[RPyC] Add new exposed methods to SOFA server (#570)

* Add a way to init the root remotly

* Add method to change working dir on remote

Author: bakpaul

examples/RPYC/ExampleManipulatingTheNodeLocally.py

@@ -0,0 +1,97 @@
+import multiprocessing
+import threading
+import time
+import rpyc
+from SOFAService import SOFAService, SOFAClient
+import Sofa
+
+if __name__ == "__main__":
+
+    SC = SOFAClient()
+    SC.start_server(port=18818)
+    SC.connect_client(port=18818)
+
+    root = SC.sofa_root
+
+    # Need to use getValue and setValue instead of the syntax `root.dt = 0.02` or `root.dt.value` to get the actual value
+    root.gravity.setValue([0, -9.81, 0])
+    root.dt.setValue(0.02)
+
+    # RPyC deal in a strange way with list of strings, which leads to error if you use the syntax where you pass a list of plugin name to required plugin. You need to add one required plugin per plugin for it to work, such as done in xml.
+    root.addObject("RequiredPlugin", pluginName='Sofa.Component.Collision.Detection.Algorithm')
+    root.addObject("RequiredPlugin", pluginName='Sofa.Component.Collision.Detection.Intersection')
+    root.addObject("RequiredPlugin", pluginName='Sofa.Component.Collision.Geometry')
+    root.addObject("RequiredPlugin", pluginName='Sofa.Component.Collision.Response.Contact')
+    root.addObject("RequiredPlugin", pluginName='Sofa.Component.Constraint.Projective')
+    root.addObject("RequiredPlugin", pluginName='Sofa.Component.IO.Mesh')
+    root.addObject("RequiredPlugin", pluginName='Sofa.Component.LinearSolver.Iterative')
+    root.addObject("RequiredPlugin", pluginName='Sofa.Component.Mapping.Linear')
+    root.addObject("RequiredPlugin", pluginName='Sofa.Component.Mass')
+    root.addObject("RequiredPlugin", pluginName='Sofa.Component.ODESolver.Backward')
+    root.addObject("RequiredPlugin", pluginName='Sofa.Component.SolidMechanics.FEM.Elastic')
+    root.addObject("RequiredPlugin", pluginName='Sofa.Component.StateContainer')
+    root.addObject("RequiredPlugin", pluginName='Sofa.Component.Topology.Container.Dynamic')
+    root.addObject("RequiredPlugin", pluginName='Sofa.Component.Visual')
+    root.addObject("RequiredPlugin", pluginName='Sofa.GL.Component.Rendering3D')
+
+    root.addObject('DefaultAnimationLoop')
+
+    root.addObject('VisualStyle', displayFlags="showCollisionModels")
+    root.addObject('CollisionPipeline', name="CollisionPipeline")
+    root.addObject('BruteForceBroadPhase', name="BroadPhase")
+    root.addObject('BVHNarrowPhase', name="NarrowPhase")
+    root.addObject('CollisionResponse', name="CollisionResponse", response="PenalityContactForceField")
+    root.addObject('DiscreteIntersection')
+
+    # Don't forget that this will be launched in the remote, all files should be on its disk or else, use lambda function to capture data and access theme in this function
+    root.addObject('MeshOBJLoader', name="LiverSurface", filename="mesh/liver-smooth.obj")
+
+    liver = root.addChild('Liver')
+    liver.addObject('EulerImplicitSolver', name="cg_odesolver", rayleighStiffness="0.1", rayleighMass="0.1")
+    liver.addObject('CGLinearSolver', name="linear_solver", iterations="25", tolerance="1e-09", threshold="1e-09")
+    liver.addObject('MeshGmshLoader', name="meshLoader", filename="mesh/liver.msh")
+    liver.addObject('TetrahedronSetTopologyContainer', name="topo", src="@meshLoader")
+    liver.addObject('MechanicalObject', name="dofs", src="@meshLoader")
+    liver.addObject('TetrahedronSetGeometryAlgorithms', template="Vec3d", name="GeomAlgo")
+    liver.addObject('DiagonalMass', name="Mass", massDensity="1.0")
+    liver.addObject('TetrahedralCorotationalFEMForceField', template="Vec3d", name="FEM", method="large", poissonRatio="0.3", youngModulus="3000", computeGlobalMatrix="0")
+    liver.addObject('FixedProjectiveConstraint', name="FixedConstraint", indices="3 39 64")
+
+    visu = liver.addChild('Visu')
+    visu.addObject('OglModel', name="VisualModel", src="@../../LiverSurface")
+    visu.addObject('BarycentricMapping', name="VisualMapping", input="@../dofs", output="@VisualModel")
+
+    surf = liver.addChild('Surf')
+    surf.addObject('SphereLoader', name="sphereLoader", filename="mesh/liver.sph")
+    surf.addObject('MechanicalObject', name="spheres", position="@sphereLoader.position")
+    surf.addObject('SphereCollisionModel', name="CollisionModel", listRadius="@sphereLoader.listRadius")
+    surf.addObject('BarycentricMapping', name="CollisionMapping", input="@../dofs", output="@spheres")
+
+    SC.init_root()
+
+    # This works only for server and client on the same machine. This tell the server that the passed data path should be copied in shared memory when accessed through the client instead of RPyC.
+    SC.setup_shared_memory_for_data(["Liver/dofs.position","Liver/Surf/spheres.position"])
+
+    asynch_step = None
+    currentTime = 0.0
+    while currentTime<0.2:
+        if(asynch_step is None or asynch_step.ready):
+            # Time to get data from object
+            currentTime = SC.sofa_root.getTime()
+            print(currentTime)
+
+            print(f"This comes with the socket : {SC.sofa_root.Liver.cg_odesolver.name.value}")
+            print(f"This comes with shared memory : {SC.sofa_root.Liver.Surf.spheres.position.value}")
+            SC.sofa_root.Liver.Surf.spheres.position.setValue([[0,0,0]])
+            SC.sofa_root.Liver.cg_odesolver.printLog.setValue(True)
+            print(f"This getValue comes with the socket : {SC.sofa_root.Liver.cg_odesolver.name.getValue()}")
+            print(f"This getValue comes with shared memory : {SC.sofa_root.Liver.Surf.spheres.position.getValue()}")
+
+            # Launch next step
+            asynch_step = SC.asynch_step()
+        else:
+            print("waiting 0.1 sec")
+            time.sleep(0.1)
+
+    SC.stop_server()
+    

