import logging; logger = logging.getLogger("morse.builder." + __name__)
import math
from morse.builder.creator import SensorCreator, bpymorse
from morse.builder.blenderobjects import *
[docs]class Accelerometer(SensorCreator):
_classpath = "morse.sensors.accelerometer.Accelerometer"
def __init__(self, name=None):
SensorCreator.__init__(self, name)
mesh = Cube("AccelerometerCube")
mesh.scale = (.04, .04, .02)
mesh.color(.3, .9, .6)
self.append(mesh)
[docs]class ArmaturePose(SensorCreator):
_classpath = "morse.sensors.armature_pose.ArmaturePose"
[docs]class Attitude(SensorCreator):
_classpath = "morse.sensors.attitude.Attitude"
[docs]class Barometer(SensorCreator):
_classpath = "morse.sensors.barometer.Barometer"
[docs]class Battery(SensorCreator):
_classpath = "morse.sensors.battery.Battery"
def __init__(self, name=None):
SensorCreator.__init__(self, name)
mesh = Cylinder("BatteryCylinder")
mesh.scale = (.01, .01, .04)
mesh.color(.2, .2, .2)
self.append(mesh)
self.properties(DischargingRate = 0.05)
[docs]class CompoundSensor(SensorCreator):
_classpath = "morse.sensors.compound.CompoundSensor"
def __init__(self, sensors, name=None):
SensorCreator.__init__(self, name)
self.sensors = sensors
[docs] def after_renaming(self):
# Ensures this is called only when all components have been (automatically) renamed.
self.properties(sensors = ",".join([str(s) for s in self.sensors]))
[docs]class GPS(SensorCreator):
_classpath = "morse.sensors.gps.GPS"
def __init__(self, name=None):
SensorCreator.__init__(self, name)
mesh = Sphere("GPSSphere")
mesh.scale = (.04, .04, .01)
mesh.color(.5, .5, .5)
self.append(mesh)
[docs]class Gyroscope(SensorCreator):
_classpath = "morse.sensors.gyroscope.Gyroscope"
def __init__(self, name=None):
SensorCreator.__init__(self, name)
mesh = Sphere("GyroscopeSphere")
mesh.scale = (.04, .04, .01)
mesh.color(.8, .4, .1)
self.append(mesh)
[docs]class IMU(SensorCreator):
_classpath = "morse.sensors.imu.IMU"
def __init__(self, name=None):
SensorCreator.__init__(self, name)
mesh = Cube("IMUCube")
mesh.scale = (.04, .04, .02)
mesh.color(.3, .9, .6)
self.append(mesh)
[docs]class Magnetometer(SensorCreator):
_classpath = "morse.sensors.magnetometer.Magnetometer"
[docs]class Odometry(SensorCreator):
_classpath = "morse.sensors.odometry.Odometry"
def __init__(self, name=None):
SensorCreator.__init__(self, name)
mesh = Cylinder("OdometryCylinder")
mesh.scale = (.02, .02, .02)
mesh.color(.5, .5, .5)
self.append(mesh)
[docs]class Pose(SensorCreator):
_classpath = "morse.sensors.pose.Pose"
def __init__(self, name=None):
SensorCreator.__init__(self, name)
mesh = Cube("PoseCube")
mesh.scale = (.04, .04, .02)
mesh.color(.8, .3, .1)
self.append(mesh)
[docs]class Proximity(SensorCreator):
_classpath = "morse.sensors.proximity.Proximity"
def __init__(self, name=None):
SensorCreator.__init__(self, name)
mesh = Cylinder("ProximityCylinder")
mesh.scale = (.02, .02, .02)
mesh.color(.5, .5, .5)
self.append(mesh)
self.properties(Range = 30.0, Track = "Robot_Tag")
self.frequency(12)
[docs]class PTUPosture(SensorCreator):
_classpath = "morse.sensors.ptu_posture.PTUPosture"
[docs]class SearchAndRescue(SensorCreator):
_classpath = "morse.sensors.search_and_rescue.SearchAndRescue"
def __init__(self, name=None):
SensorCreator.__init__(self, name)
mesh = Cylinder("SearchAndRescueCylinder")
mesh.scale = (.15, .04, .04)
mesh.color(.2, .8, .6)
mesh.rotate(y = math.pi / 2)
self.append(mesh)
self.frequency(6)
self.properties(Heal_range = 2.0, Abilities = "1,2")
# add Radar freq: 3 Hz, prop: Injured, angle: 60.0, distance: 10.0
bpymorse.add_sensor(type="RADAR", name="Radar")
obj = bpymorse.get_context_object()
sensor = obj.game.sensors[-1]
sensor.angle = 60.0
sensor.distance = 10.0
sensor.use_pulse_true_level = True
self._set_sensor_frequency(sensor, 20)
sensor.property = "Injured"
# link it to the Python controller
controller = obj.game.controllers[-1]
controller.link(sensor = sensor)
[docs] def properties(self, **kwargs):
self.select()
# We may be use it before the definition of radar
# But angle and distance can only be defined by user, in case
# where we are sure that Radar is well defined
try:
radar = self._bpy_object.game.sensors["Radar"]
if 'Angle' in kwargs:
radar.angle = kwargs['Angle']
if 'Distance' in kwargs:
radar.distance = kwargs['Distance']
