def _associate_child_to_robot(obj, robot_instance, unset_default):
""" Reference the link of all obj to their associated robot_instance.
If it is an external robot_instance, unset default_action
"""
# Create an empty list for the components of this robot
robot_instance.components = []
for child in obj.childrenRecursive:
try:
# Look for the components tagged as such
child["Component_Tag"]
except KeyError:
continue
robot_instance.components.append(child)
if not "classpath" in child:
logger.error(
"No 'classpath' in child %s\n Please make sure you "
"are using the new builder classes" % str(child.name)
)
return False
# Create an instance of the component class
# and add it to the component list of persistantstorage()
instance = create_instance_level(child["classpath"], child.get("abstraction_level"), child, robot_instance)
if instance:
persistantstorage.componentDict[child.name] = instance
else:
logger.error(
"INITIALIZATION ERROR: the component '%s'"
" could not be properly initialized. Error when "
"creating the class instance",
obj.name,
)
return False
# Unset the default action of components of external robots
if unset_default:
instance.default_action = no_op
logger.info("Component " + child.name + " disabled: parent " + obj.name + " is an External robot.")
else:
logger.info(
"Component %s %s added to %s"
% (
child.name,
"(level: %s)" % child.get("abstraction_level") if child.get("abstraction_level") else "",
obj.name,
)
)
return True
def _associate_child_to_robot(obj, robot_instance, unset_default):
""" Reference the link of all obj to their associated robot_instance.
If it is an external robot_instance, unset default_action
"""
# Create an empty list for the components of this robot
robot_instance.components = []
for child in obj.childrenRecursive:
try:
# Look for the components tagged as such
child['Component_Tag']
except KeyError:
continue
robot_instance.components.append(child)
if not 'classpath' in child:
logger.error("No 'classpath' in child %s\n Please make sure you "
"are using the new builder classes" % str(child.name))
return False
# Create an instance of the component class
# and add it to the component list of persistantstorage()
instance = create_instance_level(child['classpath'],
child.get('abstraction_level'), child,
robot_instance)
if instance:
persistantstorage.componentDict[child.name] = instance
else:
logger.error("""
!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
INITIALIZATION ERROR: the component '""" + obj.name + """' could not
be properly initialized.
There was an error when creating the class instance.
!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
""")
return False
# Unset the default action of components of external robots
if unset_default:
instance.default_action = no_op
logger.info("Component " + child.name + " disabled: parent " \
+ obj.name + " is an External robot.")
else:
logger.info(
"Component %s %s added to %s" %
(child.name, "(level: %s)" % child.get("abstraction_level")
if child.get("abstraction_level") else "", obj.name))
return True
def create_dictionaries ():
"""Creation of a list of all the robots and components in the scene.
Uses the properties of the objects to determine what they are."""
# Create a dictionary that stores initial positions of all objects
# in the simulation, used to reset the simulation.
persistantstorage.blender_objects = {}
# Create a dictionary of the components in the scene
persistantstorage.componentDict = {}
# Create a dictionary of the robots in the scene
persistantstorage.robotDict = {}
# Create a dictionary of the external robots in the scene
# Used for the multi-node simulation
persistantstorage.externalRobotDict = {}
# Create a dictionnary with the passive, but interactive (ie, with an
# 'Object' property) objects in the scene.
persistantstorage.passiveObjectsDict = {}
# Create a dictionary with the modifiers
persistantstorage.modifierDict = {}
# Create a dictionary with the datastream interfaces used
persistantstorage.datastreamDict = {}
# this dictionary stores, for each components, the direction and the
# configured datastream interfaces. Direction is 'IN' for streams
# that are read by MORSE (typically, for actuators), and 'OUT'
# for streams published by MORSE (typically, for sensors)
persistantstorage.datastreams = {}
# Create a dictionnary with the overlaid used
persistantstorage.overlayDict = {}
# Create a dictionnary for the 'service object', such as supervision
persistantstorage.serviceObjectDict = {}
# Create the 'request managers' manager
persistantstorage.morse_services = MorseServices()
scene = morse.core.blenderapi.scene()
# Store the position and orientation of all objects
for obj in scene.objects:
if obj.parent is None:
import mathutils
pos = mathutils.Vector(obj.worldPosition)
ori = mathutils.Matrix(obj.worldOrientation)
persistantstorage.blender_objects[obj] = [pos, ori]
# Get the list of passive interactive objects.
# These objects have a 'Object' property set to true
# (plus several other optional properties).
# See the documentation for the up-to-date list
# (doc/morse/user/others/passive_objects.rst) -- or read the code below :-)
for obj in scene.objects:
# Check the object has an 'Object' property set to true
if 'Object' in obj and obj['Object']:
details = {
'label': obj['Label'] if 'Label' in obj else str(obj),
'description': obj['Description'] if 'Description' in obj else "",
'type': obj['Type'] if 'Type' in obj else "Object",
'graspable': obj['Graspable'] if 'Graspable' in obj else False
}
persistantstorage.passiveObjectsDict[obj] = details
logger.info("Added {name} as a {graspable}active object".format(
name = details['label'],
graspable = "graspable " if details['graspable'] else ""))
if not persistantstorage.passiveObjectsDict:
logger.info("No passive objects in the scene.")
