def configure_stream_manager(self, stream_manager, **kwargs):
if stream_manager in MORSE_DATASTREAM_MODULE:
stream_manager_classpath = MORSE_DATASTREAM_MODULE[stream_manager]
else:
stream_manager_classpath = stream_manager
Configuration.link_stream_manager_config(stream_manager_classpath, kwargs)
def configure_stream_manager(self, stream_manager, **kwargs):
if stream_manager in MORSE_DATASTREAM_MODULE:
stream_manager_classpath = MORSE_DATASTREAM_MODULE[stream_manager]
else:
stream_manager_classpath = stream_manager
Configuration.link_stream_manager_config(stream_manager_classpath,
kwargs)
def _configure_default_interface(self, component, interface):
for child in component.children:
if child.is_morseable():
if not Configuration.has_datastream_configuration(child, interface) and \
child.is_exportable():
child.add_stream(interface)
if not Configuration.has_service_configuration(child, interface):
child.add_service(interface)
self._configure_default_interface(child, interface)
def _configure_default_interface(self, component, interface):
for child in component.children:
if child.is_morseable():
if not Configuration.has_datastream_configuration(child, interface) and \
child.is_exportable():
child.add_stream(interface)
if not Configuration.has_service_configuration(
child, interface):
child.add_service(interface)
self._configure_default_interface(child, interface)
def _handle_default_interface(self):
"""
Handle the semantic of default interface.
For each robot, for each of this children, if the child has no
specific configuration for its 'default_interface', the function
adds it automatically.
"""
for component in AbstractComponent.components:
if isinstance(component, Robot) and component.default_interface:
for child in component.children:
if child.is_morseable():
if not Configuration.has_datastream_configuration(child, component.default_interface):
child.add_stream(component.default_interface)
if not Configuration.has_service_configuration(child, component.default_interface):
child.add_service(component.default_interface)
def _handle_default_interface(self):
"""
Handle the semantic of default interface.
For each robot, for each of this children, if the child has no
specific configuration for its 'default_interface', the function
adds it automatically.
"""
for component in AbstractComponent.components:
if isinstance(component, Robot) and component.default_interface:
for child in component.children:
if child.is_morseable():
if not Configuration.has_datastream_configuration(
child, component.default_interface):
child.add_stream(component.default_interface)
if not Configuration.has_service_configuration(
child, component.default_interface):
child.add_service(component.default_interface)
def renametree(cmpt, fqn):
if not cmpt.basename:
return
# raise SyntaxError("You need to assign the component of type %s to a variable" %
# cmpt)
list_name = [cmpt._bpy_object.name for cmpt in AbstractComponent.components if cmpt != component ]
fqn.append(cmpt.basename)
new_name = '.'.join(fqn)
i = 1
while new_name in list_name:
fqn.pop()
fqn.append("%s_%03d" % (cmpt.basename, i))
new_name = '.'.join(fqn)
i += 1
Configuration.update_name(cmpt.name, new_name)
cmpt._bpy_object.name = new_name
for child in cmpt.children:
renametree(child, fqn[:])
def renametree(cmpt, fqn):
if not cmpt.basename:
return
# raise SyntaxError("You need to assign the component of type %s to a variable" %
# cmpt)
list_name = [
cmpt._bpy_object.name
for cmpt in AbstractComponent.components
if cmpt != component
]
fqn.append(cmpt.basename)
new_name = '.'.join(fqn)
i = 1
while new_name in list_name:
fqn.pop()
fqn.append("%s_%03d" % (cmpt.basename, i))
new_name = '.'.join(fqn)
i += 1
Configuration.update_name(cmpt.name, new_name)
cmpt._bpy_object.name = new_name
for child in cmpt.children:
renametree(child, fqn[:])
def create(self, name=None):
""" Generate the scene configuration and insert necessary objects
Should always be called at the very end of the Builder script. It will
finalise the building process and write the configuration files.
