jumeaux-numeriques/twin_serial.py

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import bge # Bibliothèque Blender Game Engine (UPBGE)
import numpy as np
import importlib
import time
import serial # Liaison série
import pyfirmata # Protocole Firmata
from serial.tools.list_ports import comports # Détection du port automatique
###############################################################################
# twin_serial.py
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# @title: Gestion de la liaison série
# @project: Blender-EduTech
# @lang: fr
# @authors: Philippe Roy <philippe.roy@ac-grenoble.fr>
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# @copyright: Copyright (C) 2022-2023 Philippe Roy
# @license: GNU GPL
###############################################################################
# UPBGE scene
scene = bge.logic.getCurrentScene()
# Récupérer le brochage du jumeau réel
system=importlib.import_module(scene.objects['Doc']['system']) # Système
pin_config = system.get_pin_config()
###############################################################################
# Liaison série
###############################################################################
##
# Recherche automatique du port
##
def autoget_port():
# USB Vendor ID, USB Product ID
board_dict={'microbit' :[3368, 516],
'uno' :[9025, 67],
'mega' :[9025, 66]}
for com in comports(): # Arduino Uno
if com.vid == board_dict["uno"][0] and com.pid == board_dict["uno"][1]:
return [com.device,"Arduino Uno"]
for com in comports(): # Arduino Mega
if com.vid == board_dict["mega"][0] and com.pid == board_dict["mega"][1]:
return [com.device,"Arduino Mega"]
return [None,""]
##
# Création de l'objet carte (protocole Firmata)
##
def board_init(port):
try:
return pyfirmata.Arduino(port)
except:
return None
##
# Création de l'objet serial (communication série)
##
def serial_init(port,speed):
try:
return serial.Serial(port,speed)
except:
return None
##
# Affiche la liste des cartes (communication série)
##
def devices():
for com in comports():
print ("Name : "+str(com.name)+"\n"
+" Device : "+str(com.device)+"\n"
+" Hardware ID : "+str(com.hwid)+"\n"
+" USB Vendor ID : "+str(com.vid)+"\n"
+" USB Product ID : "+str(com.pid)+"\n"
+" USB device location : "+str(com.location)+"\n"
+" USB manufacturer : "+str(com.manufacturer)+"\n"
+" USB product : "+str(com.product)+"\n"
+" Interface-specific : "+str(com.interface))
##
# Activation de la communication avec la carte de communication (Arduino, Micro:bit)
# Vitesse : 115200 -> 7 fps, 38400 -> 6 fps, 9600 -> 2 fps
# pyserial : baudrate=115200
# pyfirmata : baudrate=57600
##
def serial_open():
# UI : étape 1
scene.objects['Twins-text']['Text'] = "Connection en cours ..."
# Mise en place de la carte
speed = 57600
[device,board_name] =autoget_port() # Recherche automatique du port
if device is None:
scene.objects['System']['twins'] = False
scene.objects['Twins-text']['Text'] = "Aucune connection disponible : jumeau réel débranché."
return False
board = board_init(device)
if board is None:
scene.objects['System']['twins'] = False
scene.objects['Twins-text']['Text'] = "Aucune connection disponible : port "+device+" pas prêt."
return False
scene.objects['System']['twins'] = True
# scene.objects['System']['twins_close'] = False
scene.objects['System']['twins_port'] = device
scene.objects['System']['twins_speed'] = speed
# scene.objects['System']['twins_readline'] = ""
board_it = pyfirmata.util.Iterator(board) # Itérateur pour les entrées
board_it.start()
# UI : étape 2
if board =="":
scene.objects['Twins-text']['Text'] = "Connection ouverte : "+device+" - "+str(speed)+" baud."
else:
scene.objects['Twins-text']['Text'] = "Connection ouverte : "+board_name+" sur "+device+" à "+str(speed)+" baud."
