jumeaux-numeriques/twin.py

import bge  # Blender Game Engine (UPBGE)
import bpy  # Blender
import sys
import math
import time
import xml.etree.ElementTree as ET # Creating/parsing XML file
import importlib
import runpy # Exécution de script Python légère (sans import)
from pylint import epylint as lint # Mesure de la qualité d'un code Python

import twin_doc # Documentation
import twin_about # About

###############################################################################
# twin.py
# @title: Bibliothèque générale de l'environnement 3D pour le développement de jumeau numérique
# @project: Blender-EduTech
# @lang: fr
# @authors: Philippe Roy <philippe.roy@ac-grenoble.fr>
# @copyright: Copyright (C) 2020-2023 Philippe Roy
# @license: GNU GPL
#
# Cet environnement 3D est programmable en Python. Il est destiné à  la découverte de la programmation de système pluritechnologique.
#
###############################################################################

# UPBGE scene
scene = bge.logic.getCurrentScene()
eevee = bpy.context.scene.eevee
system=importlib.import_module(scene.objects['System']['script'][:-4]) # Système

# Memory
sys.setrecursionlimit(10**5)  # Limite sur la récursivité (valeur par défaut : 1000) -> segfault de Blender

# Config file
twin_config = ET.parse('twin_config.xml')
twin_config_tree = twin_config.getroot()

# Couleurs
color_cmd =  (0.8, 0.8, 0.8, 1) # Blanc
color_cmd_hl =  (0.8, 0.619, 0.021, 1) # Jaune
color_passive = (0.800, 0.005, 0.315,1) # bouton non activable :  magenta
color_active =  (0.799, 0.130, 0.063,1) # bouton activable :  orange
color_hl =  (0.8, 0.8, 0.8, 1) # bouton focus : blanc
color_activated =  (0.8, 0.619, 0.021, 1) # bouton activé :  jaune

# Constantes
JUST_ACTIVATED = bge.logic.KX_INPUT_JUST_ACTIVATED
JUST_RELEASED = bge.logic.KX_INPUT_JUST_RELEASED
ACTIVATE = bge.logic.KX_INPUT_ACTIVE
# JUST_DEACTIVATED = bge.logic.KX_SENSOR_JUST_DEACTIVATED

###############################################################################
# Gestion du clavier
###############################################################################

# Mode : Orbit(0) par défaut, Pan(1) avec Shift,  Zoom (2) avec Ctrl, Eclaté (1) avec Shift
def  keyboard(cont):
    obj = scene.objects['System']
    keyboard = bge.logic.keyboard

    # Touche ESC
    if JUST_ACTIVATED in keyboard.inputs[bge.events.ESCKEY].queue:

        # Maj du fichier de config (screen size : data/config/screen/width-> [0][0].text)
        screen_width = bge.render.getWindowWidth()
        screen_height = bge.render.getWindowHeight()
        twin_config_tree[0][0].text=str(screen_width)
        twin_config_tree[0][1].text=str(screen_height)
        twin_config_tree[0][2].text=str(scene.objects['About']['quality'])
        buffer_xml = ET.tostring(twin_config_tree)
        with open("twin_config.xml", "wb") as f:
            f.write(buffer_xml)

        # Sortir
        bge.logic.endGame()

    # Shift -> mode 1 : Pan (clic milieu) ou Eclaté (clic gauche)
    if JUST_ACTIVATED in keyboard.inputs[bge.events.LEFTSHIFTKEY].queue:
        obj['manip_mode']=1
    if JUST_ACTIVATED in keyboard.inputs[bge.events.RIGHTSHIFTKEY].queue:
        obj['manip_mode']=1

    # Ctrl -> mode 2 : Zoom (clic milieu)
    if JUST_ACTIVATED in keyboard.inputs[bge.events.LEFTCTRLKEY].queue:
        obj['manip_mode']=2
    if JUST_ACTIVATED in keyboard.inputs[bge.events.RIGHTCTRLKEY].queue:
        obj['manip_mode']=2