"""
# Invoke special methods of component that must take place *after* renaming
for component in AbstractComponent.components:
if hasattr(component, "after_renaming"):
component.after_renaming()
# Compute node name
if name is None:
try:
self._node_name = os.environ["MORSE_NODE"]
except KeyError:
self._node_name = os.uname()[1]
else:
self._node_name = name
# Create a new scene for each camera, with specific render resolution
# Must be done at the end of the builder script, after renaming
# and before adding 'Scene_Script_Holder'
self._cfg_camera_scene()
# Create a new scene for the MORSE_LOGIC (Scene_Script_Holder, CameraFP)
scene = bpymorse.set_active_scene('S.MORSE_LOGIC')
scene.game_settings.physics_engine = 'BULLET'
scene.game_settings.physics_step_sub = self._physics_step_sub
# set simulation view resolution (4:3)
scene.render.resolution_x = 800
scene.render.resolution_y = 600
# define 'Scene_Script_Holder' as the blender object of Enrivonment
if not 'Scene_Script_Holder' in bpymorse.get_objects():
# Add the necessary objects
base = Component('props', 'basics')
# Set Scene_Script_Holder as core Environment object
self.set_blender_object(bpymorse.get_object('Scene_Script_Holder'))
# Copy properties (for UTM modifier configuration)
_properties = bpymorse.get_properties(bpymorse.get_object('MORSE.Properties'))
self.properties(**_properties)
# Write the configuration of the datastreams, and node configuration
if not self.multinode_distribution:
robot_list = None
else:
robot_list = self.multinode_distribution.get(self._node_name, [])
if not isinstance(robot_list, list):
robot_list = [robot_list]
Configuration.write_config(robot_list)
self._write_multinode(self._node_name)
# Change the Screen material
if self._display_camera:
self._set_scren_mat()
# Write the name of the 'environment file'
self.properties(environment_file = str(self._environment_file))
# Default time management
if 'time_management' not in self._bpy_object.game.properties.keys():
self.properties(time_management = TimeStrategies.BestEffort)
if self.fastmode:
# SINGLETEXTURE support has been removed between 2.69 and
# 2.70. Handle properly the case where it is not defined
# anymore.
try:
self.set_material_mode('SINGLETEXTURE')
except TypeError:
self.set_material_mode('MULTITEXTURE')
self.set_viewport("WIREFRAME")
elif not self.is_material_mode_custom:
# make sure OpenGL shading language shaders (GLSL) is the
# material mode to use for rendering
self.set_material_mode('GLSL')
# Set the unit system to use for button display (in edit mode) to metric
bpymorse.get_context_scene().unit_settings.system = 'METRIC'
# Select the type of Framing to Extend,
# Show the entire viewport in the display window,
# viewing more horizontally or vertically.
bpymorse.get_context_scene().game_settings.frame_type = 'EXTEND'
# Start player with a visible mouse cursor
bpymorse.get_context_scene().game_settings.show_mouse = True
# Set the position of the camera
camera_fp = bpymorse.get_object('CameraFP')
camera_fp.location = self._camera_location
camera_fp.rotation_euler = self._camera_rotation
camera_fp.game.properties['Speed'].value = self._camera_speed
camera_fp.data.clip_start = self._camera_clip_start
camera_fp.data.clip_end = self._camera_clip_end
camera_fp.data.lens = 20 # set focal length in mm
# Make CameraFP the active camera
bpymorse.deselect_all()
camera_fp.select = True
bpymorse.get_context_scene().objects.active = camera_fp
# Set default camera
bpymorse.get_context_scene().camera = camera_fp
# Set viewport to Camera
bpymorse.set_viewport_perspective()
hud_text = bpymorse.get_object('Keys_text')
hud_text.scale.y = 0.027 # to fit the HUD_plane
self._created = True
# in case we are in edit mode, do not exit on error with CLI
sys.excepthook = sys_excepthook # Standard Python excepthook
def create(self, name=None):
""" Generate the scene configuration and insert necessary objects
Should always be called at the very end of the Builder script. It will
finalise the building process and write the configuration files.
