Understanding Morse code organisation¶
The source code of Morse is organised in the following way :
addons: it contains various addons for blender, useful for MORSE simulationbin: it contains the main entry point of the MORSE simulationbindings: it contains some python library to access to MORSE data, through the socket middlewareconfig: it contains stuff for Cmakedata: it contains the blender model of sensors / actuatorsdoc: the documentation (in rest format)examples: it contains examples about :how to control the simulator (in
clients)more or less elaborate test scenarii (in
scenarii)
src: it contains all the python scripts used by the simulator : it is the core of the simulatormorse/actuators: it contains implementation for various robot actuatorsmorse/blender: it contains some scripts needed at the initialization of the game enginemorse/builder: it contains the scripts for the API that permits creating a simulation scenario from a Python file. See the Builder API documentation.morse/core: it contains core classes for the MORSE project (services, base objects, sensors, …)morse/helpers: it contains various helpers (math transformation)morse/middleware: it contains the code for linking with different middlewares, both for service or datastream. Each middleware has a separate directory.morse/modifiers: it contains implementation for various modifiers to basic componentsmorse/robots: it contains instantiation of different robot classesmorse/sensors: it contains implementation for various robot sensors
testing: it contains “unit-test” for various part of MORSE.