Simulate creates and maintains its own thread
This commit is contained in:
Levi Burner
+138
-116
@@ -1515,8 +1515,8 @@ void uiRender(mjuiState* state) {
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void drop(mj::Simulate* simulate, int count, const char** paths) {
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// make sure list is non-empty
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if (count>0) {
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mju::strcpy_arr(simulate->filename, paths[0]);
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simulate->loadrequest = 1;
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mju::strcpy_arr(simulate->dropfilename, paths[0]);
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simulate->droploadrequest = 1;
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}
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}
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@@ -1534,132 +1534,47 @@ namespace mju = ::mujoco::sample_util;
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// create object and initialize the simulate ui
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Simulate::Simulate(void) {
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// init GLFW, set timer callback (milliseconds)
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if (!glfwInit()) {
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mju_error("could not initialize GLFW");
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}
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mjcb_time = timer;
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} // TODO constructor is now empty...
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// multisampling
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glfwWindowHint(GLFW_SAMPLES, 4);
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glfwWindowHint(GLFW_VISIBLE, 1);
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//------------------------ start the render thread -----------------------------
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void Simulate::startthread(void) {
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this->renderthreadhandle = std::thread(&Simulate::renderthread, this);
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}
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// get videomode and save
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this->vmode = *glfwGetVideoMode(glfwGetPrimaryMonitor());
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//------------------------ stop the render thread ------------------------------
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void Simulate::stopthread(void) {
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// stop simulation thread
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this->exitrequest = 1;
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this->renderthreadhandle.join();
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}
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// create window
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this->window = glfwCreateWindow((2*this->vmode.width)/3, (2*this->vmode.height)/3,
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"Simulate", nullptr, nullptr);
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if (!this->window) {
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glfwTerminate();
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mju_error("could not create window");
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}
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// save window position and size
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glfwGetWindowPos(this->window, this->windowpos, this->windowpos+1);
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glfwGetWindowSize(this->window, this->windowsize, this->windowsize+1);
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// make context current, set v-sync
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glfwMakeContextCurrent(this->window);
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glfwSwapInterval(this->vsync);
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// init abstract visualization
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mjv_defaultCamera(&this->cam);
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mjv_defaultOption(&this->vopt);
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profilerinit(this);
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sensorinit(this);
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// make empty scene
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mjv_defaultScene(&this->scn);
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mjv_makeScene(nullptr, &this->scn, maxgeom);
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// select default font
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int fontscale = uiFontScale(this->window);
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this->font = fontscale/50 - 1;
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// make empty context
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mjr_defaultContext(&this->con);
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mjr_makeContext(nullptr, &this->con, fontscale);
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// init state and uis
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std::memset(&this->uistate, 0, sizeof(mjuiState));
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std::memset(&this->ui0, 0, sizeof(mjUI));
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std::memset(&this->ui1, 0, sizeof(mjUI));
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this->ui0.spacing = mjui_themeSpacing(this->spacing);
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this->ui0.color = mjui_themeColor(this->color);
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this->ui0.predicate = uiPredicate;
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this->ui0.rectid = 1;
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this->ui0.auxid = 0;
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this->ui1.spacing = mjui_themeSpacing(this->spacing);
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this->ui1.color = mjui_themeColor(this->color);
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this->ui1.predicate = uiPredicate;
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this->ui1.rectid = 2;
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this->ui1.auxid = 1;
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// set GLFW callbacks
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this->uistate.userdata = (void*)(this);
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uiSetCallback(this->window, &this->uistate, uiEvent, uiLayout, uiRender, uiDrop);
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// populate uis with standard sections
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this->ui0.userdata = (void*)(this);
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this->ui1.userdata = (void*)(this);
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mjui_add(&this->ui0, defFile);
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mjui_add(&this->ui0, this->defOption);
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mjui_add(&this->ui0, this->defSimulation);
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mjui_add(&this->ui0, this->defWatch);
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uiModify(this->window, &this->ui0, &this->uistate, &this->con);
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uiModify(this->window, &this->ui1, &this->uistate, &this->con);
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//-------------------- Tell the render thread to load a file -------------------
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void Simulate::load(const char* file,
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mjModel* mnew,
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mjData* dnew,
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bool delete_old_m_d) {
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this->mnew = mnew;
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this->dnew = dnew;
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this->delete_old_m_d = delete_old_m_d;
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mju::strcpy_arr(this->filename, file);
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this->loadrequest = 2;
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}
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//------------------------ load mjb or xml model -------------------------------
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void Simulate::loadmodel(void) {
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// clear request
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this->loadrequest = 0;
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// make sure filename is not empty
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if (!this->filename[0]) {
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return;
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}
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// load and compile
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this->loadError[0] = '\0';
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mjModel* mnew = 0;
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if (mju::strlen_arr(this->filename)>4 &&
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!std::strncmp(this->filename+mju::strlen_arr(this->filename)-4, ".mjb",
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mju::sizeof_arr(this->filename)-mju::strlen_arr(this->filename)+4)) {
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mnew = mj_loadModel(this->filename, nullptr);
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if (!mnew) {
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mju::strcpy_arr(this->loadError, "could not load binary model");
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if (this->delete_old_m_d) {
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// delete old model if requested
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if (this->d) {
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mj_deleteData(d);
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}
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} else {
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mnew = mj_loadXML(this->filename, nullptr, this->loadError, Simulate::kMaxFilenameLength);
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// remove trailing newline character from loadError