examples/RPYC/SOFAService.py

@@ -1,3 +1,5 @@
+import os
+
 import rpyc
 import time
 import threading
@@ -279,7 +281,7 @@ def exposed_build_scene_graph_from_method(self, createScene):
         """
         self.exposed_sofa_root = Sofa.Core.Node("root")
         createScene(self.exposed_sofa_root)
-        Sofa.Simulation.initRoot(self.exposed_sofa_root)
+        self.exposed_init_root()
 
     def exposed_build_scene_graph_from_file(self, filename:str):
         """
@@ -294,7 +296,7 @@ def exposed_build_scene_graph_from_file(self, filename:str):
 
         self.exposed_sofa_root = Sofa.Core.Node("root")
         foo.createScene(self.exposed_sofa_root)
-        Sofa.Simulation.initRoot(self.exposed_sofa_root)
+        self.exposed_init_root()
 
 
     def exposed_setup_shared_memory_for_data(self, dataPaths:list[str], delayed=False):
@@ -354,17 +356,36 @@ def getSharedMemoryNames(self):
         """Return list of all data paths currently shared via shared memory."""
         return self.sharedPaths
 
+    def exposed_init_root(self):
+        """Initialize the root node."""
+        if(not self.exposed_sofa_root.isInitialized()):
+            Sofa.Simulation.initRoot(self.exposed_sofa_root)
 
     def exposed_step_simulation(self):
         """
         Run one step of the simulation.
         If shared memory hasn’t been set up yet, attempt setup now.
         """
+
         Sofa.Simulation.animate(self.exposed_sofa_root, self.exposed_sofa_root.dt.value)
+
         if(not self.sharedMemoryIsSet):
             self.__internal_setup_shared_memory()
 
+    def exposed_get_cwd(self):
+        """
+        Returns current working dir
+        """
+        return os.getcwd()
 
+    def exposed_set_cwd(self, dir):
+        """
+        Change the current working dir of the server
+        Returns old dir,current working dir
+        """
+        oldDir = os.getcwd()
+        os.chdir(dir)
+        return oldDir, os.getcwd()
 
     #################################################
     ### Multithreaded automatic execution methods
@@ -382,6 +403,7 @@ def __wait_for_the_animation_to_stop(self):
 
     def __simulation_loop(self):
         """Continuous simulation loop run by background thread."""
+
         while self.animate:
             Sofa.Simulation.animate(self.exposed_sofa_root, self.exposed_sofa_root.dt.value)