HLA, as a middleware, provides a way to connect Morse to various other
simulator engines, using HLA as standard way to communicate between theses
tools. As Python interface is not defined for HLA, the Morse implementation
works only with the CERTI implementation of HLA. Moreover, currently, Morse
deals only with a subset of the full HLA standard:
- basic federation management
- declaration management (attribute part only, i.e. datastream in the Morse
- object management (note that, in the current state, Morse does not create
new object when it receives a Discover Object Instance but links a
pre-existing object with this HLA instance
- time management
In particular, it means that in the current state, Morse does not support:
- data distribution management
- ownership management
In the current state, no SOM (Simulation Object Model) has been specified,
so it is up to the specific users to develop it, with the associated Morse
certi_test_input and certi_test_output are provided for example,
and are supposed to work with the billard example provided by CERTI.
The mapping between Morse and HLA vocab is the following:
- publishObjectClass and UpdateAttributeValues correspond to an output
- subscribeObjectClassAttributes and reflectAttributeValues
correspond to an input stream.
It is unsupported for the moment.
The following variables permit to configure HLA behaviour:
- fom: Mandatory : a string representing the FOM (Federation Object Model) used for
- name: Mandatory : a string representing the name of this simulation in
- federation: Mandatory : the name of the federation to join
- sync_point: Optional : the name of the initial synchronisation point
used for the federation. If it is not present, Morse assumes there is no
need to initial synchronisation
- sync_register: Optional : if a sync_point is defined, and this
variable is true, then this instance of Morse will register the
sync_point to the RTIG, and the user should start the simulation by
pressing Enter. The default is False.
- time_sync: Optional : a boolean indicating if the simulation is in
‘Best-effort’ mode or synchronised by HLA. The default value is False.
- timestep: Optional : a float indicating how much logic time elapse each
game loop. Do not set it if you use physics from Blender (or sensors
relying on Blender time !.
- lookahead Optional : a flow indicating the lookahead used by HLA. The
default value is timestep.
- stop_time: Optional : a float indicating when the simulation must stop.
If not configured, the simulation continues infinitely. It only works if
time_sync is enabled.
You need to pass them to the configure_stream_manager method in the
env = Environment('...')
fom = 'Test.fed', name = 'Morse', federation = 'Test',
sync_point = 'Init', time_sync = True)
- Python: $MORSE_ROOT/src/morse/middleware/hla_datastream.py