# Get the robots
for obj in scene.objects:
if 'Robot_Tag' in obj or 'External_Robot_Tag' in obj:
if not 'classpath' in obj:
logger.error("No 'classpath' in %s\n Please make sure you are "
"using the new builder classes"%str(obj.name))
return False
# Create an object instance and store it
instance = create_instance_level(obj['classpath'],
obj.get('abstraction_level'),
obj)
if not instance:
logger.error("Could not create %s"%str(obj['classpath']))
return False
# store instance in persistant storage dictionary
if 'Robot_Tag' in obj:
persistantstorage.robotDict[obj] = instance
else:
persistantstorage.externalRobotDict[obj] = instance
if not (persistantstorage.robotDict or
persistantstorage.externalRobotDict): # No robot!
logger.error("INITIALIZATION ERROR: no robot in your simulation!"
"Do not forget that components _must_ belong to a"
"robot (you can not have free objects)")
return False
# Get the robot and its instance
for obj, robot_instance in persistantstorage.robotDict.items():
if not _associate_child_to_robot(obj, robot_instance, False):
return False
# Get the external robot and its instance
for obj, robot_instance in persistantstorage.externalRobotDict.items():
if not _associate_child_to_robot(obj, robot_instance, True):
return False
# Check we have no 'free' component (they all must belong to a robot)
for obj in scene.objects:
try:
obj['Component_Tag']
if obj.name not in persistantstorage.componentDict.keys():
logger.error("INITIALIZATION ERROR: the component '%s' "
"does not belong to any robot: you need to fix "
"that by parenting it to a robot." % obj.name)
return False
except KeyError as detail:
pass
# Will return true always (for the moment)
return True
def create_dictionaries ():
"""Creation of a list of all the robots and components in the scene.
Uses the properties of the objects to determine what they are."""
# Create a dictionary that stores initial positions of all objects
# in the simulation, used to reset the simulation.
persistantstorage.blender_objects = {}
# Create a dictionary of the components in the scene
persistantstorage.componentDict = {}
# Create a dictionary of the robots in the scene
persistantstorage.robotDict = {}
# Create a dictionary of the external robots in the scene
# Used for the multi-node simulation
persistantstorage.externalRobotDict = {}
# Create a dictionnary with the passive, but interactive (ie, with an
# 'Object' property) objects in the scene.
persistantstorage.passiveObjectsDict = {}
# Create a dictionary with the modifiers
persistantstorage.modifierDict = {}
# Create a dictionary with the datastream interfaces used
persistantstorage.datastreamDict = {}
# this dictionary stores, for each components, the direction and the
# configured datastream interfaces. Direction is 'IN' for streams
# that are read by MORSE (typically, for actuators), and 'OUT'
# for streams published by MORSE (typically, for sensors)
persistantstorage.datastreams = {}
# Create a dictionnary with the overlaid used
persistantstorage.overlayDict = {}
# Create the 'request managers' manager
persistantstorage.morse_services = MorseServices()
scene = morse.core.blenderapi.scene()
# Store the position and orientation of all objects
for obj in scene.objects:
if obj.parent == None:
import mathutils
pos = mathutils.Vector(obj.worldPosition)
ori = mathutils.Matrix(obj.worldOrientation)
persistantstorage.blender_objects[obj] = [pos, ori]
# Get the list of passive interactive objects.
# These objects have a 'Object' property set to true
# (plus several other optional properties).
# See the documentation for the up-to-date list
# (doc/morse/user/others/passive_objects.rst) -- or read the code below :-)
for obj in scene.objects:
# Check the object has an 'Object' property set to true
if 'Object' in obj and obj['Object']:
details = {
'label': obj['Label'] if 'Label' in obj else str(obj),
'description': obj['Description'] if 'Description' in obj else "",
'type': obj['Type'] if 'Type' in obj else "Object",
'graspable': obj['Graspable'] if 'Graspable' in obj else False
}
persistantstorage.passiveObjectsDict[obj] = details
logger.info("Added {name} as a {graspable}active object".format(
name = details['label'],
graspable = "graspable " if details['graspable'] else ""))
if not persistantstorage.passiveObjectsDict:
logger.info("No passive objects in the scene.")
# Get the robots
for obj in scene.objects:
if 'Robot_Tag' in obj or 'External_Robot_Tag' in obj:
if not 'classpath' in obj:
logger.error("No 'classpath' in %s\n Please make sure you are "
"using the new builder classes"%str(obj.name))
return False
# Create an object instance and store it
instance = create_instance_level(obj['classpath'],
obj.get('abstraction_level'),
obj)
if not instance:
logger.error("Could not create %s"%str(obj['classpath']))
return False
# store instance in persistant storage dictionary
if 'Robot_Tag' in obj:
persistantstorage.robotDict[obj] = instance
else:
persistantstorage.externalRobotDict[obj] = instance
if not (persistantstorage.robotDict or \
persistantstorage.externalRobotDict): # No robot!
logger.error("INITIALIZATION ERROR: no robot in your simulation!"
"Do not forget that components _must_ belong to a"
"robot (you can not have free objects)")
return False
# Get the robot and its instance
for obj, robot_instance in persistantstorage.robotDict.items():
if not _associate_child_to_robot(obj, robot_instance, False):
return False
# Get the external robot and its instance
for obj, robot_instance in persistantstorage.externalRobotDict.items():
if not _associate_child_to_robot(obj, robot_instance, True):
return False
# Check we have no 'free' component (they all must belong to a robot)
for obj in scene.objects:
try:
obj['Component_Tag']
if obj.name not in persistantstorage.componentDict.keys():
logger.error("INITIALIZATION ERROR: the component '%s' "
"does not belong to any robot: you need to fix "
"that by parenting it to a robot." % obj.name)
return False
except KeyError as detail:
pass
# Will return true always (for the moment)
return True