Feature all logic in python (aka. allpy)

src/morse/builder/creator.py

@@ -76,30 +76,3 @@ def __init__(self, name="ActuatorCreator", classpath="morse.core.actuator.Actuat
                  blendname=None):
         ComponentCreator.__init__(self, name, 'actuators', blendname)
         self.properties(Component_Tag = True, classpath = classpath)
-
-# helpers
-
-def get_properties_str(name):
-    """ Returns the Game properties of the Blender object represented by the name
-
-    get_properties_str('Sick') gives
-    laser_range = 30.0, Component_Tag = True, scan_window = 180.0, 
-    Visible_arc = True, resolution = 0.25,
-    classpath = 'morse.sensors.sick.LaserScannerClass'
-    """
-    obj = bpymorse.get_object(name)
-    properties_dictionary = get_properties(obj)
-    return ", ".join(["%s = %s"%(pname, properties_dictionary[pname]) \
-                      for pname in properties_dictionary])
-
-def get_properties(obj):
-    import json
-    properties_dictionary = {}
-    properties = obj.game.properties
-    for name in properties.keys():
-        properties_dictionary[name] = properties[name].value
-        if properties[name].type == 'TIMER':
-            properties_dictionary[name] = "timer(%f)"%properties_dictionary[name]
-        elif type(properties_dictionary[name]) is str:
-            properties_dictionary[name] = json.dumps(properties_dictionary[name])
-    return properties_dictionary

src/morse/builder/environment.py

@@ -1,6 +1,7 @@
 import logging; logger = logging.getLogger("morsebuilder." + __name__)
 import os
 import json
+import morse.builder.setup
 from morse.builder.morsebuilder import *
 from morse.builder.abstractcomponent import Configuration
 from morse.core.morse_time import TimeStrategies
@@ -269,7 +270,7 @@ def create(self, name=None):
         # define 'Scene_Script_Holder' as the blender object of Enrivonment
         if not 'Scene_Script_Holder' in bpymorse.get_objects():
             # Add the necessary objects
-            base = Component('props', 'basics')
+            morse.builder.setup.init_morse()
 
         # Set Scene_Script_Holder as core Environment object
         self.set_blender_object(bpymorse.get_object('Scene_Script_Holder'))

src/morse/sensors/camera.py

@@ -64,7 +64,6 @@ def default_action(self):
         """ Update the texture image. """
         # Configure the texture settings the first time the sensor is called
         if not self._texture_ok:
-            self._texture_ok = True
             if blenderapi.isfastmode():
                 logger.warning("Running in fastmode! No camera support!")
             else:
@@ -78,6 +77,7 @@ def default_action(self):
                 else:
                     self._camera_running = True
 
+            return
 
         if self._camera_running:
             # Update all objects pose/orientation before to refresh the image
@@ -130,6 +130,8 @@ def _setup_video_texture(self):
         # Get the reference to the scene
         scene_map = blenderapi.get_scene_map()
         logger.info("Scene %s from %s"% (self.scene_name, repr(scene_map.keys()) ) )
+        if self.scene_name not in scene_map:
+            return
         self._scene = scene_map[self.scene_name]
         self._morse_scene = scene_map['S.MORSE_LOGIC']
 
@@ -175,3 +177,4 @@ def _setup_video_texture(self):
                         detail)
 
         blenderapi.cameras()[self.name()] = vt_camera
+        self._texture_ok = True

src/morse/sensors/video_camera.py

@@ -105,12 +105,13 @@ def capture(self, n):
 
     def default_action(self):
         """ Update the texture image. """
-
         # Grab an image from the texture
         if self.bge_object['capturing'] and (self._n != 0) :
 
             # Call the action of the parent class
             morse.sensors.camera.Camera.default_action(self)
+            if not self._camera_running:
+                return
 
             # NOTE: Blender returns the image as a binary string
             #  encoded as RGBA

testing/base/gyroscope_testing.py

@@ -13,6 +13,7 @@
     pass
 
 import sys
+import math
 from pymorse import Morse
 
 

testing/base/velocity_testing.py

@@ -4,6 +4,7 @@
 """
 
 import sys
+import math
 from morse.testing.testing import MorseTestCase
 from pymorse import Morse
 

testing/base/video_camera_testing.py

@@ -17,6 +17,7 @@
 import sys
 import time
 import base64
+import math
 import struct
 import zlib
 from pymorse import Morse

testing/robots/segway/segway_vw.py

@@ -4,6 +4,7 @@
 """
 
 import sys
+import math
 from morse.testing.testing import MorseTestCase
 from pymorse import Morse
 