if 'Freq' in kwargs:
radar.freq = kwargs['Freq']
except KeyError:
pass
SensorCreator.properties(self, **kwargs)
[docs]class StereoUnit(SensorCreator):
_classpath = "morse.sensors.stereo_unit.StereoUnit"
def __init__(self, name=None):
SensorCreator.__init__(self, name)
mesh = Cube("StereoUnitCube")
mesh.scale = (.025, .24, .01)
mesh.color(.8, .8, .8)
self.append(mesh)
[docs]class Thermometer(SensorCreator):
_classpath = "morse.sensors.thermometer.Thermometer"
def __init__(self, name=None):
SensorCreator.__init__(self, name)
mesh = Cylinder("ThermometerCylinder")
mesh.scale = (.02, .02, .04)
mesh.color(0, .6, .5)
self.append(mesh)
# abstract class
[docs]class LaserSensorWithArc(SensorCreator):
_classpath = "morse.sensors.laserscanner.LaserScanner"
[docs] def get_ray_material(self):
if 'RayMat' in bpymorse.get_materials():
return bpymorse.get_material('RayMat')
ray_material = bpymorse.create_new_material()
ray_material.diffuse_color = (.9, .05, .2)
ray_material.use_shadeless = True
ray_material.use_raytrace = False # ? is it needed ?
ray_material.use_cast_buffer_shadows = False # ? is it needed ?
ray_material.use_cast_approximate = False # ? is it needed ?
ray_material.use_transparency = True
ray_material.transparency_method = 'Z_TRANSPARENCY'
ray_material.alpha = 0.3
ray_material.name = 'RayMat'
# link material to object as: Arc_XXX.active_material = ray_material
return ray_material
[docs] def create_laser_arc(self):
""" Create an arc for use with the laserscanner sensor
The arc is created using the parameters in the laserscanner Empty.
'resolution and 'scan_window' are used to determine how many points
will be added to the arc.
"""
scene = bpymorse.get_context_scene()
laserscanner_obj = self._bpy_object
# Delete previously created arc
for child in laserscanner_obj.children:
if child.name.startswith("Arc_"):
scene.objects.unlink( child )
# Read the parameters to create the arc
properties = laserscanner_obj.game.properties
resolution = properties['resolution'].value
window = properties['scan_window'].value
# Parameters for multi layer sensors
try:
layers = properties['layers'].value
layer_separation = properties['layer_separation'].value
layer_offset = properties['layer_offset'].value
except KeyError as detail:
layers = 1
layer_separation = 0.0
layer_offset = 0.0
logger.debug ("Creating %d arc(s) of %.2f degrees, resolution %.2f" % \
(layers, window, resolution))
mesh = bpymorse.new_mesh( "ArcMesh" )
# Add the center vertex to the list of vertices
verts = [ [0.0, 0.0, 0.0] ]
faces = []
vertex_index = 0
# Set the vertical angle, in case of multiple layers
if layers > 1:
v_angle = layer_separation * (layers-1) / 2.0
else:
v_angle = 0.0
# Initialise the parameters for every layer
for layer_index in range(layers):
start_angle = -window / 2.0
end_angle = window / 2.0
# Offset the consecutive layers
if (layer_index % 2) == 0:
start_angle += layer_offset
end_angle += layer_offset
logger.debug ("Arc from %.2f to %.2f" % (start_angle, end_angle))
logger.debug ("Vertical angle: %.2f" % v_angle)
arc_angle = start_angle
# Create all the vertices and faces in a layer
while arc_angle <= end_angle:
# Compute the coordinates of the new vertex
new_vertex = [ math.cos(math.radians(arc_angle)),
math.sin(math.radians(arc_angle)),
math.sin(math.radians(v_angle)) ]
verts.append(new_vertex)
vertex_index += 1
# Add the faces after inserting the 2nd vertex
if arc_angle > start_angle:
faces.append([0, vertex_index-1, vertex_index])
# Increment the angle by the resolution
arc_angle = arc_angle + resolution
v_angle -= layer_separation
mesh.from_pydata( verts, [], faces )
mesh.update()
# Compose the name of the arc
arc_name = "Arc_%d" % window
arc = bpymorse.new_object( arc_name, mesh )
arc.data = mesh
# Remove collision detection for the object
arc.game.physics_type = 'NO_COLLISION'
arc.hide_render = True
# Link the new object in the scene
scene.objects.link( arc )
# Set the parent to be the laserscanner Empty
arc.parent = laserscanner_obj
# Set the material of the arc
arc.active_material = self.get_ray_material()
return arc
[docs] def after_renaming(self):
arc = [child for child in self._bpy_object.children
if child.name.startswith("Arc_")]
if not arc:
self.create_laser_arc()
[docs]class Hokuyo(LaserSensorWithArc):
"""
A laser scanner configured to mimick the Hokuyo sensor.