    # Pas de modificateur -> mode 0 : Orbit (clic milieu)
    if  JUST_RELEASED in keyboard.inputs[bge.events.LEFTSHIFTKEY].queue:
        obj['manip_mode']=0
    if  JUST_RELEASED in keyboard.inputs[bge.events.RIGHTSHIFTKEY].queue:
        obj['manip_mode']=0
    if  JUST_RELEASED in keyboard.inputs[bge.events.LEFTCTRLKEY].queue:
         obj['manip_mode']=0
    if  JUST_RELEASED in keyboard.inputs[bge.events.RIGHTCTRLKEY].queue:
         obj['manip_mode']=0

    # Touche Home -> Reset de la vue
    if JUST_ACTIVATED in keyboard.inputs[bge.events.HOMEKEY].queue:
        manip_reset()

    # Touche F5 -> Run et Pause
    if JUST_ACTIVATED in keyboard.inputs[bge.events.F5KEY].queue:
        cycle_run ()

    # Touche F6 -> Stop / Init
    if JUST_ACTIVATED in keyboard.inputs[bge.events.F6KEY].queue:
        cycle_stop ()

###############################################################################
# Commandes
###############################################################################

##
# Initialisation des commandes
##

def cmd_init():

    # Fichier de config (screen size : data/config/screen/width-> [0][0].text, height-> [0][1].text)
    bge.render.setWindowSize(int(twin_config_tree[0][0].text),int(twin_config_tree[0][1].text))
    quality_eevee=('NOSMAA', 'LOW', 'MEDIUM','HIGH','ULTRA')
    scene.objects['About']['quality'] = int(twin_config_tree[0][2].text)
    if quality_eevee[scene.objects['About']['quality']] == 'NOSMAA':
        eevee.smaa_quality= 'LOW'
        eevee.use_eevee_smaa = False
    else:
        eevee.use_eevee_smaa = True
        eevee.smaa_quality= quality_eevee[scene.objects['About']['quality']]

    # Ajout du Hud
    # scene.active_camera = scene.objects["Camera"]
    # scene.objects['Sun'].setVisible(True,True)
    # scene.addOverlayCollection(scene.cameras['Camera-Hud'], bpy.data.collections['Hud'])

   # UI : Commands
    scene.objects['Run-Hl'].setVisible(False,False)
    # scene.objects['Pause-Hl'].setVisible(False,False)
    scene.objects['ResetView-Hl'].setVisible(False,False)
    scene.objects['Doc-cmd-Hl'].setVisible(False,False)
    scene.objects['About-cmd-Hl'].setVisible(False,False)
    # scene.objects['Twins-icon'].setVisible(False,True)

    # UI : Text, ...
    scene.objects['Cmd-text']['Text']=""
    scene.objects['Cmd-text'].setVisible(True,False)
    scene.objects['Twins-text']['Text']="Connection fermée."
    # scene.objects['Twins-text'].setVisible(False,False)

    # Windows
    windows=("Doc", "Doc_chap-general", "Doc_chap-system", "Doc_chap-python", "About")
    for window in windows:
        scene.objects[window].setVisible(False,True)

##
# Highlight des commandes
##

def cmd_hl(cont):
    obj = cont.owner

    # Activation
    if cont.sensors['MO'].status == JUST_ACTIVATED and scene.objects['System']['manip_mode']==0:
        if obj.name!="Run" and obj.name!="Pause" and obj.name!="Stop" and obj.name!="Doc-cmd-colbox":
        # if obj.name!="Run" and obj.name!="Pause" and obj.name!="Run-Hl" and obj.name!="Pause-Hl" and obj.name!="Pause-Hl":
            obj.setVisible(False,True)
            scene.objects[obj.name+'-Hl'].setVisible(True,True)

        # Run et pause
        if obj.name=="Pause" or obj.name=="Run":
            if scene.objects['System']['run'] == True:
                pass
                # scene.objects['Pause'].setVisible(False,False) FIXME pause pas implémenté
                # scene.objects['Pause-Hl'].setVisible(True,False) FIXME pause pas implémenté
            else:
                scene.objects['Run'].setVisible(False,False)
                scene.objects['Run-Hl'].setVisible(True,False)

        # Stop
        if obj.name=="Stop":
            scene.objects['Stop'].setVisible(False,False)
            scene.objects['Stop-Hl'].setVisible(True,False)

