jumeaux-numeriques/monte_charge/montchg.py

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import bge # Bibliothèque Blender Game Engine (UPBGE)
import twin # Bibliothèque de l'environnement 3D des jumeaux numériques
import math
import time
###############################################################################
# montchg.py
# @title: Commandes pour le monte-charge
# @project: Blender-EduTech
# @lang: fr
# @authors: Philippe Roy <philippe.roy@ac-grenoble.fr>
# @copyright: Copyright (C) 2022 Philippe Roy
# @license: GNU GPL
###############################################################################
# Récupérer la scène UPBGE
scene = bge.logic.getCurrentScene()
# Couleurs
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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 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
###############################################################################
# Initialisation de la scène
###############################################################################
def init(cont):
if cont.sensors['Init'].positive == False: # 1 seule fois
return False
twin.manip_init() # Manipulation du modèle 3D
twin.cmd_init() # Commandes
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# Mémorisation de la position et orientation des composants du système au départ
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scene.objects['Cabine']['init_lx']=scene.objects['Cabine'].worldPosition.x
scene.objects['Cabine']['init_ly']=scene.objects['Cabine'].worldPosition.y
scene.objects['Cabine']['init_lz']=scene.objects['Cabine'].worldPosition.z
scene.objects['Contrepoids']['init_lx']=scene.objects['Contrepoids'].worldPosition.x
scene.objects['Contrepoids']['init_ly']=scene.objects['Contrepoids'].worldPosition.y
scene.objects['Contrepoids']['init_lz']=scene.objects['Contrepoids'].worldPosition.z
scene.objects['Moteur vis sans fin']['init_rx']=scene.objects['Moteur vis sans fin'].worldOrientation.to_euler().x
scene.objects['Moteur vis sans fin']['init_ry']=scene.objects['Moteur vis sans fin'].worldOrientation.to_euler().y
scene.objects['Moteur vis sans fin']['init_rz']=scene.objects['Moteur vis sans fin'].worldOrientation.to_euler().z
scene.objects['Moteur pignon']['init_rx']=scene.objects['Moteur pignon'].worldOrientation.to_euler().x
scene.objects['Moteur pignon']['init_ry']=scene.objects['Moteur pignon'].worldOrientation.to_euler().y
scene.objects['Moteur pignon']['init_rz']=scene.objects['Moteur pignon'].worldOrientation.to_euler().z
system_init() # Initialisation du système
###############################################################################
# Voyants
###############################################################################
##
# Etat voyant 0
# Modele 3d -> Arduino : FIXME
# Arduino -> Modele 3d : FIXME
##
def voy_0 (cont):
if scene.objects['System']['run']:
obj = cont.owner
if obj['activated'] and scene.objects['Led niveau 0-on'].visible == False:
scene.objects['Led niveau 0-on'].setVisible(True,False)
scene.objects['Led niveau 0'].setVisible(False,False)
if obj['activated']==False and scene.objects['Led niveau 0-on'].visible == True:
scene.objects['Led niveau 0'].setVisible(True,False)
scene.objects['Led niveau 0-on'].setVisible(False,False)
##
# Etat voyant 1
# Modele 3d -> Arduino : FIXME
# Arduino -> Modele 3d : FIXME
##
def voy_1 (cont):
if scene.objects['System']['run']:
obj = cont.owner
if obj['activated'] and scene.objects['Led niveau 1-on'].visible == False:
scene.objects['Led niveau 1-on'].setVisible(True,False)
scene.objects['Led niveau 1'].setVisible(False,False)
if obj['activated']==False and scene.objects['Led niveau 1-on'].visible == True:
scene.objects['Led niveau 1'].setVisible(True,False)
scene.objects['Led niveau 1-on'].setVisible(False,False)
###############################################################################
# Actionneurs
###############################################################################
##
# Moteur et cabine
# Modele 3d -> Arduino : FIXME
# Arduino -> Modele 3d : FIXME
##
def mot (cont):
if scene.objects['System']['run']:
obj = cont.owner
vitesse = 0.015
pas_cabine = 10 # Diam axe = 3 mm -> 1 tour = 3*math.pi
pas_pignon = pas_cabine/(3*math.pi) # Z pignon = 48 dents
pas_vissansfin = pas_pignon*48
obj_vissansfin = scene.objects['Moteur vis sans fin']
obj_pignon = scene.objects['Moteur pignon']
obj_cabine = scene.objects['Cabine']
obj_cabine['z']= scene.objects['Cabine'].localPosition.z # Affichage de l'altitude de la cabine
obj_contrepoids = scene.objects['Contrepoids']
obj_cable = scene.objects['Cable'] # FIXME : plus tard
if obj['up']:
obj_vissansfin.applyRotation((0, 0, pas_vissansfin*vitesse), True)
obj_pignon.applyRotation((pas_pignon*vitesse, 0, 0), True)
obj_cabine.applyMovement((0, 0, pas_cabine*vitesse), True)
obj_contrepoids.applyMovement((0, 0, -pas_cabine*vitesse), True)
# else: # Pas de priorité
if obj['down']:
obj_vissansfin.applyRotation((0, 0, -pas_vissansfin*vitesse), True)
obj_pignon.applyRotation((-pas_pignon*vitesse, 0, 0), True)
obj_cabine.applyMovement((0, 0, -pas_cabine*vitesse), True)
obj_contrepoids.applyMovement((0, 0, pas_cabine*vitesse), True)
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###############################################################################
# Capteurs
###############################################################################
##
# Etat capteur présence cabine niveau 0
# Modele 3d -> Arduino : FIXME
# Arduino -> Modele 3d : FIXME
##
def pc_0 (cont):
if scene.objects['System']['run'] :
obj = cont.owner
# Etat capteur en fonction de la position de la cabine : localPosition.z entre -40 et -42
if scene.objects['Cabine'].localPosition.z <-40 and scene.objects['Cabine'].localPosition.z >-42 and obj['activated'] == False :
obj['activated'] = True
if (scene.objects['Cabine'].localPosition.z > -40 or scene.objects['Cabine'].localPosition.z <-42) and obj['activated'] == True :
obj['activated'] = False
# Forçage (click)
if obj['click'] == True:
obj['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
##
# Etat capteur présence cabine niveau 1
# Modele 3d -> Arduino : FIXME
# Arduino -> Modele 3d : FIXME
##
def pc_1 (cont):
if scene.objects['System']['run'] :
obj = cont.owner
# Etat capteur en fonction de la position de la cabine : localPosition.z entre 0 et -2
if scene.objects['Cabine'].localPosition.z <0 and scene.objects['Cabine'].localPosition.z >-2 and obj['activated'] == False :
obj['activated'] = True
if (scene.objects['Cabine'].localPosition.z > 0 or scene.objects['Cabine'].localPosition.z <-2) and obj['activated'] == True :
obj['activated'] = False
# Forçage (click)
if obj['click'] == True:
obj['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
###############################################################################
# Boutons
###############################################################################
# Modele 3d -> Arduino : FIXME
# Arduino -> Modele 3d : FIXME
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# Arduino -> numérique
# bt_a_m_txt = txt_extrac_bool(serial_msg,"bt_a_m: ")
# bt_a_d_txt = txt_extrac_bool(serial_msg,"bt_a_d: ")
# bt_b_m_txt = txt_extrac_bool(serial_msg,"bt_b_m: ")
# bt_b_d_txt = txt_extrac_bool(serial_msg,"bt_b_d: ")
# bt_c_m_txt = txt_extrac_bool(serial_msg,"bt_c_m: ")
# bt_c_d_txt = txt_extrac_bool(serial_msg,"bt_c_d: ")
# bp_phy('Bp Am', bt_a_m_txt)
# bp_phy('Bp Ad', bt_a_d_txt)
# bp_phy('Bp Bm', bt_b_m_txt)
# bp_phy('Bp Bd', bt_b_d_txt)
# bp_phy('Bp Cm', bt_c_m_txt)
# bp_phy('Bp Cd', bt_c_d_txt)
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# # Affichage de l'activation physique des boutons
# def bp_phy(obj_name, bp_phy_sig):
# obj=scene.objects[obj_name]
# if bp_phy_sig =="0":
# obj['actif_phy'] = True
# obj.color = couleur_jaune
# else:
# if obj['actif_phy']:
# obj['actif_phy'] = False
# obj.color = couleur_orange
###############################################################################
# Système
###############################################################################
##
# Initialisation du système
# # Le moteur est géré en continue.
##
def system_init ():
system_reset()
##
# Réinitialisation du système
##
def system_reset ():
# Voyants aux états initiaux
scene.objects['Led niveau 0'].setVisible(True,False)
scene.objects['Led niveau 0-on'].setVisible(False,False)
scene.objects['Led niveau 1'].setVisible(True,False)
scene.objects['Led niveau 1-on'].setVisible(False,False)
# Cabine
scene.objects['Cabine'].worldPosition.x = scene.objects['Cabine']['init_lx']-scene.objects['System']['init_lx']+scene.objects['System'].worldPosition.x
scene.objects['Cabine'].worldPosition.y = scene.objects['Cabine']['init_ly']-scene.objects['System']['init_ly']+scene.objects['System'].worldPosition.y
scene.objects['Cabine'].worldPosition.z = scene.objects['Cabine']['init_lz']-scene.objects['System']['init_lz']+scene.objects['System'].worldPosition.z
scene.objects['Contrepoids'].worldPosition.x = scene.objects['Contrepoids']['init_lx']-scene.objects['System']['init_lx']+scene.objects['System'].worldPosition.x
scene.objects['Contrepoids'].worldPosition.y = scene.objects['Contrepoids']['init_ly']-scene.objects['System']['init_ly']+scene.objects['System'].worldPosition.y
scene.objects['Contrepoids'].worldPosition.z = scene.objects['Contrepoids']['init_lz']-scene.objects['System']['init_lz']+scene.objects['System'].worldPosition.z
# Moteur à l'état initial : pas utile
# I/O à l'état initial
scene.objects['Led niveau 0']['activated']=False
scene.objects['Led niveau 1']['activated']=False
scene.objects['Bp niveau 0']['activated']=False
scene.objects['Bp niveau 1']['activated']=False
scene.objects['Microrupteur niveau 0']['activated']=False
scene.objects['Microrupteur niveau 1']['activated']=False
scene.objects['Moteur']['up']=False
scene.objects['Moteur']['down']=False