Server Example: Synchronous Server Update

Overview

Drives RaisimServer from the simulation loop instead of a server thread: the world advances one step, then the server answers one viewer request. This shows how to keep visualization and camera-sensor updates in lockstep with the simulation.

Target

CMake target: synchronous_server_update. The source is examples/src/server/synchronous_server_update.cpp.

Run

Start the example, then connect the viewer:

# Terminal 1
./build-examples/examples/synchronous_server_update

# Terminal 2
./build-examples/examples/rayrai_tcp_viewer

On Windows, run synchronous_server_update.exe instead. The example waits for a viewer on port 8080 before it starts simulating.

Details

Uses setupSocket(), acceptConnection(), waitForMessageFromClient(), processRequests(), and closeConnection() instead of launchServer().
Each loop applies the viewer’s drag force with applyInteractionForce(), integrates the world, waits up to 1 s for a viewer request, and processes it. If processing fails, it waits for a new connection.
Loads a sensored ANYmal and sets its RGB and depth cameras to MeasurementSource::MANUAL so the viewer renders their frames on request.