        # Doc
        if obj.name=="Doc-cmd-colbox":
            scene.objects['Doc-cmd'].setVisible(False,False)
            scene.objects['Doc-cmd-Hl'].setVisible(True,False)

        # Text
        text_hl ={"Run":"Exécuter (F5)",
                  "Stop":"Stop et initialisation (F6)",
                  # "Pause":"Pause (F5)",
                  "Doc-cmd-colbox":"Documentation",
                  "ResetView":  "Reset de la vue (Touche Début)",
                  "About-cmd":  "A propos"}
        scene.objects['Cmd-text']['modal']= False
        scene.objects['Cmd-text']['Text']= text_hl[obj.name]
        if scene.objects['Doc']['page_chap']== "" and obj.name =="Doc-cmd-colbox" :
            scene.objects['Cmd-text']['Text']= "Chargement de la documentation ..."
        scene.objects['Cmd-text'].setVisible(True,False)

    # Désactivation
    if cont.sensors['MO'].status == JUST_RELEASED and (scene.objects['System']['manip_mode']==0 or scene.objects['System']['manip_mode']==9):
        if scene.objects['Cmd-text']['modal'] != True:
            scene.objects['Cmd-text']['Text']= ""
            scene.objects['Cmd-text'].setVisible(False,False)
        if obj.name!="Run" and obj.name!="Pause" and obj.name!="Stop" and obj.name!="Doc-cmd-colbox":
            scene.objects[obj.name+'-Hl'].setVisible(False,True)
            obj.setVisible(True,True)

        # Run et pause
        if obj.name=="Pause" or obj.name=="Run":
            if scene.objects['System']['run'] == True:
                pass
                # scene.objects['Pause-Hl'].setVisible(False,False) FIXME pause pas implémenté
                # scene.objects['Pause'].setVisible(True,False) FIXME pause pas implémenté
            else:
                scene.objects['Run-Hl'].setVisible(False,False)
                scene.objects['Run'].setVisible(True,False)

        # Stop
        if obj.name=="Stop":
            scene.objects['Stop-Hl'].setVisible(False,False)
            scene.objects['Stop'].setVisible(True,False)

        # Doc
        if obj.name=="Doc-cmd-colbox":
            scene.objects['Doc-cmd-Hl'].setVisible(False,False)
            scene.objects['Doc-cmd'].setVisible(True,False)

##
# Click sur les commandes
##

def cmd_click(cont):
    obj = cont.owner
    if cont.sensors['Click'].status == JUST_ACTIVATED and cont.sensors['MO'].positive and scene.objects['System']['manip_mode']==0:

        # Play et pause
        if obj.name=="Pause" or obj.name=="Run":
            cycle_run ()

        # Stop
        if obj.name=="Stop":
            cycle_stop ()

        # Reset-view
        if obj.name=="ResetView" :
            manip_reset()

        # About
        if obj.name=="About-cmd" :
            twin_about.open()

        # Aide
        if obj.name=="Doc-cmd-colbox" :
            twin_doc.open()

###############################################################################
# Manipulation du mécanisme
###############################################################################

##
# Dessiner une cercle (bas niveau)
##

def  circle (center, radius, color):
    ang = 0
    ang_step = 0.1
    while ang< 2 * math.pi:
        x0 = center[0]+float(radius*math.cos(ang)*0.95)
        y0 = center[1]
        z0 = center[2]+float(radius*math.sin(ang))
        x1 = center[0]+float(radius*math.cos(ang+ang_step)*0.95)
        y1 = center[1]
        z1 = center[2]+float(radius*math.sin(ang+ang_step))
        bge.render.drawLine([x0,y0,z0],[x1,y1,z1],color)
        ang += ang_step

##
# Initialisation de la vue 3D
##

# def  manip_init(cont):
def  manip_init():

    # Ajout du Hud
    scene.active_camera = scene.objects["Camera"]
    scene.objects['Sun'].setVisible(True,True)
    scene.addOverlayCollection(scene.cameras['Camera-Hud'], bpy.data.collections['Hud'])

    # Fenêtres
    scene.objects['About'].setVisible(False,True)
    scene.objects['Doc'].setVisible(False,True)

    # Mémorisation de la position de la caméra
    scene.objects['Camera']['init_lx']=scene.objects['Camera'].worldPosition.x
    scene.objects['Camera']['init_ly']=scene.objects['Camera'].worldPosition.y
    scene.objects['Camera']['init_lz']=scene.objects['Camera'].worldPosition.z

