc(&context, arguments);
plugin->m_userPointer = context.m_userPointer;
plugin->m_returnData = context.m_returnData;
}
return result;
}
@@ -478,6 +483,7 @@ int b3PluginManager::registerStaticLinkedPlugin(const char* pluginPath, b3Plugi
pluginHandle->m_pluginHandle = 0;
pluginHandle->m_pluginPath = pluginPath;
pluginHandle->m_userPointer = 0;
pluginHandle->m_returnData = 0;
if (pluginHandle->m_processNotificationsFunc)
{
@@ -490,11 +496,13 @@ int b3PluginManager::registerStaticLinkedPlugin(const char* pluginPath, b3Plugi
{
b3PluginContext context = {0};
context.m_userPointer = 0;
context.m_returnData = 0;
context.m_physClient = (b3PhysicsClientHandle)m_data->m_physicsDirect;
context.m_rpcCommandProcessorInterface = m_data->m_rpcCommandProcessorInterface;
int result = pluginHandle->m_initFunc(&context);
pluginHandle->m_isInitialized = true;
pluginHandle->m_userPointer = context.m_userPointer;
pluginHandle->m_returnData = 0;
}
return pluginUniqueId;
}
@@ -569,3 +577,13 @@ struct b3PluginCollisionInterface* b3PluginManager::getCollisionInterface()
}
return collisionInterface;
}
const struct b3UserDataValue* b3PluginManager::getReturnData(int pluginUniqueId)
{
b3PluginHandle* plugin = m_data->m_plugins.getHandle(pluginUniqueId);
if (plugin)
{
return plugin->m_returnData;
}
return 0;
}