See :doc:`the laser scanners general documentation <../sensors/laserscanner>` for details.
"""
_blendname = "sick"
_name = "Hokuyo"
_short_desc = "Hokuyo laser scanner"
def __init__(self, name=None):
LaserSensorWithArc.__init__(self, name)
mesh = Cylinder("HokuyoCylinder")
mesh.scale = (.04, .04, .08)
mesh.color(0, 0, 0)
self.append(mesh)
# set components-specific properties
self.properties(Visible_arc = False, laser_range = 30.0,
scan_window = 270.0, resolution = 0.25)
# set the frequency to 10 Hz
self.frequency(10)
[docs]class Sick(LaserSensorWithArc):
"""
A laser scanner configured to mimick the SICK sensor.
See :doc:`the laser scanners general documentation <../sensors/laserscanner>` for details.
"""
_blendname = "sick"
_name = "SICK"
_short_desc = "SICK laser scanner"
def __init__(self, name=None):
LaserSensorWithArc.__init__(self, name)
# set components-specific properties
self.properties(Visible_arc = False, laser_range = 30.0,
scan_window = 180.0, resolution = 1.0)
# set the frequency to 10 Hz
self.frequency(10)
# append sick mesh, from MORSE_COMPONENTS/sensors/sick.blend
self.append_meshes(['SickMesh'])
[docs]class SickLDMRS(LaserSensorWithArc):
"""
A laser scanner configured to mimick the SICK LD-MRS sensor.
See :doc:`the laser scanners general documentation <../sensors/laserscanner>` for details.
"""
_blendname = "sick"
_name = "SICK LD-MRS"
_short_desc = "SICK LD-MRS laser scanner"
def __init__(self, name=None):
LaserSensorWithArc.__init__(self, name)
# set components-specific properties
self.properties(Visible_arc = False, laser_range = 30.0,
scan_window = 100.0, resolution = 0.25, layers = 4,
layer_separation = 0.8, layer_offset = 0.125)
mesh = Cube("SickMesh")
mesh.scale = (.05, .0825, .044)
mesh.color(1., 1., .9)
self.append(mesh)
# set the frequency to 4 Hz
self.frequency(4)
[docs]class Infrared(LaserSensorWithArc):
"""
A laser scanner configured to mimick a infra-red proximity sensor.
See :doc:`the laser scanners general documentation <../sensors/laserscanner>` for details.
"""
_name = "Infrared Proximity Sensor"
_short_desc = "Infra-red (IR) proximity sensor."