    # Mémorisation de la position du modèle
    scene.objects['System']['init_lx']=scene.objects['System'].worldPosition.x
    scene.objects['System']['init_ly']=scene.objects['System'].worldPosition.y
    scene.objects['System']['init_lz']=scene.objects['System'].worldPosition.z
    scene.objects['System']['init_rx']=scene.objects['System'].worldOrientation.to_euler().x
    scene.objects['System']['init_ry']=scene.objects['System'].worldOrientation.to_euler().y
    scene.objects['System']['init_rz']=scene.objects['System'].worldOrientation.to_euler().z

##
# Atteindre une orientation  (bas niveau)
##

def applyRotationTo(obj, rx=None, ry=None, rz=None):
    rres=0.001 # resolution rotation

    # x
    if rx is not None:
        while (abs(rx-obj.worldOrientation.to_euler().x) > rres) :
            if obj.worldOrientation.to_euler().x-rx > rres:
                obj.applyRotation((-rres, 0, 0), True)
            if rx-obj.worldOrientation.to_euler().x > rres:
                obj.applyRotation((rres, 0, 0), True)
            # print ("delta x ",rx-obj.worldOrientation.to_euler().x)
       
    # y
    if ry is not None:
        while (abs(ry-obj.worldOrientation.to_euler().y) > rres) :
            if obj.worldOrientation.to_euler().y-ry > rres:
                obj.applyRotation((0, -rres, 0), True)
            if ry-obj.worldOrientation.to_euler().y > rres:
                obj.applyRotation((0, rres, 0), True)
            # print ("delta y ",ry-obj.worldOrientation.to_euler().y)

    # z
    if rz is not None:
        while (abs(rz-obj.worldOrientation.to_euler().z) > rres) :
            if obj.worldOrientation.to_euler().z-rz > rres:
                obj.applyRotation((0, 0, -rres), True)
            if rz-obj.worldOrientation.to_euler().z > rres:
                obj.applyRotation((0, 0, rres), True)
            # print ("delta z ",rz-obj.worldOrientation.to_euler().z)

##
# Reset de la manipulation de la vue
##

def  manip_reset():
    scene.objects['Camera'].worldPosition.x = scene.objects['Camera']['init_lx']
    scene.objects['Camera'].worldPosition.y = scene.objects['Camera']['init_ly']
    scene.objects['Camera'].worldPosition.z = scene.objects['Camera']['init_lz']
    applyRotationTo(scene.objects['System'], 0, 0, 0)
    scene.objects['System'].worldPosition.x = scene.objects['System']['init_lx']
    scene.objects['System'].worldPosition.y = scene.objects['System']['init_ly']
    scene.objects['System'].worldPosition.z = scene.objects['System']['init_lz']
    # for objet in scene.objects['System']['objects'] :
    #     scene.objects[objet].setVisible(True,False)
    #     scene.objects[objet].restorePhysics()
    #     if objet+"_Lines.GP" in  scene.objects: 
    #         scene.objects[objet+"_Lines.GP"].setVisible(True,False)

##
# Position de  départ pour la manipulation de la vue
##

def  manip_start(cont):
    obj = cont.owner
    obj['click_x']=cont.sensors['ClickM'].position[0]
    obj['click_y']=cont.sensors['ClickM'].position[1]

##
# Manipulation du modèle ou de la caméra
##

def  manip(cont):
    obj = cont.owner
    sensibilite_orbit=0.0005
    sensibilite_pan=0.005
    sensibilite_zoom=0.01
    delta_x=cont.sensors['DownM'].position[0]-obj['click_x']
    delta_y=cont.sensors['DownM'].position[1]-obj['click_y']

