Communication entre Blender et Qt5 (point d'étape)

portail_coulissant/porcou_cmd.py

@@ -51,7 +51,8 @@ def commandes():
     # mot_f(False)
     # gyr(False)
 
-    plot(['gyr'])
+    # plot(['gyr'])
+    plot(['bp_ext'])
     # plot(['gyr', 'bp_ext', 'bp_int'])
     while True:
         gyr(True)

portail_coulissant/porcou_lib.py

@@ -2,6 +2,7 @@ import bge # Bibliothèque Blender Game Engine (UPBGE)
 import subprocess # Multiprocessus
 from twin_threading import thread_cmd_start, thread_cmd_stop, thread_cmd_end # Multithreading (multitâches)
 from twin_serial import jumeau, jumeau_stop, serial_close # Liaison série
+from twin_plot import plot # Visualisation des données
 import os
 import sys
 import time
@@ -123,57 +124,3 @@ def fin():
 def quit():
     end()
     
-###############################################################################
-# Visualisation des données
-###############################################################################
-
-# Lancement du grapheur
-def plot(data):
-    # subprocess.run([sys.executable, os.path.join(os.getcwd(), "twin_plot.py")], , stdin=subprocess.PIPE) # Process bloquant
-
-    # Terminer le processus précédent
-    if scene.objects['System']['plot_proc'] is not None:
-        if scene.objects['System']['plot_proc'].poll()==None:
-            scene.objects['System']['plot_proc'].terminate()
-    scene.objects['System']['plot_draw'] = True
-    scene.objects['System']['plot_time'] = 0
-    scene.objects['System']['plot_data'] = data # FIXME : conversion mémonique -> 3D 
-    scene.objects['System']['plot_proc'] = subprocess.Popen([sys.executable, os.path.join(os.getcwd(), "twin_plot.py")], stdin=subprocess.PIPE, encoding = 'utf8')
-    scene.objects['System']['plot']=True
-
-# Communication avec Qt5
-def plot_maj(cont):
-    if cont.sensors['Plot'].positive :
-
-        # Affichage du graphique
-        if scene.objects['System']['plot_draw']:
-
-            # Préparation du message
-            # FIXME : ajouter les valeurs réelles et valeurs numériques ('activated_real')
-            msg=str(scene.objects['System']['plot_time'])
-            for obj in scene.objects['System']['plot_data']:
-                if scene.objects[obj]['activated']:
-                    msg = msg+",1"
-                else:
-                    msg = msg+",0"
-            msg = msg+"\n"
-
-            # Envoi (Pipe)
-            if scene.objects['System']['plot_proc'].poll()==None:
-                # scene.objects['System']['plot_proc'].communicate(input=time_send.encode())[0] # Communication bloquante
-                scene.objects['System']['plot_proc'].stdin.write(msg)
-            else:
-                print ("Stop")
-                scene.objects['System']['plot']=False
-                scene.objects['System']['plot_draw'] =False
-                scene.objects['System']['plot_proc'].terminate()
-            
-        # Arret de l'affichage du graphique
-        else :
-            if scene.objects['System']['plot_proc'].poll()==None:
-                pass
-            else:
-                print ("Stop")
-                scene.objects['System']['plot']=False
-                scene.objects['System']['plot_draw'] =False
-                scene.objects['System']['plot_proc'].terminate()

twin_config.xml

@@ -1,7 +1,7 @@
 <data>
     <screen>
-	<width>1609</width>
+	<width>1039</width>
-	<height>905</height>
+	<height>585</height>
 	<quality>1</quality>
   </screen>
 </data>

twin_plot.py

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

twin_plot_qt.py

@@ -70,6 +70,7 @@ class MainWindow(QtWidgets.QMainWindow):
         # self.ydata.append(random.randint(0, 10))
 
         # Lecture du Pipe
+        msg=""
         for line in sys.stdin:
             msg = line.rstrip()
             break
@@ -77,7 +78,8 @@ class MainWindow(QtWidgets.QMainWindow):
         # X et Y
         # FIXME : temps et une valeur
         msg_list=msg.split(',')
-        print('Output:', msg, msg_list)
+        print(msg_list)
+        if msg_list[0] != "":
             self.xdata = self.xdata + [float(msg_list[0])]
             self.ydata = self.ydata + [float(msg_list[1])]