Source code for morse.multinode.socket
import logging; logger = logging.getLogger("morse." + __name__)
import socket
import pickle
import mathutils
from morse.core.multinode import SimulationNodeClass
[docs]class SocketNode(SimulationNodeClass):
"""
Implements multinode simulation using sockets.
"""
node_socket = None
connected = False
out_data = {}
[docs] def initialize(self):
"""
Create the socket that will be used to commmunicate to the server.
"""
logger.debug("Connecting to port %s:%d" % (self.host, self.port))
try:
self.node_socket = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
self.node_socket.connect((self.host, self.port))
logger.info("Connection established to node manager (%s, %s)" % (self.host, self.port))
self.connected = True
except socket.error as detail:
logger.warning("Multi-node simulation not available!!")
logger.info("\tUnable to connect to server: (%s, %s)" % (self.host, self.port))
logger.info("\t%s" % detail)
self.connected = False
def _exchange_data(self, out_data):
""" Send and receive pickled data through a socket """
# Use the existing socket connection
if self.connected:
message = pickle.dumps([self.node_name, out_data])
sock = self.node_socket
sock.send(message)
response = sock.recv(1024)
in_data = pickle.loads(response)
logger.debug("Received: %s" % in_data)
return (in_data)
[docs] def synchronize(self):
if self.connected:
# Get the coordinates of local robots
for obj, local_robot_data in self.gl.robotDict.items():
#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]]
# 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)
if in_data != None:
scene = self.gl.getCurrentScene()
# Update the positions of the external robots
for obj_name, robot_data in in_data.items():
try:
obj = scene.objects[obj_name]
if obj not in self.gl.robotDict:
logger.debug("Data received: ", robot_data)
obj.worldPosition = robot_data[0]
obj.worldOrientation = mathutils.Euler(robot_data[1]).to_matrix()
except KeyError as detail:
logger.info("Robot %s not found in this simulation scenario, but present in another node. Ignoring it!" % detail)
[docs] def finalize(self):
""" Close the communication socket. """
self.node_socket.close()
self.connected = False