jumeaux-numeriques/portail_coulissant/porcou.py

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import bge # Bibliothèque Blender Game Engine (UPBGE)
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import twin # Bibliothèque de l'environnement 3D des jumeaux numériques
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import math
import time
###############################################################################
# porcou.py
# @title: Commandes pour le portail coulissant
# @project: Blender-EduTech
# @lang: fr
# @authors: Philippe Roy <philippe.roy@ac-grenoble.fr>
# @copyright: Copyright (C) 2020-2022 Philippe Roy
# @license: GNU GPL
###############################################################################
# Récupérer la scène UPBGE
scene = bge.logic.getCurrentScene()
# Configuration du brochage du jumeau réel
pin_config = {
'bp_ext' : [['d','i'],['Bp cote cour','pin']],
'bp_int' : [['d','i'],['Bp cote rue','pin']],
'fdc_o' : [['d','i'],['Microrupteur fdc ouvert','pin']],
'fdc_f' : [['d','i'],['Microrupteur fdc ferme','pin']],
'mot_o' : [['d','o'],['Moteur','pin_o']],
'mot_f' : [['d','o'],['Moteur','pin_f']],
'gyr' : [['d','o'],['Led','pin']],
'ir_emet' : [['d','o'],['Emetteur IR','pin']],
'ir_recep' : [['d','i'],['Recepteur IR','pin']]}
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# Couleurs
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 numériquement uniquement : jaune
color_activated_real = (0.799, 0.031, 0.038, 1) # élément activé physiquement uniquement : rouge (hors clic)
color_activated_dbl = (0.246, 0.687, 0.078, 1) # élément activé physiquement et numériquement : vert clair
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# Constantes UPBGE
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
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###############################################################################
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# Initialisation de la scène
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###############################################################################
def init(cont):
if cont.sensors['Init'].positive == False: # 1 seule fois
return False
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twin.manip_init() # Manipulation du modèle 3D
twin.cmd_init() # Commandes
# twin.manip_init() # Cacher les objets de l'aide
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# Brochage
for pin in pin_config:
# print (pin_config[pin][1][0], pin_config[pin][1][1])
scene.objects[pin_config[pin][1][0]][pin_config[pin][1][1]] = None
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# Mémorisation de la position et orientation des composants du système
scene.objects['Portail']['init_lx']=scene.objects['Portail'].worldPosition.x
scene.objects['Portail']['init_ly']=scene.objects['Portail'].worldPosition.y
scene.objects['Portail']['init_lz']=scene.objects['Portail'].worldPosition.z
scene.objects['Engrenage']['init_rx']=scene.objects['Engrenage'].worldOrientation.to_euler().x
scene.objects['Engrenage']['init_ry']=scene.objects['Engrenage'].worldOrientation.to_euler().y
scene.objects['Engrenage']['init_rz']=scene.objects['Engrenage'].worldOrientation.to_euler().z
# Description des composants sensibles
scene.objects['Bp cote cour']['description']="Bouton poussoir coté cour : bp_int()"
scene.objects['Bp cote rue']['description']="Bouton poussoir coté rue : bp_ext()"
scene.objects['Microrupteur fdc ouvert']['description']="Capteur fin de course portail ouvert : fdc_o()"
scene.objects['Microrupteur fdc ferme']['description']="Capteur fin de course portail fermé : fdc_f()"
scene.objects['Emetteur IR']['description']="Capteur barrage IR (absence d\"obstacle) : ir_recep()"
scene.objects['Recepteur IR']['description']="Capteur barrage IR (absence d\"obstacle) : ir_recep()"
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system_init() # Initialisation du système
###############################################################################
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# Actionneurs
###############################################################################
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##
# Moteur et portail
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##
def mot (cont):
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if scene.objects['System']['run']:
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obj = cont.owner
vitesse = 0.05
pas_portail = 2.35619/0.3 # pas echelle 1:1 = 2.35619 -> pas à l'échelle de la maquette (0,3) : 2.35619/0.3 = 7,85396
pas_engrenage = math.pi/7 # z = 14
obj_engrenage = scene.objects['Engrenage']
obj_portail = scene.objects['Portail']
obj_portail['x']= scene.objects['Portail'].localPosition.x # Affichage de la position du portail
# Ouvrir
if obj['open']:
obj_engrenage.applyRotation((0, 0, -pas_engrenage*vitesse), True)
obj_portail.applyMovement((-pas_portail*vitesse, 0, 0), True)
# Modele 3D -> Arduino
if scene.objects['System']['twins']:
if scene.objects['Moteur']['pin_o'] is not None:
if scene.objects['Moteur']['pin_f'] is not None:
scene.objects['Moteur']['pin_f'].write(0)
scene.objects['Moteur']['pin_o'].write(1)
# Fermer
# else: # Pas de priorité
if obj['close']:
obj_engrenage.applyRotation((0, 0, pas_engrenage*vitesse), True)
obj_portail.applyMovement((pas_portail*vitesse, 0, 0), True)
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# Modele 3D -> Arduino
if scene.objects['System']['twins']:
if scene.objects['Moteur']['pin_f'] is not None:
if scene.objects['Moteur']['pin_o'] is not None:
scene.objects['Moteur']['pin_o'].write(0)
scene.objects['Moteur']['pin_f'].write(1)
# Arrêrer
if obj['open']== False and obj['close'] == False :
# Modele 3D -> Arduino
if scene.objects['System']['twins']:
if scene.objects['Moteur']['pin_f'] is not None:
if scene.objects['Moteur']['pin_o'] is not None:
scene.objects['Moteur']['pin_o'].write(0)
scene.objects['Moteur']['pin_f'].write(0)
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###############################################################################
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# Capteurs fin de course
###############################################################################
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##
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# Etat capteur fin de course portail ouvert
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##
def fdc_o (cont):
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if scene.objects['System']['run'] :
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obj = cont.owner
# Arduino -> Modele 3D
if scene.objects['System']['twins']:
if obj['pin'] is not None:
if obj['pin'].read()==True and obj['activated_real'] == False :
obj['activated_real'] = True
if obj['pin'].read()==False and obj['activated_real'] == True :
obj['activated_real'] = False
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# Etat capteur en fonction de la grille : worldPosition.x : 0 -> 65.5 et localPosition.x : 0 -> 218
if scene.objects['Portail'].localPosition.x <= 0 and obj['activated'] == False :
obj['activated'] = True
if scene.objects['Portail'].localPosition.x > 0 and obj['activated'] == True :
obj['activated'] = False
# Forçage par clic
if obj['click'] == True:
obj['activated'] = True
# Couleurs
twin.cycle_sensitive_color(obj)
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##
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# Etat capteur fin de course portail fermé
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##
def fdc_f (cont):
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if scene.objects['System']['run'] :
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obj = cont.owner
# Arduino -> Modele 3D
if scene.objects['System']['twins']:
if obj['pin'] is not None:
if obj['pin'].read()==True and obj['activated_real'] == False :
obj['activated_real'] = True
if obj['pin'].read()==False and obj['activated_real'] == True :
obj['activated_real'] = False
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# Etat capteur en fonction de la grille : worldPosition.x : 0 -> 65.5 et localPosition.x : 0 -> 218
if scene.objects['Portail'].localPosition.x >= 218 and obj['activated'] == False :
obj['activated'] = True
if scene.objects['Portail'].localPosition.x < 218 and obj['activated'] == True :
obj['activated'] = False
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# Forçage par clic
if obj['click'] == True:
obj['activated'] = True
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# Couleurs
twin.cycle_sensitive_color(obj)
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###############################################################################
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# Capteur barrage
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###############################################################################
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##
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# Emetteur IR
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##
def ir_emet (cont):
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if scene.objects['System']['run'] :
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obj = cont.owner
# Passif
if obj['active'] == False and obj.color !=color_passive:
obj.color =color_passive
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scene.objects['Emetteur IR Led'].setVisible(True,False)
scene.objects['Emetteur IR Led-on'].setVisible(False,False)
scene.objects['Recepteur IR']['active'] = False
