MORSE has a concept of services: services are remote procedure call commonly used to configure or control the behaviour of the simulation.
This tutorial shows how to use those services. Different middleware are supported refer to the Middleware support in MORSE (search requests in the Features compatibility matrix).
In order to use a service, you have to know the exact name of this service, and its parameters (You can refer to the component page, available here
Here is an example using human component (the services available are here) with telnet:
$ telnet 127.0.0.1 4000
$ id1 Human move (0.1,0.0)
where id1 is the arbitrary id of the request, Human is the name of the used component, move and (0.1,0.1) are respectively the name of the request and its parameters. This parameters have to be in a tuple ( () or [] ).
Here is a simple example of using services with sockets in python (available at $MORSE_ROOT/tools/simlple_exemple.py):
import sys
import time
import socket
import tty, termios
id_ = 0
HOST = '127.0.0.1'
PORT = 4000
s = None
def getchar():
#Returns a single character from standard input
fd = sys.stdin.fileno()
old_settings = termios.tcgetattr(fd)
try:
tty.setraw(sys.stdin.fileno())
ch = sys.stdin.read(1)
finally:
termios.tcsetattr(fd, termios.TCSADRAIN, old_settings)
return ch
def main():
global s
global id_
s = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
s.connect((HOST, PORT))
print "Socket connected"
print "Please press q to quit and use 8456 to move the human"
esc = 0
while not esc :
c = getchar()
speed = 0
rot = 0
if (c == "8"):
speed = 0.1
elif (c == "5"):
speed = -0.1
elif (c == "4"):
rot = 0.1
elif (c == "6"):
rot = -0.1
if (speed != 0 or rot != 0) :
msg = "id" + str(id_) + " Human move ("
msg += str(speed) + ","
msg += str(rot) + ")\n"
s.send(msg)
id_ = id_ + 1
if c == "q" :
esc = 1
s.close()
print "\nBye bye!"
main()
Note
You can find a more complete example of python file using services to move the human here: $MORSE_ROOT/tools/wiimote_human_client.py. (using wiimote to control the human)
Please, refer to Services in MORSE.