tools/builder_generator.py

@@ -0,0 +1,186 @@
+# usage: blender file.blend -P builder_generator.py > file.py
+import bpy, json
+
+# helpers (c/p following in a Blender Text editor, run it, look at your console)
+
+def select_only(obj):
+    bpy.ops.object.select_all(action='DESELECT')
+    obj.select = True
+    bpy.context.scene.objects.active = obj
+
+def roundv(v,r=3):
+    return tuple([round(e, r) for e in v])
+
+def do_all():
+    print("base = AbstractComponent(category='props', filename='basics_wo_logic')")
+    meshes = [o.name for o in bpy.data.objects if o.type == 'MESH']
+    print("base.append_meshes(%s)"%repr(meshes))
+    for obj in bpy.data.objects:
+        print("# %s : %s"%(obj.type, obj.name))
+        if obj.type == 'MESH':
+            print("select_only(bpy.data.objects['%s'])"%obj.name)
+        else:
+            print("bpy.ops.object.add(type='%s', location=%s, rotation=%s)" % \
+                    (obj.type, repr(obj.location), repr(obj.rotation_euler)))
+            print("bpy.context.object.name = '%s'" % obj.name)
+            if obj.scale != (1,1,1):
+                print("bpy.context.object.scale = %s" % repr(obj.scale))
+
+        print("bpy.context.object.game.physics_type = '%s'" % obj.game.physics_type)
+        print("bpy.context.object.hide_render = %s" % obj.hide_render)
+        print_properties(obj)
+        print_all_logic(obj)
+
+    # set children - parent relationship
+    for obj in bpy.data.objects:
+        for child in obj.children:
+            # child.parent = obj
+            print("bpy.data.objects['%s'].parent = bpy.data.objects['%s']" % \
+                (child.name, obj.name) )
+
+    # set children - parent relationship
+    for text in bpy.data.texts:
+        print("# text : %s"%text.name)
+        print("new_text()")
+        print("text = get_last_text()")
+        print("text.name = '%s'" % text.name)
+        print("text_str = %s" % json.dumps(text.as_string()) )
+        print("text.write(text_str)")
+
+
+def get_properties(obj):
+    import json
+    map_prop = {}
+    properties = obj.game.properties
+    for name in properties.keys():
+        map_prop[name] = properties[name].value
+        if properties[name].type == 'TIMER':
+            map_prop[name] = "timer(%f)"%map_prop[name]
+        elif type(map_prop[name]) is str:
+            map_prop[name] = json.dumps(map_prop[name])
+    return map_prop
+
+def print_properties(obj):
+    """ Returns the Game properties of the Blender objects """
+    map_prop = get_properties(obj)
+    if not map_prop:
+        return
+    str_prop = ", ".join(["%s=%s"%(pname, map_prop[pname]) \
+        for pname in map_prop.keys()])
+    print("properties(bpy.context.object, %s)" % str_prop)
+
+def print_all_logic(obj):
+    print("game = bpy.context.object.game")
+    for brick in obj.game.actuators:
+        print_logic(brick, 'actuator')
+    for brick in obj.game.controllers:
+        print_logic(brick, 'controller')
+        for act in brick.actuators:
+            print("game.controllers['%s'].link(actuator=game.actuators['%s'])" % \
+                (brick.name, act.name) )
+    for brick in obj.game.sensors:
+        print_logic(brick, 'sensor')
+        for ctr in brick.controllers:
+            print("game.sensors['%s'].link(game.controllers['%s'])" % \
+                (brick.name, ctr.name) )
+
+# map the default values of game logic bricks to filter the output
+map_attr_default = {
+    'default': {
+        '__module__': '',
+        'type': '',
+        #'name': '',
+        'show_expanded': '',
+    },
+    'sensor': {
+        'default': {
+            'frequency': 0,
+            'invert': False,
+            'use_level': False,
+            'use_pulse_false_level': False,
+            'use_pulse_true_level': False,
+            'use_tap': False,
+            'pin': False,
+        },
+        'PROPERTY': {
+            'evaluation_type': 'PROPEQUAL',
+            'property': '',
+            'value': '',
+            'value_max': '',
+            'value_min': '',
+        },
+        'KEYBOARD': {
+            'log': '',
+            'modifier_key_1': 'NONE',
+            'modifier_key_2': 'NONE',
+            'target': '',
+            'use_all_keys': False,
+        },
+        'MOUSE': {
+            'use_pulse': False,
+        },
+    },
+    'controller': {
+        'default': {
+            'use_priority': False,
+            'states': 1,
+        },
+        'PYTHON': {
+            'mode': 'SCRIPT',
+            'module': '',
+            'use_debug': False,
+        },
+    },
+    'actuator': {
+        'default': {
+            'pin': False,
+        },
+        'VISIBILITY': {
+            'apply_to_children': False,
+            'use_occlusion': False,
+        },
+    },
+}
+
+def print_logic(brick, sca):
+    print("add_%s(type='%s', name='%s')"%(sca, brick.type, brick.name))
+
+    for attr in dir(brick):
+        if attr in map_attr_default['default'].keys():
+            continue # skip
+        value = getattr(brick, attr)
+        if attr in map_attr_default[sca]['default'].keys() and \
+            value == map_attr_default[sca]['default'][attr]:
+            continue # skip default to save readibility
+        if brick.type in map_attr_default[sca] and \
+            attr in map_attr_default[sca][brick.type].keys() and \
+            value == map_attr_default[sca][brick.type][attr]:
+            continue # skip default to save readibility
+        if type(value).__name__ in ['int', 'float', 'bool']:
+            print("game.%ss[-1].%s = %s" % (sca, attr, str(value)) )
+        if type(value).__name__ == 'str':
+            print("game.%ss[-1].%s = %s" % (sca, attr, json.dumps(value)) )
+
+_header = """# usage: blender -P {file}
+import os, sys, subprocess
+
+def ext_exec(cmd, python=None):
+    if not python:
+        python = 'python%i.%i'%(sys.version_info.major, sys.version_info.minor)
+    return subprocess.getoutput('%s -c"%s"' % (python, cmd) )
+
+def fix_python_path(python=None):
+    pythonpath = ext_exec("import os,sys;print(os.pathsep.join(sys.path))")
+    sys.path.extend(pythonpath.split(os.pathsep))
+
+fix_python_path()
+
+from morse.builder.bpymorse import *
+from morse.builder import AbstractComponent
+from mathutils import Vector, Euler
+"""
+
+if __name__ == '__main__':
+    print(_header)
+    do_all()
+    print("\n\n# TODO remove the following lines (Blender output messages)\n\n")