    # Orbit
    if obj['manip_mode']==0:
        x0 = scene.objects['Orbit-Hud'].worldPosition.x
        y0 =scene.objects['Orbit-Hud'].worldPosition.y
        z0 =scene.objects['Orbit-Hud'].worldPosition.z
        width = bge.render.getWindowWidth()
        height = bge.render.getWindowHeight()
        dist_orbit_y_base=200 # Pour 1280 x 720
        # radius_orbit_y_base=5
        radius_orbit_y_base=0.875
        diag_base= math.sqrt(1280**2+720**2)
        diag= math.sqrt(width**2+height**2)
        dist_orbit_y = dist_orbit_y_base*(diag/diag_base)
        radius_orbit_y=radius_orbit_y_base*(diag/diag_base)
        dist_orbit = math.sqrt(((width/2)-obj['click_x'])**2+((height/2)-obj['click_y'])**2)
        if  obj['click_y']> height/2 :
            dist_orbit = dist_orbit+((math.sqrt(((height/2)-obj['click_y'])**2)/175)*25) # Correction des Y sous le centre ?
        if  dist_orbit<dist_orbit_y : # Orbit  sur xz
            circle ([x0,y0,z0], radius_orbit_y_base, color_cmd)
            n=10
            # pas_x=(delta_x*40*sensibilite_orbit)/n
            pas_x=(delta_x*4*sensibilite_orbit)/n
            # pas_y=(((width/2)-cont.sensors['DownM'].position[0])+((height/2)-cont.sensors['DownM'].position[1]))*0.005
            pas_y=((((width/2)-cont.sensors['DownM'].position[0])+((height/2)-cont.sensors['DownM'].position[1]))*0.005)/10
            # pas_z=(delta_y*40*sensibilite_orbit)/n
            pas_z=(delta_y*4*sensibilite_orbit)/n
            for i in range (n):
                bge.render.drawLine([x0+pas_x*i, y0+abs(pas_y*math.sin((3.14*i)/n)), z0-pas_z*i],
                                    [x0+pas_x*(i+1), y0+abs(pas_y*math.sin((3.14*(i+1))/n)), z0-pas_z*(i+1)],
                                    [0.8, 0.619, 0.021])
            scene.objects['System'].applyRotation((delta_y*sensibilite_orbit, 0, delta_x*sensibilite_orbit), False)
        else: # Orbit  sur y
            circle ([x0,y0,z0], radius_orbit_y_base, color_cmd_hl)
            if abs(delta_x) >= abs(delta_y):
                scene.objects['System'].applyRotation((0, delta_x*sensibilite_orbit, 0), False)
            else:
                scene.objects['System'].applyRotation((0, delta_y*sensibilite_orbit, 0), False)

    # Pan
    if obj['manip_mode']==1: # Shift
        scene.objects['System'].applyMovement((delta_x*sensibilite_pan, -delta_y*sensibilite_pan, -delta_y*sensibilite_pan), False)
        # scene.objects['Camera'].applyMovement((delta_x*-sensibilite_pan, delta_y*sensibilite_pan, 0), True)

    # Zoom
    if obj['manip_mode']==2: # Ctrl
        scene.objects['Camera'].applyMovement((0, 0, (delta_x+delta_y)*sensibilite_zoom), True)
        scene.objects['Camera'].applyMovement((0, 0, (delta_x+delta_y)*sensibilite_zoom), True)

##
# Zoom
##

def  manip_wheel(cont):
    obj = cont.owner
    sensibilite_wheel = 20
    if cont.sensors['WheelUp'].positive:
        scene.objects['Camera'].applyMovement((0, 0, -sensibilite_wheel), True)
    if cont.sensors['WheelDown'].positive:
        scene.objects['Camera'].applyMovement((0, 0, sensibilite_wheel), True)

###############################################################################
# Cycle
###############################################################################


##
# Validation du code Python
##

def python_validation(file):
    (pylint_stdout, pylint_stderr) = lint.py_run(file+' --disable=C --disable=W --disable=R', return_std=True)
    stdout = pylint_stdout.read()
    stderr = pylint_stderr.read()
    if " error (" in stdout: # Présence d'erreur

        # UI : information
        scene.objects['Cmd-text']['modal']= True
        scene.objects['Cmd-text']['Text']= "Erreur dans le script ... "
        scene.objects['Cmd-text'].setVisible(True,False)
        print(stdout) # Affichage console
        return False
    else:
        scene.objects['Cmd-text']['modal']= False
        scene.objects['Cmd-text']['Text']= ""
        scene.objects['Cmd-text'].setVisible(False,False)
        return True

