[hla] Add a configurable timestep parameter

This parameter makes only sense if the simulation does not use blender
internal physics.

doc/morse/user/advanced_tutorials/hla_tutorial.rst

@@ -84,7 +84,8 @@ Now, we need to connect this stuff to the HLA world. We use the
     env = Environment('empty')
     env.configure_stream_manager(
             'hla', 
-            fom = 'Test.fed', name = 'Morse', federation = 'Test', sync_point = 'Init', time_sync = True)
+            fom = 'Test.fed', name = 'Morse', federation = 'Test', sync_point
+            = 'Init', time_sync = True, timestep = 1.0)
 
     ground = bpymorse.get_object('Ground')
     ground.scale = [255.0, 55.0, 0.0065]
@@ -99,6 +100,11 @@ Now, we need to connect this stuff to the HLA world. We use the
     The parameters in ``configure_stream_manager`` are really important, see
     :doc:`the hla middleware documentation <../middlewares/hla>` for a complete description.
 
+.. note::
+
+    You can play with the timestep value to see how it interacts with other
+    simulators
+
 .. note::
 
     The ``ground`` and ``env`` configuration here is not very important, but

doc/morse/user/middlewares/hla.rst

@@ -64,6 +64,9 @@ The following variables permit to configure HLA behaviour:
   pressing :kbd:`Enter`. The default is False.
 - **time_sync**: Optional : a boolean indicating if the simulation is in
   'Best-effort' mode or synchronised by HLA. The default value is False.
+- **timestep**: Optional : a float indicating how much logic time elapse each
+  game loop. **Do not set it if you use physics from Blender (or sensors
+  relying on Blender time !**.
 
 
 You need to pass them to the ``configure_stream_manager`` method in the

examples/tutorials/tutorial_hla.py

@@ -28,7 +28,7 @@
 
 env.configure_stream_manager(
         'hla', 
-        fom = 'Test.fed', name = 'Morse', federation = 'Test', sync_point = 'Init', time_sync = True)
+        fom = 'Test.fed', name = 'Morse', federation = 'Test', sync_point = 'Init', time_sync = True, timestep = 1.0)
 
 ground = bpymorse.get_object('Ground')
 ground.scale = [255.0, 55.0, 0.0065]

src/morse/middleware/hla_datastream.py

@@ -6,7 +6,7 @@
 from morse.core import blenderapi
 
 class MorseBaseAmbassador(rti.FederateAmbassador):
-    def __init__(self, rtia, federation, time_sync):
+    def __init__(self, rtia, federation, time_sync, timestep):
         self._rtia = rtia
         self.federation = federation
         self._time_sync = time_sync
@@ -21,24 +21,27 @@ def __init__(self, rtia, federation, time_sync):
 
         self._attributes_values = {} # obj_name -> { attr_handle -> value }
 
+        self.timestep = timestep
+
     def initialize_time_regulation(self):
         self.logical_time = self._rtia.queryFederateTime()
-        logger.debug("federation %s time %f" % (self.federation, self.logical_time))
+        logger.debug("federation %s time %f timestep %f" % 
+                (self.federation, self.logical_time, self.timestep))
 
         self.constraint_enabled = False
         self.regulator_enabled = False
         self.granted = False
-        self.lookahead = 1.0
+        self.lookahead = self.timestep
 
         self._rtia.enableTimeConstrained()
-        self._rtia.enableTimeRegulation(self.logical_time, self.lookahead)
+        self._rtia.enableTimeRegulation(self.logical_time, self.timestep)
         while not (self.constraint_enabled and self.regulator_enabled):
             self._rtia.tick(0, self.lookahead)
 
     def advance_time(self):
         if self._time_sync:
             self.granted = False
-            self._rtia.timeAdvanceRequest(self.logical_time + self.lookahead)
+            self._rtia.timeAdvanceRequest(self.logical_time + self.timestep)
             while not self.granted:
                 self._rtia.tick(0, self.lookahead)
         else:
@@ -112,7 +115,7 @@ def get_attributes(self, obj_name):
     def update_attribute(self, obj_handle, value):
         if self._time_sync:
             self._rtia.updateAttributeValues(obj_handle, value, "morse_update",
-                                             self.logical_time + self.lookahead)
+                                             self.logical_time + self.timestep)
         else:
             self._rtia.updateAttributeValues(obj_handle, value, "morse_update")
 
@@ -160,7 +163,8 @@ def federationSynchronized(self, label):
 
 
 class HLABaseNode:
-    def __init__(self, klass, fom, node_name, federation, sync_point, sync_register, time_sync):
+    def __init__(self, klass, fom, node_name, federation, sync_point, 
+                       sync_register, time_sync, timestep):
         """
         Initializes HLA (connection to RTIg, FOM file, publish robots...)
         """
@@ -188,7 +192,7 @@ def __init__(self, klass, fom, node_name, federation, sync_point, sync_register,
                     "Please check the '.fed' file syntax.")
                 raise
             logger.debug("Creating MorseAmbassador...")
-            self.morse_ambassador = klass(self.rtia, federation, time_sync)
+            self.morse_ambassador = klass(self.rtia, federation, time_sync, timestep)
             try:
                 self.rtia.joinFederationExecution(node_name, 
                     federation, self.morse_ambassador)
@@ -253,9 +257,10 @@ def __init__(self, args, kwargs):
             sync_point = kwargs.get("sync_point", None)
             sync_register = kwargs.get("sync_register", False)
             time_sync = kwargs.get("time_sync", False)
+            timestep = kwargs.get("timestep", 1.0 / blenderapi.getfrequency())
 
             self.node = HLABaseNode(MorseBaseAmbassador, fom, node_name,
-                                    federation, sync_point, sync_register, time_sync)
+                                    federation, sync_point, sync_register, time_sync, timestep)
         except KeyError as error:
             logger.error("One of [fom, name, federation] attribute is not configured: "
                          "Cannot create HLADatastreamManager")

src/morse/multinode/hla.py

@@ -93,7 +93,7 @@ def initialize(self):
         os.environ["CERTI_TCP_PORT"] = str(self.port)
 
         self.node = HLABaseNode(MorseAmbassador, self.fom, self.node_name,
-                self.federation, None, self.time_sync)
+                self.federation, None, self.time_sync, 1.0)
 
         self.node.morse_ambassador.initialize()