On Mon, Jul 21, 2014 at 9:48 AM, kilon alios <kilon.alios@gmail.com> wrote:
Well in theory it should work.
I am saying "in theory" because I have not tried MORSE.
What is Ephestos ? Basically its a python application that creates a streamsocket server that listens byte data, then it takes the byte messages it converts them to strings and it executes them using exec() built-in python function. The end. See what I did here , I did not mention Blender at all. Actually Ephestos is implemented as Blender addon. So it gives you both access to Bpy and python libraries. A Blender addon is basically a python application + access to BPY + extra stuff to make it easy to select and enable in the Blender GUI.
Now from what I see at first glance MORSE uses BPY and BGE. BGE , the blender game engine is a separate app essentially with its own API. So I need to wrap Ephestos for BGE but it will still be the same thing with added more code to be called by BGE. It should be fairly easy to do and I will do it.
I don't know if there are other implementation details about MORSE but I don't think there will be a problem to make it work with Ephestos.
Of course Ephestos has still got some big limitations a) does not receive data from Blender b) does not support of multiline python code. I don't know about b) it may work already if you add newlines in your python strings and whitespaces but I will have to test this and of course improve it to make it easier to use. Both of these features will be added since they are high priority goals.
Thank you for your explanations Kilon. I understand better how it works now. Yes receiving data like perception data from robots is quite important for MORSE. One problem I envision, is that the data could be huge and some performance issues could appear I guess if you have to translate data structures from Python to Pharo. BTW, Noury and Luc developed a ROS binding for Pharo. ROS is a robotic middleware that could be used to do communication with MORSE. Regards, -- Serge Stinckwich UCBN & UMI UMMISCO 209 (IRD/UPMC) Every DSL ends up being Smalltalk http://www.doesnotunderstand.org/