##
# Mise en route et pause du cycle
##

def cycle_run ():

    # Pause
    if scene.objects['System']['run'] == True:
        scene.objects['System']['run']=False
        scene.objects['Pause'].setVisible(False,False)
        scene.objects['Pause'].suspendPhysics()
        scene.objects['Pause-Hl'].setVisible(False,False)
        scene.objects['Run'].restorePhysics()
        scene.objects['Run-Hl'].setVisible(True,False)

    # Run
    else :
        scene.objects['System']['run']=True
        scene.objects['Run'].setVisible(False,False)
        scene.objects['Run'].suspendPhysics()
        scene.objects['Run-Hl'].setVisible(False,False)
        # scene.objects['Pause']. restorePhysics() # FIXME pause pas implémentée
        # scene.objects['Pause'].setVisible(True,False) # FIXME pause pas implémentée

        # Démarrage du cycle
        if scene.objects['System']['thread_cmd']==False:
            time.sleep(0.125)
            scene.objects['System']['thread_cmd']=True
            system.system_reset()
            time.sleep(0.125)
            if python_validation(scene.objects['System']['script']+'.py'):
                runpy.run_module(scene.objects['System']['script'], run_name='start') # Execution du script utilisateur

        # Arrêt de la pause
        else:
            # FIXME : Relancer la maquette
            pass

def light_refresh(cont):
    pass
    # scene.objects['Sun'].applyMovement((0, 0, 0), True)
    # scene.objects['System'].applyRotation((0, 0, 0), False)
    # scene.objects['System'].applyMovement((0,0,0), False)
    # pass

##
# Arrêt et réinitialisation du cycle (forçage)
##

def cycle_stop ():
    scene.objects['System']['thread_cmd']=False
    system.system_reset()

##
# Fin naturelle du cycle
##

def cycle_end (cont):
    if cont.sensors['End cycle'].positive:
        scene.objects['System']['run']=False
        if python_validation(scene.objects['System']['script']+'.py'):
            runpy.run_module(scene.objects['System']['script'], run_name='stop') # Fin du script utilisateur

        # Commandes
        scene.objects['Pause'].setVisible(False,False)
        scene.objects['Pause'].suspendPhysics()
        scene.objects['Pause-Hl'].setVisible(False,False)
        scene.objects['Run'].setVisible(True,False)
        scene.objects['Run'].restorePhysics()

##
# Highlight  sur les éléments cliquables du systèmes
##

def cycle_hl(cont):
    obj = cont.owner
    # name=obj.name

    # Passif
    if "active" in obj.getPropertyNames():
        if obj['active'] == False:
            obj.color = color_passive
            return

    # Activation
    if cont.sensors['MO'].status == JUST_ACTIVATED and scene.objects['System']['run']:
        obj.color = color_hl
        obj['mo'] = True
        # scene.objects[name].color = color_hl
        # scene.objects[name]['mo'] = True

    # Désactivation
    if cont.sensors['MO'].status == JUST_RELEASED:
        obj.color = color_active
        obj['mo'] = False
        # scene.objects[name].color = color_active
        # scene.objects[name]['mo'] = False

##
# Click sur les éléments cliquables du systèmes (activation numérique)
##

def cycle_click(cont):
    obj = cont.owner
    if scene.objects['System']['run'] ==False:
        return

    # Passif
    if "active" in obj.getPropertyNames():
        if obj['active'] == False:
            obj.color = color_passive
            return

    # Activation
    if cont.sensors['Click'].status == JUST_ACTIVATED and cont.sensors['MO'].positive and scene.objects['System']['manip_mode']==0:
        obj.color = color_activated
        # scene.objects[name].color = color_activated
        obj['activated'] = True
        obj['click'] = True
        # Modele 3d -> Arduino : FIXME

    # Désactivation
    if cont.sensors['Click'].status == JUST_RELEASED:
        obj['activated'] = False
        obj['click'] = False
        # Modele 3d -> Arduino : FIXME
        if cont.sensors['MO'].positive:
            obj.color = color_hl
            # scene.objects[name].color = color_hl
        else:
            obj.color = color_active
            # scene.objects[name].color = color_active