void RobotControlExample::stepSimulation(float deltaTime)
{
m_physicsServer.processClientCommands();
if (m_physicsClient.isConnected())
{
SharedMemoryStatus status;
bool hasStatus = m_physicsClient.processServerStatus(status);
if (hasStatus && status.m_type == CMD_URDF_LOADING_COMPLETED)
{
for (int i=0;i<m_physicsClient.getNumJoints();i++)
{
b3JointInfo info;
m_physicsClient.getJointInfo(i,info);
if (m_verboseOutput)
{
b3Printf("Joint %s at q-index %d and u-index %d\n",info.m_jointName,info.m_qIndex,info.m_uIndex);
}
if (info.m_flags & JOINT_HAS_MOTORIZED_POWER)
{
if (m_numMotors<MAX_NUM_MOTORS)
{
switch (m_option)
{
case ROBOT_VELOCITY_CONTROL:
{
char motorName[1024];
sprintf(motorName,"%s q'", info.m_jointName);
MyMotorInfo* motorInfo = &m_motorTargetState[m_numMotors];
motorInfo->m_velTarget = 0.f;
motorInfo->m_posTarget = 0.f;
motorInfo->m_uIndex = info.m_uIndex;
SliderParams slider(motorName,&motorInfo->m_velTarget);
slider.m_minVal=-4;
slider.m_maxVal=4;
m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
m_numMotors++;
break;
}
case ROBOT_PD_CONTROL:
{
char motorName[1024];
MyMotorInfo* motorInfo = &m_motorTargetState[m_numMotors];
motorInfo->m_velTarget = 0.f;
motorInfo->m_posTarget = 0.f;
motorInfo->m_uIndex = info.m_uIndex;
motorInfo->m_posIndex = info.m_qIndex;
motorInfo->m_kp = 1;
motorInfo->m_kd = 0;
{
sprintf(motorName,"%s kp", info.m_jointName);
SliderParams slider(motorName,&motorInfo->m_kp);
slider.m_minVal=0;
slider.m_maxVal=1;
m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
}
{
sprintf(motorName,"%s q", info.m_jointName);
SliderParams slider(motorName,&motorInfo->m_posTarget);
slider.m_minVal=-SIMD_PI;
slider.m_maxVal=SIMD_PI;
m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
}
{
sprintf(motorName,"%s kd", info.m_jointName);
SliderParams slider(motorName,&motorInfo->m_kd);
slider.m_minVal=0;
slider.m_maxVal=1;
m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
}
{
sprintf(motorName,"%s q'", info.m_jointName);
SliderParams slider(motorName,&motorInfo->m_velTarget);
slider.m_minVal=-10;
slider.m_maxVal=10;
m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
}
m_numMotors++;
break;
}
default:
{
b3Warning("Unknown control mode in RobotControlExample::stepSimulation");
}
};
}
}
}
}
if (m_physicsClient.canSubmitCommand())
{
if (m_userCommandRequests.size())
{
if (m_verboseOutput)
{
b3Printf("Outstanding user command requests: %d\n", m_userCommandRequests.size());
}
SharedMemoryCommand cmd = m_userCommandRequests[0];
//a manual 'pop_front', we don't use 'remove' because it will re-order the commands
for (int i=1;i<m_userCommandRequests.size();i++)
{
m_userCommandRequests[i-1] = m_userCommandRequests[i];
}
m_userCommandRequests.pop_back();
if (cmd.m_type == CMD_SEND_BULLET_DATA_STREAM)
{
char relativeFileName[1024];
bool fileFound = b3ResourcePath::findResourcePath(cmd.m_dataStreamArguments.m_bulletFileName,relativeFileName,1024);
if (fileFound)
{
FILE *fp = fopen(relativeFileName, "rb");
if (fp)
{
fseek(fp, 0L, SEEK_END);
int mFileLen = ftell(fp);
fseek(fp, 0L, SEEK_SET);
if (mFileLen<SHARED_MEMORY_MAX_STREAM_CHUNK_SIZE)
{
char* data = (char*)malloc(mFileLen);
fread(data, mFileLen, 1, fp);
fclose(fp);
cmd.m_dataStreamArguments.m_streamChunkLength = mFileLen;
m_physicsClient.uploadBulletFileToSharedMemory(data,mFileLen);
if (m_verboseOutput)
{
b3Printf("Loaded bullet data chunks into shared memory\n");
}
free(data);
} else
{
b3Warning("Bullet file size (%d) exceeds of streaming memory chunk size (%d)\n", mFileLen,SHARED_MEMORY_MAX_STREAM_CHUNK_SIZE);
}
} else
{
b3Warning("Cannot open file %s\n", relativeFileName);
}
} else
{
