/usr/lib/python3/dist-packages/morse/multinode/socket.py is in python3-morse-simulator 1.4-2.
This file is owned by root:root, with mode 0o644.
The actual contents of the file can be viewed below.
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 | import logging; logger = logging.getLogger("morse." + __name__)
import mathutils
import time
from morse.core import blenderapi
from morse.core.multinode import SimulationNodeClass
from pymorse.stream import StreamJSON, PollThread
class SocketNode(SimulationNodeClass):
"""
Implements multinode simulation using sockets.
"""
out_data = {}
def initialize(self):
"""
Create the socket that will be used to commmunicate to the server.
"""
self.node_stream = None
self.poll_thread = None
self.simulation_time = blenderapi.persistantstorage().time
logger.debug("Connecting to %s:%d" % (self.host, self.port) )
try:
self.node_stream = StreamJSON(self.host, self.port)
self.poll_thread = PollThread()
self.poll_thread.start()
if self.node_stream.connected:
logger.info("Connected to %s:%s" % (self.host, self.port) )
except Exception as err:
logger.info("Multi-node simulation not available!")
logger.warning("Unable to connect to %s:%s"%(self.host, self.port) )
logger.warning(str(err))
def _exchange_data(self, out_data):
""" Send and receive pickled data through a socket """
# Use the existing socket connection
self.node_stream.publish([self.node_name, out_data])
return self.node_stream.get(timeout=.1) or self.node_stream.last()
def synchronize(self):
if not self.node_stream:
logger.debug("not self.node_stream")
return
if not self.node_stream.connected:
logger.debug("not self.node_stream.connected")
return
# Get the coordinates of local robots
for obj in blenderapi.persistantstorage().robotDict.keys():
#self.out_data[obj.name] = [obj.worldPosition.to_tuple()]
euler_rotation = obj.worldOrientation.to_euler()
self.out_data[obj.name] = [obj.worldPosition.to_tuple(), \
[euler_rotation.x, euler_rotation.y, euler_rotation.z]]
self.out_data['__time'] = [self.simulation_time.time, 1.0/ blenderapi.getfrequency(), self.simulation_time.real_time]
# Send the encoded dictionary through a socket
# and receive a reply with any changes in the other nodes
in_data = self._exchange_data(self.out_data)
logger.debug("Received: %s" % in_data)
if not in_data:
return
try:
self.update_scene(in_data, blenderapi.scene())
except Exception as e:
logger.warning("error while processing incoming data: " + str(e))
def update_scene(self, in_data, scene):
# Update the positions of the external robots
for obj_name, robot_data in in_data.items():
try:
obj = scene.objects[obj_name]
except Exception as e:
logger.debug("%s not found in this simulation scenario, but present in another node. Ignoring it!" % obj_name)
continue
if obj not in blenderapi.persistantstorage().robotDict:
obj.worldPosition = robot_data[0]
obj.worldOrientation = mathutils.Euler(robot_data[1]).to_matrix()
def finalize(self):
""" Close the communication socket. """
if self.node_stream:
self.node_stream.close()
self.node_stream = None
if self.poll_thread:
self.poll_thread.syncstop(1)
self.poll_thread = None
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