void PhysicsServer::stepSimulation(float deltaTime)
{
bool wantsShutdown = false;
if (m_testBlock1)
{
///we ignore overflow of integer for now
if (m_testBlock1->m_numClientCommands> m_testBlock1->m_numProcessedClientCommands)
{
//until we implement a proper ring buffer, we assume always maximum of 1 outstanding commands
btAssert(m_testBlock1->m_numClientCommands==m_testBlock1->m_numProcessedClientCommands+1);
const SharedMemoryCommand& clientCmd =m_testBlock1->m_clientCommands[0];
m_testBlock1->m_numProcessedClientCommands++;
//consume the command
switch (clientCmd.m_type)
{
case CMD_LOAD_URDF:
{
b3Printf("Processed CMD_LOAD_URDF:%s",clientCmd.m_urdfArguments.m_urdfFileName);
//load the actual URDF and send a report: completed or failed
bool completedOk = loadUrdf(clientCmd.m_urdfArguments.m_urdfFileName,
btVector3(0,0,0), btQuaternion(0,0,0,1),true,true );
SharedMemoryCommand& serverCmd =m_testBlock1->m_serverCommands[0];
if (completedOk)
{
serverCmd.m_type =CMD_URDF_LOADING_COMPLETED;
} else
{
serverCmd.m_type =CMD_URDF_LOADING_FAILED;
}
m_testBlock1->m_numServerCommands++;
break;
}
case CMD_STEP_FORWARD_SIMULATION:
{
b3Printf("Step simulation request");
double timeStep = clientCmd.m_stepSimulationArguments.m_deltaTimeInSeconds;
m_dynamicsWorld->stepSimulation(timeStep);
SharedMemoryCommand& serverCmd =m_testBlock1->m_serverCommands[0];
serverCmd.m_type =CMD_STEP_FORWARD_SIMULATION_COMPLETED;
m_testBlock1->m_numServerCommands++;
break;
}
case CMD_SHUTDOWN:
{
wantsShutdown = true;
break;
}
default:
{
b3Error("Unsupported command encountered");
btAssert(0);
}
};
//process the command right now
}
}
if (wantsShutdown)
{
m_wantsShutdown = true;
releaseSharedMemory();
}
}
PhysicsServer::~PhysicsServer()
{
releaseSharedMemory();
}
void writeEncDecLog(int syslogType, eCRYPT_LOG_MESSAGE logMessage, void* data)
{
if( IS_SUCCESS )
{
if( logMessage == eCryptLogMessage_Allow )
*IS_SUCCESS = true;
else
*IS_SUCCESS = false;
}
void* logSM = getSharedMemory(LOG_SHARED_MEMORY_KEY, LOG_SHARED_MEMORY_SIZE);
if( logSM == NULL )
logSM = createSharedMemory(LOG_SHARED_MEMORY_KEY, LOG_SHARED_MEMORY_SIZE);
char dbsLogBuf[256] = {'\0', };
size_t logSMLength = strlen((char*)logSM);
bool isFind = false;
int dbsLogReplaceIndex = 0;
int dbsLogCnt = 0;
char** dbsLog = strSplitWithLength(logSM, logSMLength, LINE_SPLIT_STR, &dbsLogCnt);
for(int i = 0 ; i < dbsLogCnt ; ++i)
{
if( i > 0 )
dbsLogReplaceIndex += strlen(LINE_SPLIT_STR);
int logDataCnt = 0;
int logDataLength = strlen(dbsLog[i]);
char** logData = strSplitWithLength(dbsLog[i], logDataLength, LOG_SPLIT_STR, &logDataCnt);
char* smLogThreadID = logData[1];
int smLogType = atoi(logData[2]);
char* smLogAccessIP = logData[3];
char* smLogAccessUser = logData[4];
char* smLogProgramName = logData[5];
int smLogMessage = atoi(logData[6]);
int smLogCnt = atoi(logData[7]);
if( memcmp(LOG_THREAD_ID, smLogThreadID, LOG_THREAD_ID_LENGTH) != 0 ||
LOG_TYPE != smLogType ||
memcmp(LOG_ACCESS_IP, smLogAccessIP, LOG_ACCESS_IP_LENGTH) != 0 ||
memcmp(LOG_ACCESS_USER, smLogAccessUser, LOG_ACCESS_USER_LENGTH) != 0 ||
memcmp(LOG_PROGRAM_NAME, smLogProgramName, LOG_PROGRAM_NAME_LENGTH) != 0 ||
smLogMessage != logMessage )
{
dbsLogReplaceIndex += logDataLength;
freeSplit(logData, logDataCnt);
continue;
}
else
{
if( smLogMessage == eCryptLogMessage_Over_Behavior && strcmp((char*)data, logData[8]) != 0 )
{
dbsLogReplaceIndex += logDataLength;
freeSplit(logData, logDataCnt);
continue;
}
}
isFind = true;
sprintf(dbsLogBuf, "%d%s%s%s%d%s%s%s%s%s%s%s%d%s%d"
, syslogType, LOG_SPLIT_STR
, LOG_THREAD_ID, LOG_SPLIT_STR
, LOG_TYPE, LOG_SPLIT_STR
, LOG_ACCESS_IP, LOG_SPLIT_STR
, LOG_ACCESS_USER, LOG_SPLIT_STR
, LOG_PROGRAM_NAME, LOG_SPLIT_STR
, logMessage, LOG_SPLIT_STR
, smLogCnt + 1);
if( logMessage == eCryptLogMessage_Over_Behavior )
{
char dataBuf[64] = {'\0', };
sprintf(dataBuf, "%s%s", LOG_SPLIT_STR, (char*)data);
strcat(dbsLogBuf, dataBuf);
}
char* dbsFinalLog = replaceIndexWithLength(logSM, dbsLogReplaceIndex, logSMLength, dbsLog[i], dbsLogBuf);
writeSharedMemory(logSM, dbsFinalLog);
free(dbsFinalLog);
freeSplit(logData, logDataCnt);
break;
}
freeSplit(dbsLog, dbsLogCnt);
if( !isFind )
{
sprintf(dbsLogBuf, "%s%d%s%s%s%d%s%s%s%s%s%s%s%d%s%d"
, ( dbsLogCnt > 0 ) ? LINE_SPLIT_STR : ""
, syslogType, LOG_SPLIT_STR
, LOG_THREAD_ID, LOG_SPLIT_STR
, LOG_TYPE, LOG_SPLIT_STR
, LOG_ACCESS_IP, LOG_SPLIT_STR
, LOG_ACCESS_USER, LOG_SPLIT_STR
, LOG_PROGRAM_NAME, LOG_SPLIT_STR
, logMessage, LOG_SPLIT_STR
, 1);
if( logMessage == eCryptLogMessage_Over_Behavior )
{
char dataBuf[64] = {'\0', };
sprintf(dataBuf, "|%s", (char*)data);
strcat(dbsLogBuf, dataBuf);
}
strcat(logSM, dbsLogBuf);
}
releaseSharedMemory(logSM);
}