b3Warning("Cannot find file %s\n", cmd.m_dataStreamArguments.m_bulletFileName);
}
}
m_physicsClient.submitClientCommand(cmd);
} else
{
if (m_numMotors)
{
SharedMemoryCommand command;
command.m_type =CMD_SEND_DESIRED_STATE;
prepareControlCommand(command);
enqueueCommand(command);
command.m_type =CMD_STEP_FORWARD_SIMULATION;
enqueueCommand(command);
}
}
}
}
}
void RobotControlExample::stepSimulation(float deltaTime)
{
m_physicsServer.processClientCommands();
if (m_physicsClient.isConnected())
{
SharedMemoryStatus status;
bool hasStatus = m_physicsClient.processServerStatus(status);
if (hasStatus && status.m_type == CMD_ACTUAL_STATE_UPDATE_COMPLETED)
{
//update sensor feedback: joint force/torque data and measured joint positions
for (int i=0;i<m_numMotors;i++)
{
int jointIndex = m_motorTargetState[i].m_jointIndex;
int positionIndex = m_motorTargetState[i].m_posIndex;
int velocityIndex = m_motorTargetState[i].m_uIndex;
m_motorTargetState[i].m_measuredJointPosition = status.m_sendActualStateArgs.m_actualStateQ[positionIndex];
m_motorTargetState[i].m_measuredJointVelocity = status.m_sendActualStateArgs.m_actualStateQdot[velocityIndex];
m_motorTargetState[i].m_measuredJointForce.setValue(status.m_sendActualStateArgs.m_jointReactionForces[6*jointIndex],
status.m_sendActualStateArgs.m_jointReactionForces[6*jointIndex+1],
status.m_sendActualStateArgs.m_jointReactionForces[6*jointIndex+2]);
m_motorTargetState[i].m_measuredJointTorque.setValue(status.m_sendActualStateArgs.m_jointReactionForces[6*jointIndex+3],
status.m_sendActualStateArgs.m_jointReactionForces[6*jointIndex+4],
status.m_sendActualStateArgs.m_jointReactionForces[6*jointIndex+5]);
if (m_motorTargetState[i].m_measuredJointPosition>0.1)
{
m_motorTargetState[i].m_velTarget = -1.5;
} else
{
m_motorTargetState[i].m_velTarget = 1.5;
}
b3Printf("Joint Force (Linear) [%s]=(%f,%f,%f)\n",m_motorTargetState[i].m_jointName.c_str(),m_motorTargetState[i].m_measuredJointForce.x(),m_motorTargetState[i].m_measuredJointForce.y(),m_motorTargetState[i].m_measuredJointForce.z());
b3Printf("Joint Torque (Angular) [%s]=(%f,%f,%f)\n",m_motorTargetState[i].m_jointName.c_str(),m_motorTargetState[i].m_measuredJointTorque.x(),m_motorTargetState[i].m_measuredJointTorque.y(),m_motorTargetState[i].m_measuredJointTorque.z());
}
}
if (hasStatus && status.m_type == CMD_URDF_LOADING_COMPLETED)
{
SharedMemoryCommand sensorCommand;
sensorCommand.m_type = CMD_CREATE_SENSOR;
sensorCommand.m_createSensorArguments.m_numJointSensorChanges = 0;
for (int jointIndex=0;jointIndex<m_physicsClient.getNumJoints();jointIndex++)
{
b3JointInfo info;
m_physicsClient.getJointInfo(jointIndex,info);
if (m_verboseOutput)
{
b3Printf("Joint %s at q-index %d and u-index %d\n",info.m_jointName,info.m_qIndex,info.m_uIndex);
}
if (info.m_flags & JOINT_HAS_MOTORIZED_POWER)
{
if (m_numMotors<MAX_NUM_MOTORS)
{
switch (m_option)
{
case ROBOT_VELOCITY_CONTROL:
{
char motorName[1024];
sprintf(motorName,"%s q'", info.m_jointName);
MyMotorInfo* motorInfo = &m_motorTargetState[m_numMotors];
motorInfo->m_jointName = info.m_jointName;
motorInfo->m_velTarget = 0.f;
motorInfo->m_posTarget = 0.f;
motorInfo->m_uIndex = info.m_uIndex;
SliderParams slider(motorName,&motorInfo->m_velTarget);
slider.m_minVal=-4;
slider.m_maxVal=4;
m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
m_numMotors++;
break;
}
case ROBOT_PD_CONTROL:
{
char motorName[1024];
MyMotorInfo* motorInfo = &m_motorTargetState[m_numMotors];
motorInfo->m_jointName = info.m_jointName;
motorInfo->m_velTarget = 0.f;
motorInfo->m_posTarget = 0.f;
motorInfo->m_uIndex = info.m_uIndex;
motorInfo->m_posIndex = info.m_qIndex;
motorInfo->m_kp = 1;
motorInfo->m_kd = 0;
