def initialize(self):
"""
Initializes HLA (connection to RTIg, FOM file, publish robots...)
"""
logger.info("Initializing HLA node.")
if os.getenv("CERTI_HTTP_PROXY") == None:
os.environ["CERTI_HTTP_PROXY"] = ""
os.environ["CERTI_HOST"] = str(self.host)
os.environ["CERTI_TCP_PORT"] = str(self.port)
logger.debug("CERTI_HTTP_PROXY= %s", os.environ["CERTI_HTTP_PROXY"])
logger.debug("CERTI_HOST= %s", os.environ["CERTI_HOST"])
logger.debug("CERTI_TCP_PORT= %s", os.environ["CERTI_TCP_PORT"])
try:
logger.debug("Creating RTIA...")
self.rtia = rti.RTIAmbassador()
logger.debug("RTIA created!")
try:
self.rtia.createFederationExecution(self.federation, self.fom)
logger.info("%s federation created", self.federation)
except rti.FederationExecutionAlreadyExists:
logger.debug("%s federation already exists", self.federation)
except rti.CouldNotOpenFED:
logger.error("FED file not found! " + \
"Please check that the '.fed' file is in the CERTI " + \
"search path of RTIg.")
return False
except rti.ErrorReadingFED:
logger.error("Error when reading FED file! " + \
"Please check the '.fed' file syntax.")
return False
logger.debug("Creating MorseAmbassador...")
self.morse_ambassador = MorseAmbassador(self.rtia, self.federation,
self.time_sync, 0, self.gl)
try:
self.rtia.joinFederationExecution(self.node_name,
self.federation,
self.morse_ambassador)
except rti.FederateAlreadyExecutionMember:
logger.error("A Federate with name %s has already registered."+\
" Change the name of your federate or " + \
"check your federation architecture.", self.node_name)
return False
except rti.CouldNotOpenFED:
logger.error("FED file not found! Please check that the " + \
"'.fed' file is in the CERTI search path.")
return False
except rti.ErrorReadingFED:
logger.error("Error when reading FED file! "+ \
"Please check the '.fed' file syntax.")
return False
if self.morse_ambassador.initialize() == False:
return False
logger.info("HLA middleware initialized.")
except Exception as error:
logger.error("Error when connecting to the RTIg: %s." + \
"Please check your HLA network configuration.", error)
raise
def __init__(self, klass, fom, node_name, federation, sync_point,
sync_register, time_sync, timestep, lookahead):
"""
Initializes HLA (connection to RTIg, FOM file, publish robots...)
"""
logger.info("Initializing HLA node.")
self._federation = federation
self._sync_point = sync_point
self._sync_register = sync_register
self._time_sync = time_sync
try:
logger.debug("Creating RTIA...")
self.rtia = rti.RTIAmbassador()
logger.debug("RTIA created!")
try:
self.rtia.createFederationExecution(federation, fom)
logger.info("%s federation created", federation)
except rti.FederationExecutionAlreadyExists:
logger.debug("%s federation already exists", federation)
except rti.CouldNotOpenFED:
logger.error("FED file not found! " + \
"Please check that the '.fed' file is in the CERTI " + \
"search path of RTIg.")
raise
except rti.ErrorReadingFED:
logger.error("Error when reading FED file! " + \
"Please check the '.fed' file syntax.")
raise
logger.debug("Creating MorseAmbassador...")
self.morse_ambassador = klass(self.rtia, federation, time_sync,
timestep, lookahead)
try:
self.rtia.joinFederationExecution(node_name, federation,
self.morse_ambassador)
except rti.FederateAlreadyExecutionMember:
logger.error("A Federate with name %s has already registered."+\
" Change the name of your federate or " + \
"check your federation architecture.", self.node_name)
raise
except rti.CouldNotOpenFED:
logger.error("FED file not found! Please check that the " + \
"'.fed' file is in the CERTI search path.")
raise
except rti.ErrorReadingFED:
logger.error("Error when reading FED file! "+ \
"Please check the '.fed' file syntax.")
raise
logger.info("HLA middleware initialized.")