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if (this->loadError[0]) {
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int error_length = mju::strlen_arr(this->loadError);
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if (this->loadError[error_length-1] == '\n') {
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this->loadError[error_length-1] = '\0';
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}
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if (this->m) {
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mj_deleteModel(m);
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}
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}
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if (!mnew) {
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std::printf("%s\n", this->loadError);
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return;
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}
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// compiler warning: print and pause
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if (this->loadError[0]) {
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// mj_forward() below will print the warning message
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std::printf("Model compiled, but simulation warning (paused):\n %s\n", this->loadError);
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this->run = 0;
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}
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// delete old model, assign new
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mj_deleteData(this->d);
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mj_deleteModel(this->m);
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this->m = nullptr;
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this->m = mj_copyModel(this->m, mnew);
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this->d = mj_makeData(this->m);
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mj_forward(this->m, this->d);
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this->m = this->mnew;
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this->d = this->dnew;
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// re-create scene and context
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mjv_makeScene(this->m, &this->scn, maxgeom);
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@@ -1698,6 +1613,9 @@ void Simulate::loadmodel(void) {
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uiModify(this->window, &this->ui0, &this->uistate, &this->con);
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uiModify(this->window, &this->ui1, &this->uistate, &this->con);
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updatesettings(this);
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// clear request
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this->loadrequest = 0;
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}
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@@ -1861,4 +1779,108 @@ void Simulate::clearcallback(void) {
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uiClearCallback(this->window);
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}
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void Simulate::renderthread(void) {
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// Set timer callback (milliseconds)
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mjcb_time = timer;
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// multisampling
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glfwWindowHint(GLFW_SAMPLES, 4);
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glfwWindowHint(GLFW_VISIBLE, 1);
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// get videomode and save
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this->vmode = *glfwGetVideoMode(glfwGetPrimaryMonitor());
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// create window
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this->window = glfwCreateWindow((2*this->vmode.width)/3, (2*this->vmode.height)/3,
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"Simulate", nullptr, nullptr);
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if (!this->window) {
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glfwTerminate();
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mju_error("could not create window");
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}
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// save window position and size
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glfwGetWindowPos(this->window, this->windowpos, this->windowpos+1);
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glfwGetWindowSize(this->window, this->windowsize, this->windowsize+1);
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// make context current, set v-sync
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glfwMakeContextCurrent(this->window);
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glfwSwapInterval(this->vsync);
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// init abstract visualization
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mjv_defaultCamera(&this->cam);
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mjv_defaultOption(&this->vopt);
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profilerinit(this);
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sensorinit(this);
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// make empty scene
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mjv_defaultScene(&this->scn);
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mjv_makeScene(nullptr, &this->scn, maxgeom);
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// select default font
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int fontscale = uiFontScale(this->window);
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this->font = fontscale/50 - 1;
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// make empty context
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mjr_defaultContext(&this->con);
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mjr_makeContext(nullptr, &this->con, fontscale);
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// init state and uis
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std::memset(&this->uistate, 0, sizeof(mjuiState));
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std::memset(&this->ui0, 0, sizeof(mjUI));
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std::memset(&this->ui1, 0, sizeof(mjUI));
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this->ui0.spacing = mjui_themeSpacing(this->spacing);
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this->ui0.color = mjui_themeColor(this->color);
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this->ui0.predicate = uiPredicate;
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this->ui0.rectid = 1;
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this->ui0.auxid = 0;
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this->ui1.spacing = mjui_themeSpacing(this->spacing);
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this->ui1.color = mjui_themeColor(this->color);
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this->ui1.predicate = uiPredicate;
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this->ui1.rectid = 2;
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this->ui1.auxid = 1;
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// set GLFW callbacks
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this->uistate.userdata = (void*)(this);
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uiSetCallback(this->window, &this->uistate, uiEvent, uiLayout, uiRender, uiDrop);
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// populate uis with standard sections
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this->ui0.userdata = (void*)(this);
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this->ui1.userdata = (void*)(this);
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mjui_add(&this->ui0, defFile);
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mjui_add(&this->ui0, this->defOption);
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mjui_add(&this->ui0, this->defSimulation);
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mjui_add(&this->ui0, this->defWatch);
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uiModify(this->window, &this->ui0, &this->uistate, &this->con);
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uiModify(this->window, &this->ui1, &this->uistate, &this->con);
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// run event loop
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while (!glfwWindowShouldClose(this->window) && !this->exitrequest) {
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{ // start exclusive access (block simulation thread)
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const std::lock_guard<std::mutex> lock(this->mtx);
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// load model (not on first pass, to show "loading" label)
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if (this->loadrequest==1) {
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{
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this->loadmodel();
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}
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} else if (this->loadrequest>1) {
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this->loadrequest = 1;
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}
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// handle events (calls all callbacks)
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glfwPollEvents();
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// prepare to render
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this->prepare();
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} // end exclusive access (allow simulation thread to run)
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// render while simulation is running
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this->render();
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}
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this->clearcallback();
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mjv_freeScene(&this->scn);
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mjr_freeContext(&this->con);
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}
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} // namespace mujoco
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