"""
# Invoke special methods of component that must take place *after* renaming
for component in AbstractComponent.components:
if hasattr(component, "after_renaming"):
component.after_renaming()
# Compute node name
if name is None:
try:
self._node_name = os.environ["MORSE_NODE"]
except KeyError:
import socket
self._node_name = socket.gethostname()
else:
self._node_name = name
# Check time properties
scene = bpymorse.get_context_scene()
base_frequency = scene.game_settings.fps
max_frequency_requested = Configuration.max_frequency()
time_scale = self.property_value('time_scale')
if self.auto_tune_time:
self.use_vsync('OFF')
# notyet :D
# self.use_internal_syncer()
if max_frequency_requested > base_frequency:
self.simulator_frequency(max_frequency_requested)
else:
# Just report bad looking configuration
if max_frequency_requested > base_frequency:
logger.warning(
"You are requesting a component at %d Hz, but the "
"simulator main loop is running only at %d Hz. Try "
"to raise the frequency of the simulation using "
"env.simulator_frequency(%d)" %
(max_frequency_requested, base_frequency,
max_frequency_requested))
if time_scale:
real_fps_requested = max_frequency_requested * time_scale
if real_fps_requested > 1000.0:
logger.warning(
"You are requesting a component at %d Hz, with "
" time acceleration factor of %f, leading to a "
" real frequency of %d Hz. It will probably hard "
" to reach this value with Morse, so consider to "
" reduce frequency of component or speed factor " %
(max_frequency_requested, time_scale,
real_fps_requested))
# Create a new scene for each camera, with specific render resolution
# Must be done at the end of the builder script, after renaming
# and before adding 'Scene_Script_Holder'
self._cfg_camera_scene()
# Create a new scene for the MORSE_LOGIC (Scene_Script_Holder, CameraFP)
scene = bpymorse.set_active_scene('S.MORSE_LOGIC')
scene.game_settings.physics_engine = 'BULLET'
scene.game_settings.physics_step_sub = self._physics_step_sub
# set simulation view resolution (4:3)
scene.render.resolution_x = 800
scene.render.resolution_y = 600
# define 'Scene_Script_Holder' as the blender object of Enrivonment
if not 'Scene_Script_Holder' in bpymorse.get_objects():
# Add the necessary objects
base = Component('props', 'basics')
# Set Scene_Script_Holder as core Environment object
self.set_blender_object(bpymorse.get_object('Scene_Script_Holder'))
# Copy properties (for UTM modifier configuration)
_properties = bpymorse.get_properties(
bpymorse.get_object('MORSE.Properties'))
self.properties(**_properties)
# Write the configuration of the datastreams, and node configuration
if not self.multinode_distribution:
robot_list = None
else:
robot_list = self.multinode_distribution.get(self._node_name, [])
if not isinstance(robot_list, list):
robot_list = [robot_list]
Configuration.write_config(robot_list)
self._write_multinode(self._node_name)
# Change the Screen material
if self._display_camera:
self._set_scren_mat()
# Write the name of the 'environment file'
self.properties(environment_file=str(self._environment_file))
# Default time management
if 'time_management' not in self._bpy_object.game.properties.keys():
self.properties(time_management=TimeStrategies.BestEffort)
if self.fastmode:
# SINGLETEXTURE support has been removed between 2.69 and
# 2.70. Handle properly the case where it is not defined
# anymore.
try:
self.set_material_mode('SINGLETEXTURE')
except TypeError:
self.set_material_mode('MULTITEXTURE')
self.set_viewport("WIREFRAME")
elif not self.is_material_mode_custom:
# make sure OpenGL shading language shaders (GLSL) is the
# material mode to use for rendering
self.set_material_mode('GLSL')
# Set the unit system to use for button display (in edit mode) to metric
bpymorse.get_context_scene().unit_settings.system = 'METRIC'
