PyBullet: expose STATE_LOGGING_ALL_COMMANDS and STATE_REPLAY_ALL_COMMANDS

See examples/pybullet/examples/commandLogAndPlayback.py for an example.

4 files changed, 75 insertions, 3 deletions

diff --git a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
index 3f582d0f3..d10df0cdc 100644
--- a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
+++ b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
@@ -1582,9 +1582,11 @@ struct PhysicsServerCommandProcessorInternalData
 	btAlignedObjectArray<b3MouseEvent> m_mouseEvents;
 
 	CommandLogger* m_commandLogger;
-	CommandLogPlayback* m_logPlayback;
-
+	int m_commandLoggingUid;
 
+	CommandLogPlayback* m_logPlayback;
+	int m_logPlaybackUid;
+	
 	btScalar m_physicsDeltaTime;
     btScalar m_numSimulationSubSteps;
 	btAlignedObjectArray<btMultiBodyJointFeedback*> m_multiBodyJointFeedbacks;
@@ -1661,7 +1663,9 @@ struct PhysicsServerCommandProcessorInternalData
 		:m_pluginManager(proc),
 		m_useRealTimeSimulation(false),
 		m_commandLogger(0),
+		m_commandLoggingUid(-1),
 		m_logPlayback(0),
+		m_logPlaybackUid(-1),
 		m_physicsDeltaTime(1./240.),
         m_numSimulationSubSteps(0),
 		m_userConstraintUIDGenerator(1),
@@ -3090,6 +3094,31 @@ bool PhysicsServerCommandProcessor::processStateLoggingCommand(const struct Shar
 
 	if (clientCmd.m_updateFlags & STATE_LOGGING_START_LOG)
 	{
+		if (clientCmd.m_stateLoggingArguments.m_logType == STATE_LOGGING_ALL_COMMANDS)
+		{
+			if(m_data->m_commandLogger==0)
+			{
+				enableCommandLogging(true, clientCmd.m_stateLoggingArguments.m_fileName);
+				serverStatusOut.m_type = CMD_STATE_LOGGING_START_COMPLETED;
+				int loggerUid = m_data->m_stateLoggersUniqueId++;
+				m_data->m_commandLoggingUid = loggerUid;
+				serverStatusOut.m_stateLoggingResultArgs.m_loggingUniqueId = loggerUid;
+			}
+		}
+
+
+		if (clientCmd.m_stateLoggingArguments.m_logType == STATE_REPLAY_ALL_COMMANDS)
+		{
+			if(m_data->m_logPlayback==0)
+			{
+				replayFromLogFile(clientCmd.m_stateLoggingArguments.m_fileName);
+				serverStatusOut.m_type = CMD_STATE_LOGGING_START_COMPLETED;
+				int loggerUid = m_data->m_stateLoggersUniqueId++;
+				m_data->m_logPlaybackUid = loggerUid;
+				serverStatusOut.m_stateLoggingResultArgs.m_loggingUniqueId = loggerUid;
+			}
+		}
+		
 		if (clientCmd.m_stateLoggingArguments.m_logType == STATE_LOGGING_PROFILE_TIMINGS)
 		{
 			if (m_data->m_profileTimingLoggingUid<0)
@@ -3168,6 +3197,9 @@ bool PhysicsServerCommandProcessor::processStateLoggingCommand(const struct Shar
 				}
 			}
 		}
+
+		
+
         if (clientCmd.m_stateLoggingArguments.m_logType == STATE_LOGGING_GENERIC_ROBOT)
         {
             std::string fileName = clientCmd.m_stateLoggingArguments.m_fileName;
@@ -3245,6 +3277,27 @@ bool PhysicsServerCommandProcessor::processStateLoggingCommand(const struct Shar
 	}
 	if ((clientCmd.m_updateFlags & STATE_LOGGING_STOP_LOG) && clientCmd.m_stateLoggingArguments.m_loggingUniqueId>=0)
 	{
+		
+		if (clientCmd.m_stateLoggingArguments.m_loggingUniqueId == m_data->m_logPlaybackUid)
+		{
+			if(m_data->m_logPlayback)
+			{
+				delete m_data->m_logPlayback;
+				m_data->m_logPlayback = 0;
+				m_data->m_logPlaybackUid = -1;
+			}
+		}
+
+		if (clientCmd.m_stateLoggingArguments.m_loggingUniqueId == m_data->m_commandLoggingUid)
+		{
+			if(m_data->m_commandLogger)
+			{
+				enableCommandLogging(false,0);
+				serverStatusOut.m_type = CMD_STATE_LOGGING_COMPLETED;
+				m_data->m_commandLoggingUid = -1;
+			}
+		}
+
 		if (clientCmd.m_stateLoggingArguments.m_loggingUniqueId == m_data->m_profileTimingLoggingUid)
 		{
 			serverStatusOut.m_type = CMD_STATE_LOGGING_COMPLETED;
diff --git a/examples/SharedMemory/SharedMemoryPublic.h b/examples/SharedMemory/SharedMemoryPublic.h
index 25ba5128b..933d5b266 100644
--- a/examples/SharedMemory/SharedMemoryPublic.h
+++ b/examples/SharedMemory/SharedMemoryPublic.h
@@ -533,6 +533,8 @@ enum  b3StateLoggingType
 	STATE_LOGGING_COMMANDS = 4,
 	STATE_LOGGING_CONTACT_POINTS = 5,
 	STATE_LOGGING_PROFILE_TIMINGS = 6,
+	STATE_LOGGING_ALL_COMMANDS=7,
+	STATE_REPLAY_ALL_COMMANDS=8,
 };
 
