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https://forge.apps.education.fr/blender-edutech/jumeaux-numeriques.git
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Communication entre Blender et Qt5 (point d'étape)
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@ -51,7 +51,8 @@ def commandes():
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# mot_f(False)
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# gyr(False)
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plot(['gyr'])
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# plot(['gyr'])
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plot(['bp_ext'])
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# plot(['gyr', 'bp_ext', 'bp_int'])
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while True:
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gyr(True)
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@ -2,6 +2,7 @@ import bge # Bibliothèque Blender Game Engine (UPBGE)
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import subprocess # Multiprocessus
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from twin_threading import thread_cmd_start, thread_cmd_stop, thread_cmd_end # Multithreading (multitâches)
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from twin_serial import jumeau, jumeau_stop, serial_close # Liaison série
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from twin_plot import plot # Visualisation des données
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import os
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import sys
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import time
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@ -122,58 +123,4 @@ def fin():
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def quit():
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end()
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###############################################################################
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# Visualisation des données
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###############################################################################
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# Lancement du grapheur
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def plot(data):
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# subprocess.run([sys.executable, os.path.join(os.getcwd(), "twin_plot.py")], , stdin=subprocess.PIPE) # Process bloquant
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# Terminer le processus précédent
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if scene.objects['System']['plot_proc'] is not None:
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if scene.objects['System']['plot_proc'].poll()==None:
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scene.objects['System']['plot_proc'].terminate()
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scene.objects['System']['plot_draw'] = True
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scene.objects['System']['plot_time'] = 0
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scene.objects['System']['plot_data'] = data # FIXME : conversion mémonique -> 3D
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scene.objects['System']['plot_proc'] = subprocess.Popen([sys.executable, os.path.join(os.getcwd(), "twin_plot.py")], stdin=subprocess.PIPE, encoding = 'utf8')
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scene.objects['System']['plot']=True
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# Communication avec Qt5
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def plot_maj(cont):
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if cont.sensors['Plot'].positive :
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# Affichage du graphique
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if scene.objects['System']['plot_draw']:
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# Préparation du message
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# FIXME : ajouter les valeurs réelles et valeurs numériques ('activated_real')
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msg=str(scene.objects['System']['plot_time'])
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for obj in scene.objects['System']['plot_data']:
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if scene.objects[obj]['activated']:
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msg = msg+",1"
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else:
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msg = msg+",0"
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msg = msg+"\n"
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# Envoi (Pipe)
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if scene.objects['System']['plot_proc'].poll()==None:
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# scene.objects['System']['plot_proc'].communicate(input=time_send.encode())[0] # Communication bloquante
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scene.objects['System']['plot_proc'].stdin.write(msg)
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else:
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print ("Stop")
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scene.objects['System']['plot']=False
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scene.objects['System']['plot_draw'] =False
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scene.objects['System']['plot_proc'].terminate()
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# Arret de l'affichage du graphique
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else :
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if scene.objects['System']['plot_proc'].poll()==None:
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pass
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else:
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print ("Stop")
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scene.objects['System']['plot']=False
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scene.objects['System']['plot_draw'] =False
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scene.objects['System']['plot_proc'].terminate()
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Binary file not shown.
@ -1,7 +1,7 @@
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<data>
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<screen>
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<width>1609</width>
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<height>905</height>
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<width>1039</width>
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<height>585</height>
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<quality>1</quality>
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</screen>
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</data>
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146
twin_plot.py
146
twin_plot.py
@ -1,10 +1,9 @@
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import bge # Bibliothèque Blender Game Engine (UPBGE)
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import os
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import sys
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import random
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import matplotlib
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matplotlib.use('Qt5Agg')
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from PyQt5 import QtCore, QtGui, QtWidgets
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from matplotlib.backends.backend_qt5agg import FigureCanvasQTAgg, NavigationToolbar2QT as NavigationToolbar
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from matplotlib.figure import Figure
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import importlib
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import subprocess # Multiprocessus
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import time
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###############################################################################
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# twin_plot.py
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@ -17,83 +16,84 @@ from matplotlib.figure import Figure
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###############################################################################
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# UPBGE scene
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# scene = bge.logic.getCurrentScene()
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scene = bge.logic.getCurrentScene()
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# Récupérer le brochage du jumeau réel
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# system=importlib.import_module(scene.objects['Doc']['system']) # Système
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# pin_config = system.get_pin_config()
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# Récupérer la configuration du graphique
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system=importlib.import_module(scene.objects['Doc']['system']) # Système
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plot_config = system.get_pin_config()
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###############################################################################
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# Fenêtre dynamique
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# Création du graphique
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###############################################################################
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class MplCanvas(FigureCanvasQTAgg):
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def plot(data):
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# subprocess.run([sys.executable, os.path.join(os.getcwd(), "twin_plot.py")], , stdin=subprocess.PIPE) # Process bloquant
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def __init__(self, parent=None, width=5, height=4, dpi=100):
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fig = Figure(figsize=(width, height), dpi=dpi)
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self.subplot = fig.add_subplot(111)
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super(MplCanvas, self).__init__(fig)
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# pin_config = {
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# 'bp_ext' : [['d','i'],['Bp cote rue','pin'],['o','-', 'blue', 1]],
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# 'bp_int' : [['d','i'],['Bp cote cour','pin'],['o','-', 'darkblue', 1]],
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# 'fdc_o' : [['d','i'],['Microrupteur fdc ouvert','pin'],['o','-', 'violet', 1]],
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# 'fdc_f' : [['d','i'],['Microrupteur fdc ferme','pin'],['o','-', 'darkviolet', 1]],