# Select the type of Framing to Extend,
# Show the entire viewport in the display window,
# viewing more horizontally or vertically.
bpymorse.get_context_scene().game_settings.frame_type = 'EXTEND'
# Start player with a visible mouse cursor
bpymorse.get_context_scene().game_settings.show_mouse = True
# Set the position of the camera
camera_fp = bpymorse.get_object('CameraFP')
camera_fp.location = self._camera_location
camera_fp.rotation_euler = self._camera_rotation
camera_fp.game.properties['Speed'].value = self._camera_speed
camera_fp.data.clip_start = self._camera_clip_start
camera_fp.data.clip_end = self._camera_clip_end
camera_fp.data.lens = self._focal_length # set focal length in mm
# Make CameraFP the active camera
bpymorse.deselect_all()
camera_fp.select = True
bpymorse.get_context_scene().objects.active = camera_fp
# Set default camera
bpymorse.get_context_scene().camera = camera_fp
# Set viewport to Camera
bpymorse.set_viewport_perspective()
hud_text = bpymorse.get_object('Keys_text')
hud_text.scale.y = 0.027 # to fit the HUD_plane
# Create a cube to compute the dt between two frames
_dt_name = '__morse_dt_analyser'
cube = Cube(_dt_name)
cube.scale = (0.01, 0.01, 0.01)
cube.location = [0.0, 0.0, -5000.0]
cube_obj = bpymorse.get_object(_dt_name)
cube_obj.game.physics_type = 'DYNAMIC'
cube_obj.hide_render = True
cube_obj.game.lock_location_z = True
self._created = True
# in case we are in edit mode, do not exit on error with CLI
sys.excepthook = sys.__excepthook__ # Standard Python excepthook
def create(self, name=None):
""" Generate the scene configuration and insert necessary objects
Should always be called at the very end of the Builder script. It will
finalise the building process and write the configuration files.
"""
# Invoke special methods of component that must take place *after* renaming
for component in AbstractComponent.components:
if hasattr(component, "after_renaming"):
component.after_renaming()
# Compute node name
if name is None:
try:
self._node_name = os.environ["MORSE_NODE"]
except KeyError:
self._node_name = os.uname()[1]
else:
self._node_name = name
# Create a new scene for each camera, with specific render resolution
# Must be done at the end of the builder script, after renaming
# and before adding 'Scene_Script_Holder'
self._cfg_camera_scene()
# Create a new scene for the MORSE_LOGIC (Scene_Script_Holder, CameraFP)
scene = bpymorse.set_active_scene('S.MORSE_LOGIC')
scene.game_settings.physics_engine = 'BULLET'
scene.game_settings.physics_step_sub = self._physics_step_sub
# set simulation view resolution (4:3)
scene.render.resolution_x = 800
scene.render.resolution_y = 600
# define 'Scene_Script_Holder' as the blender object of Enrivonment
if not 'Scene_Script_Holder' in bpymorse.get_objects():
# Add the necessary objects
base = Component('props', 'basics')
# Set Scene_Script_Holder as core Environment object
self.set_blender_object(bpymorse.get_object('Scene_Script_Holder'))
# Copy properties (for UTM modifier configuration)
_properties = bpymorse.get_properties(
bpymorse.get_object('MORSE.Properties'))
self.properties(**_properties)
# Write the configuration of the datastreams, and node configuration
if not self.multinode_distribution:
robot_list = None
else:
robot_list = self.multinode_distribution.get(self._node_name, [])
if not isinstance(robot_list, list):
robot_list = [robot_list]
Configuration.write_config(robot_list)
self._write_multinode(self._node_name)
# Change the Screen material
if self._display_camera:
self._set_scren_mat()
# Write the name of the 'environment file'
self.properties(environment_file=str(self._environment_file))
# Default time management
if 'time_management' not in self._bpy_object.game.properties.keys():
self.properties(time_management=TimeStrategies.BestEffort)
if self.fastmode:
# SINGLETEXTURE support has been removed between 2.69 and
# 2.70. Handle properly the case where it is not defined
# anymore.
try:
self.set_material_mode('SINGLETEXTURE')
except TypeError:
self.set_material_mode('MULTITEXTURE')
self.set_viewport("WIREFRAME")
elif not self.is_material_mode_custom:
# make sure OpenGL shading language shaders (GLSL) is the
# material mode to use for rendering
self.set_material_mode('GLSL')
# Set the unit system to use for button display (in edit mode) to metric
bpymorse.get_context_scene().unit_settings.system = 'METRIC'
# Select the type of Framing to Extend,
# Show the entire viewport in the display window,
# viewing more horizontally or vertically.
bpymorse.get_context_scene().game_settings.frame_type = 'EXTEND'
# Start player with a visible mouse cursor
bpymorse.get_context_scene().game_settings.show_mouse = True
# Set the position of the camera
camera_fp = bpymorse.get_object('CameraFP')
camera_fp.location = self._camera_location
camera_fp.rotation_euler = self._camera_rotation
camera_fp.game.properties['Speed'].value = self._camera_speed
camera_fp.data.clip_start = self._camera_clip_start
camera_fp.data.clip_end = self._camera_clip_end
camera_fp.data.lens = self._focal_length # set focal length in mm
# Make CameraFP the active camera
bpymorse.deselect_all()
camera_fp.select = True
bpymorse.get_context_scene().objects.active = camera_fp
# Set default camera
bpymorse.get_context_scene().camera = camera_fp
# Set viewport to Camera
bpymorse.set_viewport_perspective()
hud_text = bpymorse.get_object('Keys_text')
hud_text.scale.y = 0.027 # to fit the HUD_plane
self._created = True
# in case we are in edit mode, do not exit on error with CLI
sys.excepthook = sys.__excepthook__ # Standard Python excepthook
def create(self, name=None):
""" Generate the scene configuration and insert necessary objects
Should always be called at the very end of the Builder script. It will
finalise the building process and write the configuration files.
"""
# Invoke special methods of component that must take place *after* renaming
for component in AbstractComponent.components:
if hasattr(component, "after_renaming"):
component.after_renaming()
# Compute node name
if name is None:
try:
self._node_name = os.environ["MORSE_NODE"]
except KeyError:
import socket
self._node_name = socket.gethostname()
else:
self._node_name = name
# Check time properties
scene = bpymorse.get_context_scene()
base_frequency = scene.game_settings.fps
max_frequency_requested = Configuration.max_frequency()
time_scale = self.property_value('time_scale')
if self.auto_tune_time:
self.use_vsync('OFF')
# notyet :D
# self.use_internal_syncer()
if max_frequency_requested > base_frequency:
self.simulator_frequency(max_frequency_requested)
else:
# Just report bad looking configuration
if max_frequency_requested > base_frequency:
logger.warning("You are requesting a component at %d Hz, but the "
"simulator main loop is running only at %d Hz. Try "
"to raise the frequency of the simulation using "
"env.simulator_frequency(%d)" %
(max_frequency_requested, base_frequency, max_frequency_requested))
if time_scale:
real_fps_requested = max_frequency_requested * time_scale
if real_fps_requested > 1000.0:
logger.warning("You are requesting a component at %d Hz, with "
" time acceleration factor of %f, leading to a "
" real frequency of %d Hz. It will probably hard "
" to reach this value with Morse, so consider to "
" reduce frequency of component or speed factor " %
(max_frequency_requested, time_scale, real_fps_requested))
# Create a new scene for each camera, with specific render resolution
# Must be done at the end of the builder script, after renaming
# and before adding 'Scene_Script_Holder'
self._cfg_camera_scene()