# Modele 3D -> Arduino
if scene.objects['System']['twins']:
if scene.objects['Emetteur IR']['pin'] is not None:
scene.objects['Emetteur IR']['pin'].write(0)
# Active
if obj['active']:
# Allumage
if scene.objects['Emetteur IR Led-on'].visible == False:
scene.objects['Emetteur IR Led-on'].setVisible(True,False)
scene.objects['Emetteur IR Led'].setVisible(False,False)
obj.color = color_active
scene.objects['Recepteur IR']['active'] = True
# Modele 3D -> Arduino
if scene.objects['System']['twins']:
if scene.objects['Emetteur IR']['pin'] is not None:
scene.objects['Emetteur IR']['pin'].write(1)
# Forçage par clic
if obj['click'] == True:
obj['activated'] = True
scene.objects['Recepteur IR']['activated'] = True
# Couleurs
if obj['activated'] == True and obj.color !=color_activated:
obj.color =color_activated
if obj['activated'] == False :
if obj['mo'] == True and obj.color !=color_hl:
obj.color =color_hl
if obj['mo'] == False and obj.color !=color_active:
obj.color =color_active
##
# Récepteur IR
##
def ir_recep (cont):
if scene.objects['System']['run'] :
obj = cont.owner
# Passif
if obj['active'] == False and obj.color !=color_passive:
obj.color =color_passive
# Active
if obj['active']:
# Forçage (click)
if obj['click'] == True:
obj['activated'] = True
scene.objects['Emetteur IR']['activated'] = True
# Couleurs
if obj['activated'] == True and obj.color !=color_activated:
obj.color =color_activated
if obj['activated'] == False :
if obj['mo'] == True and obj.color !=color_hl:
obj.color =color_hl
if obj['mo'] == False and obj.color !=color_active:
obj.color =color_active
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###############################################################################
# Système
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###############################################################################
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##
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# Initialisation du système
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##
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def system_init ():
system_reset()
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##
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# Réinitialisation du système
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##
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def system_reset ():
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# Grille à l'état initial
scene.objects['Portail'].worldPosition.x = scene.objects['Portail']['init_lx']-scene.objects['System']['init_lx']+scene.objects['System'].worldPosition.x
scene.objects['Portail'].worldPosition.y = scene.objects['Portail']['init_ly']-scene.objects['System']['init_ly']+scene.objects['System'].worldPosition.y
scene.objects['Portail'].worldPosition.z = scene.objects['Portail']['init_lz']-scene.objects['System']['init_lz']+scene.objects['System'].worldPosition.z
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# Moteur à l'état initial
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rres=0.001 # resolution rotation
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obj1=scene.objects['Engrenage']
while (obj1.localOrientation.to_euler().y) > 1.1*rres :
obj1.applyRotation((0, 0, -rres), True)
while (obj1.localOrientation.to_euler().y) < -1.1*rres :
obj1.applyRotation((0, 0, rres), True)
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# Gyrophare à l'état initial
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scene.objects['Led'].setVisible(True,False)
scene.objects['Led-on'].setVisible(False,False)
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# Capteur barrage IR
scene.objects['Emetteur IR Led'].setVisible(True,False)
scene.objects['Emetteur IR Led-on'].setVisible(False,False)
scene.objects['Emetteur IR'].color = color_passive
scene.objects['Recepteur IR'].color = color_passive
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# I/O à l'état initial
scene.objects['Led']['activated']=False
scene.objects['Moteur']['open']=False
scene.objects['Moteur']['close']=False
scene.objects['Microrupteur fdc ouvert']['activated']=False
scene.objects['Microrupteur fdc ouvert']['activated_real']=False
scene.objects['Microrupteur fdc ferme']['activated']=False
scene.objects['Microrupteur fdc ferme']['activated_real']=False
scene.objects['Bp cote cour']['activated'] =False
scene.objects['Bp cote cour']['activated_real'] =False
scene.objects['Bp cote rue']['activated'] =False
scene.objects['Bp cote rue']['activated_real'] =False
scene.objects['Emetteur IR']['activated'] =False
scene.objects['Emetteur IR']['activated_real'] =False
scene.objects['Emetteur IR']['active'] =False
scene.objects['Recepteur IR']['activated'] =False
scene.objects['Recepteur IR']['active'] =False
scene.objects['Recepteur IR']['activated_real'] =False