jumeaux-numeriques/monte_charge/montchg_lib.py

import bge # Bibliothèque Blender Game Engine (UPBGE)
import threading # Multithreading
import trace
import sys
import time

import serial # Liaison série
import pyfirmata # Protocole Firmata
from serial.tools.list_ports import comports # Détection du port automatique

###############################################################################
# montchg_lib.py
# @title: Bibliothèque utilisateur du monte-charge
# @project: Blender-EduTech
# @lang: fr
# @authors: Philippe Roy <philippe.roy@ac-grenoble.fr>
# @copyright: Copyright (C) 2022 Philippe Roy
# @license: GNU GPL
###############################################################################

scene = bge.logic.getCurrentScene()

# Threads
threads_cmd=[]
debug_thread = scene.objects['System']['debug_thread']

# Carte du jumeau numérique
board = None
board_it = None # Iterator (input)

# Brochage du jumeau numérique
bp_int_pin = None
bp_ext_pin = None
fdc_o_pin = None
fdc_f_pin = None
ir_emett_pin = None
ir_recept_pin = None
mot_o_pin = None
mot_f_pin = None
gyr_pin = None

# UPBGE constants
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

###############################################################################
# Méthode kill pour les tâches (threads)
###############################################################################

class thread_with_trace(threading.Thread):
    def __init__(self, *args, **keywords):
        threading.Thread.__init__(self, *args, **keywords)
        self.killed = False
     
    def start(self):
        self.__run_backup = self.run
        self.run = self.__run
        threading.Thread.start(self)

    def __run(self):
        sys.settrace(self.globaltrace)
        self.__run_backup()
        self.run = self.__run_backup
    
    def globaltrace(self, frame, event, arg):
        if event == 'call':
            return self.localtrace
        else:
            return None

    def localtrace(self, frame, event, arg):
        if self.killed:
            if event == 'line':
                raise SystemExit()
        return self.localtrace

    def kill(self):
        self.killed = True

###############################################################################
# Start et stop des tâches (threads)
###############################################################################

def thread_start(threads, type_txt, fct):
    threads.append(thread_with_trace(target = fct))
    threads[len(threads)-1].start()
    if (debug_thread):
        print ("Thread",type_txt, "#", len(threads)-1, "open.")

def thread_stop(threads, type_txt):
    i=0
    zombie_flag=False
    for t in threads:
        if not t.is_alive():
            if (debug_thread):
                print ("Thread",type_txt, "#",i,"closed.")
        else:
            if (debug_thread):
                print ("Thread",type_txt, "#",i,"still open ...")
            t.kill()
            t.join()
            if not t.is_alive():
                if (debug_thread):
                    print ("Thread",type_txt, "#",i,"killed.")
            else:
                if (debug_thread):
                    print ("Thread",type_txt, "#",i,"zombie...")
                zombie_flag=True
        i +=1
    if zombie_flag==False:
        if (debug_thread):
            print ("All threads",type_txt, "are closed.")
        scene.objects['System']['thread_cmd']=False
        return True
    else:
        if (debug_thread):
            print ("There are zombies threads",type_txt, ".")
        return False

def thread_cmd_start(fct):
    thread_start(threads_cmd, "commands", fct)

def thread_cmd_stop():
    thread_stop(threads_cmd, "commands")

def end():

    # Jumeau numérique
    if scene.objects['System']['twins']:
        # serial_msg = "FI\n"
        # twins_serial.write(serial_msg.encode()) # Communication série : modele 3d -> carte communication ( arduino | micro:bit )
        jumeau_close()

    # Thread
    if (debug_thread):
        print ("Thread commands is arrived.")
    time.sleep(0.125)
    scene.objects['System']['thread_cmd']=False
    time.sleep(0.125)

def fin():
    end()

def quit():
    end()

###############################################################################
# Actionneurs
###############################################################################