{
sprintf(motorName,"%s kp", info.m_jointName);
SliderParams slider(motorName,&motorInfo->m_kp);
slider.m_minVal=0;
slider.m_maxVal=1;
m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
}
{
sprintf(motorName,"%s q", info.m_jointName);
SliderParams slider(motorName,&motorInfo->m_posTarget);
slider.m_minVal=-SIMD_PI;
slider.m_maxVal=SIMD_PI;
m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
}
{
sprintf(motorName,"%s kd", info.m_jointName);
SliderParams slider(motorName,&motorInfo->m_kd);
slider.m_minVal=0;
slider.m_maxVal=1;
m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
}
{
sprintf(motorName,"%s q'", info.m_jointName);
SliderParams slider(motorName,&motorInfo->m_velTarget);
slider.m_minVal=-10;
slider.m_maxVal=10;
m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
}
m_numMotors++;
break;
}
case ROBOT_PING_PONG_JOINT_FEEDBACK:
{
if (info.m_flags & JOINT_HAS_MOTORIZED_POWER)
{
if (m_numMotors<MAX_NUM_MOTORS)
{
MyMotorInfo* motorInfo = &m_motorTargetState[m_numMotors];
motorInfo->m_jointName = info.m_jointName;
motorInfo->m_velTarget = 0.f;
motorInfo->m_posTarget = 0.f;
motorInfo->m_uIndex = info.m_uIndex;
motorInfo->m_posIndex = info.m_qIndex;
motorInfo->m_jointIndex = jointIndex;
sensorCommand.m_createSensorArguments.m_jointIndex[sensorCommand.m_createSensorArguments.m_numJointSensorChanges] = jointIndex;
sensorCommand.m_createSensorArguments.m_enableJointForceSensor[sensorCommand.m_createSensorArguments.m_numJointSensorChanges] = true;
sensorCommand.m_createSensorArguments.m_numJointSensorChanges++;
m_numMotors++;
}
}
break;
}
default:
{
b3Warning("Unknown control mode in RobotControlExample::stepSimulation");
}
};
}
}
}
if (sensorCommand.m_createSensorArguments.m_numJointSensorChanges)
{
enqueueCommand(sensorCommand);
}
}
if (m_physicsClient.canSubmitCommand())
{
if (m_userCommandRequests.size())
{
if (m_verboseOutput)
{
b3Printf("Outstanding user command requests: %d\n", m_userCommandRequests.size());
}
SharedMemoryCommand cmd = m_userCommandRequests[0];
//a manual 'pop_front', we don't use 'remove' because it will re-order the commands
for (int i=1;i<m_userCommandRequests.size();i++)
{
m_userCommandRequests[i-1] = m_userCommandRequests[i];
}
m_userCommandRequests.pop_back();
if (cmd.m_type == CMD_CREATE_SENSOR)
{
b3Printf("CMD_CREATE_SENSOR!\n");
}
if (cmd.m_type == CMD_SEND_BULLET_DATA_STREAM)
{
char relativeFileName[1024];
bool fileFound = b3ResourcePath::findResourcePath(cmd.m_dataStreamArguments.m_bulletFileName,relativeFileName,1024);
if (fileFound)
{
FILE *fp = fopen(relativeFileName, "rb");
if (fp)
{
fseek(fp, 0L, SEEK_END);
int mFileLen = ftell(fp);
fseek(fp, 0L, SEEK_SET);
if (mFileLen<SHARED_MEMORY_MAX_STREAM_CHUNK_SIZE)
{
char* data = (char*)malloc(mFileLen);
fread(data, mFileLen, 1, fp);
fclose(fp);
cmd.m_dataStreamArguments.m_streamChunkLength = mFileLen;
m_physicsClient.uploadBulletFileToSharedMemory(data,mFileLen);
if (m_verboseOutput)
{
b3Printf("Loaded bullet data chunks into shared memory\n");
}
free(data);
} else
{
b3Warning("Bullet file size (%d) exceeds of streaming memory chunk size (%d)\n", mFileLen,SHARED_MEMORY_MAX_STREAM_CHUNK_SIZE);
}
} else
{
b3Warning("Cannot open file %s\n", relativeFileName);
}
} else
{
b3Warning("Cannot find file %s\n", cmd.m_dataStreamArguments.m_bulletFileName);
}
}
m_physicsClient.submitClientCommand(cmd);
} else
{
if (m_numMotors)
{
SharedMemoryCommand command;
command.m_type =CMD_SEND_DESIRED_STATE;
prepareControlCommand(command);
enqueueCommand(command);
command.m_type =CMD_STEP_FORWARD_SIMULATION;
enqueueCommand(command);
command.m_type = CMD_REQUEST_ACTUAL_STATE;
enqueueCommand(command);
}
}
}
}
}