def __init__(self, name=None):
LaserSensorWithArc.__init__(self, name)
mesh = Cube("InfraredCube")
mesh.scale = (.02, .02, .02)
mesh.color(.8, .8, .8)
self.append(mesh)
# set components-specific properties
self.properties(Visible_arc = True, laser_range = 2.0,
scan_window = 20.0, resolution = 1.0)
# set the frequency to 10 Hz
self.frequency(10)
[docs]class Velocity(SensorCreator):
_classpath = "morse.sensors.velocity.Velocity"
def __init__(self, name=None):
SensorCreator.__init__(self, name)
mesh = Sphere("VelocitySphere")
mesh.scale = (.04, .04, .01)
mesh.color(.5, .5, .5)
self.append(mesh)
[docs]class VideoCamera(SensorCreator):
_classpath = "morse.sensors.video_camera.VideoCamera"
_blendname = "camera"
def __init__(self, name=None):
SensorCreator.__init__(self, name)
self.camera = Camera("CameraRobot")
self.camera.name = "CameraRobot"
self.append(self.camera)
self.properties(cam_width = 256, cam_height = 256, cam_focal = 35.0,
capturing = True, Vertical_Flip = True)
# set the frequency to 20 Hz
self.frequency(20)
# add toggle capture action (`Space` key)
bpymorse.add_sensor(type="KEYBOARD")
obj = bpymorse.get_context_object()
sensor = obj.game.sensors[-1]
sensor.key = 'SPACE'
bpymorse.add_controller(type='LOGIC_AND')
controller = obj.game.controllers[-1]
bpymorse.add_actuator(type='PROPERTY')
actuator = obj.game.actuators[-1]
actuator.mode = 'TOGGLE'
actuator.property = 'capturing'
controller.link(sensor = sensor, actuator = actuator)
# looking in +X
SensorCreator.rotate(self, x=math.pi/2, z=math.pi/2)
# append CameraMesh with its textures
self.mesh = self.append_meshes(['CameraMesh'], "camera")[0]
self.rotate(z=math.pi)
[docs] def rotate(self, x=0, y=0, z=0):
SensorCreator.rotate(self, x=y, y=z, z=x)
[docs] def hide_mesh(self, hide=True):
""" Hide the camera mesh
Can be used to hide a third person camera attached to a robot.
"""
self.mesh.hide_render = hide
[docs]class DepthCamera(VideoCamera):
_classpath = "morse.sensors.depth_camera.DepthCamera"
_blendname = "camera"
def __init__(self, name=None):
VideoCamera.__init__(self, name)
self.properties(cam_near=1.0, cam_far=20.0, retrieve_depth=True,
Vertical_Flip=False)
[docs]class DepthCameraAggregator(SensorCreator):
_classpath = "morse.sensors.depth_camera_aggregator.DepthCameraAggregator"
def __init__(self, name=None):
SensorCreator.__init__(self, name)
self.master = None
self.cameras_ = []
[docs] def set_master(self, master):
self.master = master
[docs] def append(self, cam):
self.cameras_.append(cam)
SensorCreator.append(self, cam)
@property
def cameras(self):
return self.cameras_
[docs]class Velodyne(DepthCamera):
_classpath = "morse.sensors.depth_camera.DepthCameraRotationZ"
_blendname = "velodyne"
def __init__(self, name=None):
DepthCamera.__init__(self, name)
self.camera.properties(NOT_F9_ABLE=1)
self.properties(rotation=self.camera._bpy_object.data.angle)
self.mesh = self.append_meshes(['VelodyneMesh'])[0]
self.mesh.rotation_euler.x = math.pi / 2
self.mesh.rotation_euler.y = -math.pi / 2
self.mesh.scale = [1.1]*3
[docs]class VLP16_180(DepthCameraAggregator):
_blendname = "velodyne"
def __init__(self, name=None):
DepthCameraAggregator.__init__(self, name)
for i in range(3):
cam = DepthCamera("cam%i"%i)
"""
cam_focal = 27.7 => hfov ~= 60.0.
As cam_height is half the cam_width, vfov ~= 30.0, so each pixel represent around 0.117°
Hence, the keep_list is a reasonnably fair approximation of the real angle of VLP16
"""
cam.properties(cam_width=512, cam_height=256, cam_focal = 27.7,
keep_list=str([1, 17, 34, 51, 68, 85, 102, 120, 137, 154, 171, 188, 205, 222, 239, 255]),
keep_resolution=True)
cam.rotate(x=(i-1) * math.pi / 3)
cam.frequency(10)
cam.hide_mesh()
self.append(cam)
# self.append_meshes(['VelodyneMesh'])
self.set_master(1)
[docs] def after_renaming(self):
SensorCreator.properties(self, master_camera = self.cameras[self.master].name)
VelodyneZB = Velodyne # morse 1.1 compatible
[docs]class SemanticCamera(VideoCamera):
_classpath = "morse.sensors.semantic_camera.SemanticCamera"
_blendname = "camera"
def __init__(self, name=None):
VideoCamera.__init__(self, name)
[docs]class VelodyneRayCast(LaserSensorWithArc):
_classpath = "morse.sensors.laserscanner.LaserScannerRotationZ"
_blendname = "velodyne"
def __init__(self, name=None):
LaserSensorWithArc.__init__(self, name)
# set components-specific properties
self.properties(Visible_arc = True, laser_range = 50.0,
scan_window = 31.500, resolution = 0.5)
# append velodyne mesh, from MORSE_COMPONENTS/sensors/velodyne.blend
arc = self.create_laser_arc()
# Select only arc (active)
bpymorse.select_only(arc)
# Rotate Arc to scan vertically
arc.rotation_euler = (math.radians(90), math.radians(12), 0)
bpymorse.apply_transform(rotation=True)
self.append_meshes(['VelodyneMesh'])
[docs]class Clock(SensorCreator):
_classpath = "morse.sensors.clock.Clock"
[docs]class Kinect(CompoundSensor):
"""
Microsoft Kinect RGB-D camera, implemented as a pair of depth camera and video
camera.
