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#ifndef SHARED_MEMORY_BLOCK_H
#define SHARED_MEMORY_BLOCK_H
#define SHARED_MEMORY_MAGIC_NUMBER 64738
#define SHARED_MEMORY_MAX_COMMANDS 4
#define SHARED_MEMORY_MAX_STREAM_CHUNK_SIZE (256*1024)
#include "SharedMemoryCommands.h"
struct SharedMemoryBlock
{
int m_magicId;
struct SharedMemoryCommand m_clientCommands[SHARED_MEMORY_MAX_COMMANDS];
struct SharedMemoryStatus m_serverCommands[SHARED_MEMORY_MAX_COMMANDS];
int m_numClientCommands;
int m_numProcessedClientCommands;
int m_numServerCommands;
int m_numProcessedServerCommands;
//m_bulletStreamDataClientToServer is a way for the client to create collision shapes, rigid bodies and constraints
//the Bullet data structures are more general purpose than the capabilities of a URDF file.
char m_bulletStreamDataClientToServer[SHARED_MEMORY_MAX_STREAM_CHUNK_SIZE];
//m_bulletStreamDataServerToClient is used to send (debug) data from server to client, for
//example to provide all details of a multibody including joint/link names, after loading a URDF file.
char m_bulletStreamDataServerToClientRefactor[SHARED_MEMORY_MAX_STREAM_CHUNK_SIZE];
};
//http://stackoverflow.com/questions/24736304/unable-to-use-inline-in-declaration-get-error-c2054
#ifdef _WIN32
__inline
#else
inline
#endif
void InitSharedMemoryBlock(struct SharedMemoryBlock* sharedMemoryBlock)
{
sharedMemoryBlock->m_numClientCommands = 0;
sharedMemoryBlock->m_numServerCommands = 0;
sharedMemoryBlock->m_numProcessedClientCommands=0;
sharedMemoryBlock->m_numProcessedServerCommands=0;
sharedMemoryBlock->m_magicId = SHARED_MEMORY_MAGIC_NUMBER;
}
#define SHARED_MEMORY_SIZE sizeof(SharedMemoryBlock)
#endif //SHARED_MEMORY_BLOCK_H
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