Source code for morse.services.communication_services

import logging; logger = logging.getLogger("morse." + __name__)
logger.setLevel(logging.DEBUG)
from morse.core.abstractobject import AbstractObject
from morse.core.exceptions import MorseRPCInvokationError
from morse.core.services import service
from morse.core import status, blenderapi
import morse.helpers.transformation 

def _robot_exists(robot):
    try:
        for obj, robot_instance in blenderapi.persistantstorage().robotDict.items():
            if obj.name == robot:
                return robot_instance
    except KeyError:
        try:
            for obj, robot_instance in blenderapi.persistantstorage().externalRobotDict.items():
                if obj.name == robot:
                    return robot_instance
        except KeyError:
            return None

[docs]class Communication(AbstractObject): def __init__(self): AbstractObject.__init__(self)
[docs] def name(self): return "communication"
@service
[docs] def distance_and_view(self, robot1, robot2): """ Return the distance between the two robots, and a boolean which described if one can view the other. """ r1 = _robot_exists(robot1) r2 = _robot_exists(robot2) if not r1: raise MorseRPCInvokationError(robot1 + " does not exist in the simulation ") if not r2: raise MorseRPCInvokationError(robot2 + " does not exist in the simulation ") dist = r1.position_3d.distance(r2.position_3d) closest_obj = r1.bge_object.rayCastTo(r2.bge_object) return dist, closest_obj == r2.bge_object
[docs] def action(self): pass