See the general documentation for :doc:`video cameras
<../sensors/video_camera>` and :doc:`depth cameras
<../sensors/depth_camera>` for details.
"""
_name = "Kinect"
_short_desc="Microsoft Kinect RGB-D sensor"
def __init__(self, name="Kinect"):
# meta sensor composed of 2 cameras (rgb and depth)
CompoundSensor.__init__(self, [], name)
mesh = Cube("KinectMesh")
mesh.scale = (.02, .1, .02)
mesh.color(.8, .8, .8)
self.append(mesh)
self.video_camera = VideoCamera('rgb')
self.video_camera.properties(cam_width = 128, cam_height=128)
self.depth_camera = DepthCamera('depth')
self.depth_camera.properties(classpath='morse.sensors.depth_camera.DepthVideoCamera')
self.depth_camera.properties(cam_width = 128, cam_height=128, Vertical_Flip=True)
self.append(self.video_camera)
self.append(self.depth_camera)
# TODO find Kinect spec for cameras positions
self.video_camera.location = (.06, +.08, .04)
self.depth_camera.location = (.06, -.08, .04)
self.sensors = [self.video_camera, self.depth_camera]
[docs] def add_stream(self, *args, **kwargs):
# Override AbstractComponent method
self.video_camera.add_stream(*args, **kwargs)
self.depth_camera.add_stream(*args, **kwargs)
[docs] def profile(self):
# Override AbstractComponent method
self.video_camera.profile()
self.depth_camera.profile()
[docs] def frequency(self, frequency):
# Override AbstractComponent method
# XXX frequency() is called in SensorCreator, while the
# sub-objects are not yet created. Through, it is not too bad,
# as the different sub-objects have specific default frequency.
if hasattr(self, 'video_camera'):
self.video_camera.frequency(frequency)
self.depth_camera.frequency(frequency)
[docs]class Collision(SensorCreator):
_classpath = "morse.sensors.collision.Collision"
def __init__(self, name=None):
""" Sensor to detect objects colliding with the current object.
Doc: https://www.blender.org/manual/game_engine/logic/sensors/collision.html
"""
SensorCreator.__init__(self, name)
obj = bpymorse.get_context_object()
# Sensor, Collision Sensor, detects static and dynamic objects but
# not the other collision sensor objects.
obj.game.physics_type = 'SENSOR'
# Specify a collision bounds type other than the default
obj.game.use_collision_bounds = True
obj.scale = (0.02,0.02,0.02)
# replace Always sensor by Collision sensor
sensor = obj.game.sensors[-1]
sensor.type = 'COLLISION'
# need to get the new Collision Sensor object
sensor = obj.game.sensors[-1]
sensor.use_pulse_true_level = True # FIXME doesnt seems to have any effect
sensor.use_material = False # we want to filter by property, not by material
# Component mesh (eye sugar)
mesh = Cube("CollisionMesh")
mesh.color(.8, .2, .1)
self.append(mesh)
[docs] def properties(self, **kwargs):
SensorCreator.properties(self, **kwargs)
if 'only_objects_with_property' in kwargs:
try:
sensor = self._bpy_object.game.sensors[-1]
sensor.property = kwargs['only_objects_with_property']
except KeyError:
pass
[docs]class RadarAltimeter(SensorCreator):
_classpath = "morse.sensors.radar_altimeter.RadarAltimeter"
[docs]class Airspeed(SensorCreator):
_classpath = "morse.sensors.airspeed.Airspeed"