except Exception as error:
logger.error("Error when connecting to the RTIg: %s." + \
"Please check your HLA network configuration.", error)
raise
def __init__(self, federateName):
'''
Constructor
'''
self.synchState = SynchState.NotInit
self.granted = False
self.time = 0.0
self.timeState = TimeState.NotInit # these are set but not used in the code
# object registration
self.regObjects = [
] # stores handles to registered message object instances (for sending)
self.otherObjects = [
] # stores handles on message objects registered by other federates (for receiving)
self.opObjectNames = [
] # stores names of registered object instances (one to one mapping with previous) the names are not used for anything
self.nameReserved = False # not used
# class declaration
self.opClassHandles = [
] # contains handles on class declarations that are set during publish and used during registerObjectInstance
self.ipClassHandle = None # used locally in subscribe and thus shown here only for symmetry sake (not really needed as a class property)
# class declaration
# and message passing
self.ipHandles = {
} # contains handles on attribute declarations and is used for subscribe and reflectAttributeValues
self.opHandles = {
} # contains handles on attribute declarations and is used for publish and updateAttributes
# self.quantizers = {}
self.subscriptions = {}
self.publications = {}
print("Create ambassador")
self.rtiaReference = rti.RTIAmbassador()
print(self.rtiaReference)
self.federateName = federateName
self.federationName = None # needed to start/destroy federation
self.creator = False # needed to synchronize the start of co-simulation execution
self.lookAhead = 0 # ???
self.pendingUpdates = [] # message buffer for incoming messages
self.TsoMsgReceived = False # true if time stamped message is received (not used)
self.test = False
#!/usr/bin/env python
import hla.rti as rti
class MyAmbassador(rti.FederateAmbassador):
pass
rtia = rti.RTIAmbassador()
try:
rtia.createFederationExecution("VirtualAir", "AviationSimNet-v3.1.fed")
except rti.FederationExecutionAlreadyExists:
pass
mya = MyAmbassador()
rtia.joinFederationExecution("python-01", "VirtualAir", mya)
spaceHandle = rtia.getRoutingSpaceHandle("Geo")
dimensionHandle = rtia.getDimensionHandle("X", spaceHandle)
region = rtia.createRegion(spaceHandle, [(dimensionHandle, (1, 5))])
rtia.notifyAboutRegionModification(region)
rtia.deleteRegion(region)
# $Id: region_creation.py,v 1.1 2009/06/07 15:12:48 gotthardp Exp $
def __init__(self, robot_name, host="localhost", port=60400):
self.fom = "morse.fed"
self.federation = "MORSE"
self.robot = None
# Setup environment
if os.getenv("CERTI_HTTP_PROXY") == None:
os.environ["CERTI_HTTP_PROXY"] = ""
os.environ["CERTI_HOST"] = str(host)
os.environ["CERTI_TCP_PORT"] = str(port)
# Create Ambassador
try:
self.rtia = rti.RTIAmbassador()
print("Creating MORSE Federation...")
try:
self.rtia.createFederationExecution(self.federation, self.fom)
except rti.FederationExecutionAlreadyExists:
print("%s federation already exists", self.federation)
except rti.CouldNotOpenFED:
print("FED file not found! " + \
"Please check that the '.fed' file is in the CERTI " + \
"search path of RTIg.")
return None
except rti.ErrorReadingFED:
print("Error when reading FED file! " + \
"Please check the '.fed' file syntax.")
return None
print("Joining MORSE Federation...")
try:
self.morse_ambassador = rti.FederateAmbassador()
self.rtia.joinFederationExecution("client-hla",
self.federation,
self.morse_ambassador)
except rti.FederateAlreadyExecutionMember:
print("A Federate with name %s has already registered."+\
" Change the name of your federate or " + \
"check your federation architecture.", self.node_name)
return None
except rti.CouldNotOpenFED:
print("FED file not found! Please check that the " + \
"'.fed' file is in the CERTI search path.")
return None
except rti.ErrorReadingFED:
print("Error when reading FED file! "+ \
"Please check the '.fed' file syntax.")
return None
# Get class/attribute handlers
try:
self.robot_t = self.rtia.getObjectClassHandle("Robot")
self.position_t = self.rtia.getAttributeHandle(
"position", self.robot_t)
self.orientation_t = self.rtia.getAttributeHandle(
"orientation", self.robot_t)
except rti.NameNotFound:
print("'Robot' (or attributes) not declared in FOM." + \
"Your '.fed' file may not be up-to-date.")
return None
# Declare a robot
self.rtia.publishObjectClass(self.robot_t,
[self.position_t, self.orientation_t])
self.robot = self.rtia.registerObjectInstance(
self.robot_t, robot_name)
print("Pose of robot %s will be published on the %s federation.",
robot_name, self.federation)
print("MorseAmbassador initialized")
except Exception as error:
print("Error when connecting to the RTIg: %s." + \
"Please check your HLA network configuration.", error)
return None