# Create a new scene for the MORSE_LOGIC (Scene_Script_Holder, CameraFP)
scene = bpymorse.set_active_scene('S.MORSE_LOGIC')
scene.game_settings.physics_engine = 'BULLET'
scene.game_settings.physics_step_sub = self._physics_step_sub
# set simulation view resolution (4:3)
scene.render.resolution_x = 800
scene.render.resolution_y = 600
# define 'Scene_Script_Holder' as the blender object of Enrivonment
if not 'Scene_Script_Holder' in bpymorse.get_objects():
# Add the necessary objects
base = Component('props', 'basics')
# Set Scene_Script_Holder as core Environment object
self.set_blender_object(bpymorse.get_object('Scene_Script_Holder'))
# Copy properties (for UTM modifier configuration)
_properties = bpymorse.get_properties(bpymorse.get_object('MORSE.Properties'))
self.properties(**_properties)
# Write the configuration of the datastreams, and node configuration
if not self.multinode_distribution:
robot_list = None
else:
robot_list = self.multinode_distribution.get(self._node_name, [])
if not isinstance(robot_list, list):
robot_list = [robot_list]
Configuration.write_config(robot_list)
self._write_multinode(self._node_name)
# Change the Screen material
if self._display_camera:
self._set_scren_mat()
# Write the name of the 'environment file'
self.properties(environment_file = str(self._environment_file))
# Default time management
if 'time_management' not in self._bpy_object.game.properties.keys():
self.properties(time_management = TimeStrategies.BestEffort)
if self.fastmode:
# SINGLETEXTURE support has been removed between 2.69 and
# 2.70. Handle properly the case where it is not defined
# anymore.
try:
self.set_material_mode('SINGLETEXTURE')
except TypeError:
self.set_material_mode('MULTITEXTURE')
self.set_viewport("WIREFRAME")
elif not self.is_material_mode_custom:
# make sure OpenGL shading language shaders (GLSL) is the
# material mode to use for rendering
self.set_material_mode('GLSL')
# Set the unit system to use for button display (in edit mode) to metric
bpymorse.get_context_scene().unit_settings.system = 'METRIC'
# Select the type of Framing to Extend,
# Show the entire viewport in the display window,
# viewing more horizontally or vertically.
bpymorse.get_context_scene().game_settings.frame_type = 'EXTEND'
# Start player with a visible mouse cursor
bpymorse.get_context_scene().game_settings.show_mouse = True
# Set the position of the camera
camera_fp = bpymorse.get_object('CameraFP')
camera_fp.location = self._camera_location
camera_fp.rotation_euler = self._camera_rotation
camera_fp.game.properties['Speed'].value = self._camera_speed
camera_fp.data.clip_start = self._camera_clip_start
camera_fp.data.clip_end = self._camera_clip_end
camera_fp.data.lens = self._focal_length # set focal length in mm
# Make CameraFP the active camera
bpymorse.deselect_all()
camera_fp.select = True
bpymorse.get_context_scene().objects.active = camera_fp
# Set default camera
bpymorse.get_context_scene().camera = camera_fp
# Set viewport to Camera
bpymorse.set_viewport_perspective()
hud_text = bpymorse.get_object('Keys_text')
hud_text.scale.y = 0.027 # to fit the HUD_plane
# Create a cube to compute the dt between two frames
_dt_name = '__morse_dt_analyser'
cube = Cube(_dt_name)
cube.scale = (0.01, 0.01, 0.01)
cube.location = [0.0, 0.0, -5000.0]
cube_obj = bpymorse.get_object(_dt_name)
cube_obj.game.physics_type = 'DYNAMIC'
cube_obj.hide_render = True
cube_obj.game.lock_location_z = True
self._created = True
# in case we are in edit mode, do not exit on error with CLI
sys.excepthook = sys.__excepthook__ # Standard Python excepthook