time.sleep(0.1)
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return (board)
##
# Fermeture de la communication série
##
def serial_close(board):
if scene.objects['System']['twins']:
scene.objects['Twins-text']['Text'] = "Connection fermée."
board.exit() # Fermer proprement la communication avec la carte
time.sleep(0.1)
scene.objects['System']['twins'] = False
# Configuration manuelle du port
# FIXME : plus tard
def config(port, speed):
pass
# global board
# global twins_serial
# if scene.objects['System']['twins']:
# serial_msg1 = "CF\n"
# twins_serial.write(serial_msg1.encode())
# tempo (1)
# serial_msg2 = str(speed)+"\n"
# twins_serial.write(serial_msg2.encode())
# tempo (1)
# serial_msg3 = str(temps_avancer)+"\n"
# twins_serial.write(serial_msg3.encode())
# tempo (1)
# serial_msg4 = str(temps_tourner)+"\n"
# twins_serial.write(serial_msg4.encode())
# tempo (1)
# serial_msg5 = "FC\n"
# twins_serial.write(serial_msg5.encode())
###############################################################################
# Jumeau
###############################################################################
# Créer une broche
def jumeau_get_pin(board, name, brochage):
for pin in brochage :
if pin ==name:
# print (pin_config[pin][0][0]+':'+str(brochage[pin])+':'+pin_config[pin][0][1])
# return board.get_pin(pin_config[pin][0][0]+':'+str(brochage[pin])+':'+pin_config[pin][0][1])
return board.get_pin(brochage[pin][0]+':'+str(brochage[pin][1])+':'+brochage[pin][2])
return None
# Activer le jumelage
def jumeau (brochage=None):
# Carte
board =serial_open()
scene.objects['System']['board']=board
# print ("jumeau : ", scene.objects['System']['board'])
# Brochage
if brochage is not None:
for pin in pin_config :
scene.objects[pin_config[pin][1][0]][pin_config[pin][1][1]] = jumeau_get_pin(board, pin, brochage)
return board
else:
return None
# Désactiver le jumelage
def jumeau_stop ():
serial_close(scene.objects['System']['board'])
###############################################################################
# Message
###############################################################################
##
# Envoi d'un message vers la communication série
# FIXME : plus tard
##
# def serie_msg(text):
# global twins_serial
# text2= text+"\n"
# scene.objects['Twins-text']['Text'] = "Communication : envoi message : "+text
# twins_serial.write(text2.encode())
##
# Mise en écoute de jumeau numérique (figeage de la scène)
# FIXME : plus tard
##
# def twins_listen(cont):
# global twins_serial
# if scene.objects['System']['twins']:
# if scene.objects['System']['twins_readline'] != "":
# scene.objects['Twins-text']['Text'] = "Écoute de la connection figeage de la scène.... Message reçu : "+scene.objects['System']['twins_readline']
# else:
# scene.objects['Twins-text']['Text'] = "Écoute de la connection figeage de la scène..."
# if cont.sensors['Property'].positive:
# if scene.objects['System']['twins_listen'] :
# serial_msg = twins_serial.readline()
# if serial_msg is not None:
# scene.objects['System']['twins_readline'] = str(serial_msg)
# # scene.objects['Twins-text']['Text'] = "Message reçu : "+str(serial_msg)
# scene.objects['System']['twins_listen'] = False
##
# Réception d'un message de la communication série
# FIXME : plus tard
##
# def serie_rcpt():
# # scene.objects['Twins-text']['Text'] = "Écoute de la \nconnection\n figeage de \n la scène"
# scene.objects['System']['twins_readline'] = ""
# scene.objects['System']['twins_listen'] = True
# while scene.objects['System']['twins_readline'] == "":
# if scene.objects['System']['twins_readline'] != "":
# break
# # scene.objects['Twins-text']['Text'] = "Connection\nouverte :\n"+scene.objects['System']['twins_port']+"\n"+str(scene.objects['System']['twins_speed'])+" baud"
# return scene.objects['System']['twins_readline']