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# 'mot_o' : [['d','o'],['Moteur','pin_o'],['o','-', 'green', 1]],
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# 'mot_f' : [['d','o'],['Moteur','pin_f'],['o','-', 'darkgreen', 1]],
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# 'gyr' : [['d','o'],['Led','pin'],['o','-', 'orange', 1]],
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# 'ir_emet' : [['d','o'],['Emetteur IR','pin'],['o','-', 'red', 1]],
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# 'ir_recep' : [['d','i'],['Recepteur IR','pin'],['o','-', 'darkred', 1]]}
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class MainWindow(QtWidgets.QMainWindow):
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# Terminer le processus précédent
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if scene.objects['System']['plot_proc'] is not None:
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if scene.objects['System']['plot_proc'].poll()==None:
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scene.objects['System']['plot_proc'].terminate()
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scene.objects['System']['plot_draw'] = True
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scene.objects['System']['plot_time'] = 0
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# Création du graphique
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def __init__(self, *args, **kwargs):
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super(MainWindow, self).__init__(*args, **kwargs)
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self.canvas = MplCanvas(self, width=5, height=4, dpi=100)
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self.setCentralWidget(self.canvas)
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n_data = 50
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# self.xdata = list(range(n_data))
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# self.ydata = [random.randint(0, 10) for i in range(n_data)]
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self.xdata = [0]
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self.ydata = [0]
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self.update_plot()
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self.show()
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# Configuration des données
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scene.objects['System']['plot_data'] =[]
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for obj in data:
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scene.objects['System']['plot_data'].append(plot_config[obj][1][0])
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# Timer pour le update_plot
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fps = 60
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self.timer = QtCore.QTimer()
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self.timer.setInterval(1000/fps)
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self.timer.timeout.connect(self.update_plot)
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self.timer.start()
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# Lecture des données et mise à jour du graphique
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def update_plot(self):
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plt = self.canvas.subplot
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# Données
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# donnees = ([0,1,2,3,4], [10,1,20,3,40])
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# print (self.xdata[len(self.xdata)-1]+1)
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# new_x=self.xdata[len(self.xdata)-1]+1
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# self.xdata.append(new_x)
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# self.ydata.append(random.randint(0, 10))
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# Lecture du Pipe
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for line in sys.stdin:
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msg = line.rstrip()
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break
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# X et Y
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# FIXME : temps et une valeur
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msg_list=msg.split(',')
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print('Output:', msg, msg_list)
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self.xdata = self.xdata + [float(msg_list[0])]
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self.ydata = self.ydata + [float(msg_list[1])]
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# self.ydata = self.ydata + [random.randint(0, 10)]
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# Drop off the first y element, append a new one.
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# self.ydata = self.ydata[1:] + [random.randint(0, 10)]
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# Redraw
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plt.cla()
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plt.plot(self.xdata, self.ydata, 'r')
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self.canvas.draw()
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# Démarrer le processus
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scene.objects['System']['plot_proc'] = subprocess.Popen([sys.executable, os.path.join(os.getcwd(), "twin_plot_qt.py")], stdin=subprocess.PIPE, stdout=subprocess.PIPE, encoding = 'utf8')
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stout, sterr = scene.objects['System']['plot_proc'].communicate() # FIXME : attente du message retour pour lancer l'acquisition
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scene.objects['System']['plot']=True
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###############################################################################
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# Application
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# Mise à jour du graphique
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###############################################################################
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app = QtWidgets.QApplication(sys.argv)
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w = MainWindow()
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app.exec_()
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def plot_maj(cont):
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if cont.sensors['Plot'].positive :
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# Affichage du graphique
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if scene.objects['System']['plot_draw']:
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# Préparation du message
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# FIXME : ajouter les valeurs réelles et valeurs numériques ('activated_real')
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# msg=str(round(scene.objects['System']['plot_time'], 2))
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msg=format(scene.objects['System']['plot_time'],".2f")
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for obj in scene.objects['System']['plot_data']:
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if scene.objects[obj]['activated']:
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msg = msg+",1"
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else:
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msg = msg+",0"
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msg = msg+"\n"
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# Envoi (Pipe)
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if scene.objects['System']['plot_proc'].poll()==None:
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# scene.objects['System']['plot_proc'].communicate(input=time_send.encode())[0] # Communication bloquante
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scene.objects['System']['plot_proc'].stdin.write(msg)
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else:
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print ("Stop")
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scene.objects['System']['plot']=False
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scene.objects['System']['plot_draw'] =False
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scene.objects['System']['plot_proc'].terminate()
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# Arret de l'affichage du graphique
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else :
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if scene.objects['System']['plot_proc'].poll()==None:
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pass
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else:
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print ("Stop")
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scene.objects['System']['plot']=False
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scene.objects['System']['plot_draw'] =False
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scene.objects['System']['plot_proc'].terminate()
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@ -70,6 +70,7 @@ class MainWindow(QtWidgets.QMainWindow):
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# self.ydata.append(random.randint(0, 10))
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# Lecture du Pipe
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msg=""
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for line in sys.stdin:
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msg = line.rstrip()
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break
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@ -77,9 +78,10 @@ class MainWindow(QtWidgets.QMainWindow):
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# X et Y
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# FIXME : temps et une valeur
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msg_list=msg.split(',')
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print('Output:', msg, msg_list)
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self.xdata = self.xdata + [float(msg_list[0])]
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self.ydata = self.ydata + [float(msg_list[1])]
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print(msg_list)
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if msg_list[0] != "":
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self.xdata = self.xdata + [float(msg_list[0])]
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self.ydata = self.ydata + [float(msg_list[1])]
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# self.ydata = self.ydata + [random.randint(0, 10)]
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# Drop off the first y element, append a new one.
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