 
diff --git a/examples/pybullet/examples/commandLogAndPlayback.py b/examples/pybullet/examples/commandLogAndPlayback.py
new file mode 100644
index 000000000..6cacda6b3
--- /dev/null
+++ b/examples/pybullet/examples/commandLogAndPlayback.py
@@ -0,0 +1,15 @@
+import pybullet as p
+import time
+
+p.connect(p.GUI)
+logId = p.startStateLogging(p.STATE_LOGGING_ALL_COMMANDS,"commandLog.bin")
+p.loadURDF("plane.urdf")
+p.loadURDF("r2d2.urdf",[0,0,1])
+
+p.stopStateLogging(logId)
+p.resetSimulation();
+
+logId = p.startStateLogging(p.STATE_REPLAY_ALL_COMMANDS,"commandLog.bin")
+while(p.isConnected()):
+	time.sleep(1./240.)
+
diff --git a/examples/pybullet/pybullet.c b/examples/pybullet/pybullet.c
index 7bb9cdfcf..5d027125d 100644
--- a/examples/pybullet/pybullet.c
+++ b/examples/pybullet/pybullet.c
@@ -9576,7 +9576,9 @@ initpybullet(void)
 	PyModule_AddIntConstant(m, "STATE_LOGGING_VIDEO_MP4", STATE_LOGGING_VIDEO_MP4);
 	PyModule_AddIntConstant(m, "STATE_LOGGING_CONTACT_POINTS", STATE_LOGGING_CONTACT_POINTS);
 	PyModule_AddIntConstant(m, "STATE_LOGGING_PROFILE_TIMINGS", STATE_LOGGING_PROFILE_TIMINGS);
-
+	PyModule_AddIntConstant(m, "STATE_LOGGING_ALL_COMMANDS", STATE_LOGGING_ALL_COMMANDS);
+	PyModule_AddIntConstant(m, "STATE_REPLAY_ALL_COMMANDS", STATE_REPLAY_ALL_COMMANDS);
+	
 	PyModule_AddIntConstant(m, "COV_ENABLE_GUI", COV_ENABLE_GUI);
 	PyModule_AddIntConstant(m, "COV_ENABLE_SHADOWS", COV_ENABLE_SHADOWS);
 	PyModule_AddIntConstant(m, "COV_ENABLE_WIREFRAME", COV_ENABLE_WIREFRAME);