# Ordre pour le voyant 0
def voy_0 (order):
    scene.objects['Led niveau 0']['activated']=order
    # if order:
    #     scene.objects['Led niveau 0-on'].setVisible(True,False)
    #     scene.objects['Led niveau 0'].setVisible(False,False)
    # else:
    #     scene.objects['Led niveau 0'].setVisible(True,False)
    #     scene.objects['Led niveau 0-on'].setVisible(False,False)
    # global gyr_pin
    # if scene.objects['System']['twins'] :
    #     if ordre :
    #         gyr_pin.write(1)
    #     else:
    #         gyr_pin.write(0)

# Ordre pour le voyant 1
def voy_1 (order):
    scene.objects['Led niveau 1']['activated']=order
    # if order:
    #     scene.objects['Led niveau 1-on'].setVisible(True,False)
    #     scene.objects['Led niveau 1'].setVisible(False,False)
    # else:
    #     scene.objects['Led niveau 1'].setVisible(True,False)
    #     scene.objects['Led niveau 1-on'].setVisible(False,False)

# Ordre pour le moteur phase monter
def mot_m (order):
    scene.objects['Led niveau 1']['up']=order
    
# Ordre pour le moteur phase descendre
def mot_d (order):
    scene.objects['Ensemble moteur']['down']=ordre

###############################################################################
# Capteurs
###############################################################################

# Compte-rendu du capteur de présence cabine niveau 0
def pc_0 ():
    return scene.objects['Microrupteur niveau 0']['activated']

# Compte-rendu du capteur de présence cabine niveau 0
def pc_1 ():
    return scene.objects['Microrupteur niveau 1']['activated']

###############################################################################
# Boutons poussoirs
###############################################################################

# Compte-rendu du bouton pousssoir appel niveau 0 
def ba_0 ():
    return scene.objects['Bp niveau 0']['activated']

# Compte-rendu du bouton pousssoir appel niveau 1 
def ba_1 ():
    return scene.objects['Bp niveau 1']['activated']

###############################################################################
# Temporisation
###############################################################################

def tempo (duree):
    time.sleep(duree)

###############################################################################
# Jumeau numérique
###############################################################################

##
# Recherche automatique du port
##

def serial_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  serial_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  jumeau(pins):
    global board
    # global gyr_pin

    # UI : étape 1
    scene.objects['Twins-text']['Text'] = "Connection en cours ..."

    # Mise en place de la carte
    speed = 57600
    [device,board_name] =serial_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."
    tempo (0.1)

    # Déclaration des entrées - sorties
    # for pin in pins:
    #     print (pin)
    #     if 
    # bp_ext_pin = board_io('d:'+str(es_dict['bp_ext'])+':i') # Bouton poussoir coté rue
    # bp_int_pin = board_io('d:'+str(es_dict['bp_int'])+':i') # Bouton poussoir coté cour
    # fdc_o_pin = board_io('d:'+str(es_dict['fdc_o'])+':i') # Capteur fin de course portail ouvert
    # fdc_f_pin = board_io('d:'+str(es_dict['fdc_f'])+':i') # Capteur fin de course portail fermé
    # ir_recept_pin = board_io('d:'+str(es_dict['ir_recept'])+':i') # Recepteur pour le capteur barrage IR

    # gyr_pin = board_io('d:'+str(es_dict['gyr'])+':o') # Gyrophare
    # mot_o_pin = board_io('d:'+str(es_dict['mot_o'])+':o') # Ouvrir le portail (moteur sens trigo)
    # mot_f_pin = board_io('d:'+str(es_dict['mot_f'])+':o') # Fermer le portail (moteur sens horaire
    # ir_emett_pin = board_io('d:'+str(es_dict['ir_emett'])+':o') # Emetteur pour le capteur barrage IR
    return True

# def  board_io(da,pin,io):
#     if pin_def is not None:
#         return board.get_pin(da+':'+pin_def)
#     else:
#         print ("Définition entrée-sortie non trouvée : "+pin_def)

##
# Fermeture de la communication série
##

def  jumeau_close():
    global board
    # twins_serial.close() # Fermer proprement le port série
    board.exit() # Fermer proprement la communication avec la carte
    scene.objects['System']['twins'] = False
    scene.objects['Twins-text']['Text'] = "Connection fermée."

# Configuration du port
# FIXME
def  jumeau_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())

##
# Envoi d'un message vers la communication série
##

# 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)
##

# 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
##

# 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']