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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
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import time
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###############################################################################
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# montchg.py
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# @title: Commandes pour le monte-charge
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# @project: Blender-EduTech
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# @lang: fr
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# @authors: Philippe Roy <philippe.roy@ac-grenoble.fr>
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# @copyright: Copyright (C) 2022 Philippe Roy
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# @license: GNU GPL
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###############################################################################
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# Récupérer la scène UPBGE
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scene = bge.logic.getCurrentScene()
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# Couleurs
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color_passive = (0.800, 0.005, 0.315,1) # bouton non activable : magenta
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color_active = (0.799, 0.130, 0.063,1) # bouton activable : orange
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color_hl = (0.8, 0.8, 0.8, 1) # bouton focus : blanc
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color_activated = (0.8, 0.619, 0.021, 1) # bouton activé : jaune
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# Constantes UPBGE
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JUST_ACTIVATED = bge.logic.KX_INPUT_JUST_ACTIVATED
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JUST_RELEASED = bge.logic.KX_INPUT_JUST_RELEASED
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ACTIVATE = bge.logic.KX_INPUT_ACTIVE
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# JUST_DEACTIVATED = bge.logic.KX_SENSOR_JUST_DEACTIVATED
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###############################################################################
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# Initialisation de la scène
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###############################################################################
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def init(cont):
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if cont.sensors['Init'].positive == False: # 1 seule fois
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return False
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twin.manip_init() # Manipulation du modèle 3D
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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['Portail'].worldPosition.x
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# scene.objects['Portail']['init_ly']=scene.objects['Portail'].worldPosition.y
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# scene.objects['Portail']['init_lz']=scene.objects['Portail'].worldPosition.z
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# scene.objects['Engrenage']['init_rx']=scene.objects['Engrenage'].worldOrientation.to_euler().x
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# scene.objects['Engrenage']['init_ry']=scene.objects['Engrenage'].worldOrientation.to_euler().y
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# scene.objects['Engrenage']['init_rz']=scene.objects['Engrenage'].worldOrientation.to_euler().z
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system_init() # Initialisation du système
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###############################################################################
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# Actionneurs
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###############################################################################
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##
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# Action du simulateur pour le clignotant
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##
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# def sml_clignotant (cont):
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# if scene.objects['System']['run']:
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# obj = cont.owner
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# if obj['actif'] and scene.objects['Led allumee'].visible == False:
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# scene.objects['Led allumee'].setVisible(True,False)
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# scene.objects['Led'].setVisible(False,False)
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# # print ("Clignotant allumée")
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# if obj['actif']==False and scene.objects['Led allumee'].visible == True:
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# scene.objects['Led'].setVisible(True,False)
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# scene.objects['Led allumee'].setVisible(False,False)
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# # print ("Clignotant éteint")
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##
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# Action du simulateur pour le moteur
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##
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# def sml_moteur (cont):
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# if scene.objects['System']['run']:
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# obj = cont.owner
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# pas_rot = math.pi/7 # z = 14
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# pas = 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
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# vitesse = 0.05
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# engrenage_obj = scene.objects['Engrenage']
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# portail_obj = scene.objects['Portail']
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# if obj['actif_ouvrir']:
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# # print (scene.objects['Portail'].worldPosition.x)
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# engrenage_obj.applyRotation((0, 0, -pas_rot*vitesse), True)
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# portail_obj.applyMovement((-pas*vitesse, 0, 0), True)
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# # else:
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# if obj['actif_fermer']:
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# # print (scene.objects['Portail'].worldPosition.x)
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# engrenage_obj.applyRotation((0, 0, pas_rot*vitesse), True)
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# portail_obj.applyMovement((pas*vitesse, 0, 0), True)
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###############################################################################
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# Capteurs fin de course
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###############################################################################
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##
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# Etat capteur fin de course portail ouvert
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##
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# def sml_fdc_ouvert (cont):
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# if scene.objects['System']['run'] :
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# obj = cont.owner
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# obj_etat=obj['actif']
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# obj_microrupteur=scene.objects['Microrupteur fdc ouvert']
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# # Etat capteur en fonction de la grille : worldPosition.x : 0 -> 65.5 et localPosition.x : 0 -> 218
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# if scene.objects['Portail'].localPosition.x <= 0 and obj['actif'] == False :
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# obj['actif'] = True
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# if scene.objects['Portail'].localPosition.x > 0 and obj_microrupteur['actif'] == False and obj['actif'] == True :
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# obj['actif'] = False
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# #Forçage
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# if obj_microrupteur['actif'] == True:
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# obj['actif'] = True
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# #Couleurs
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# if obj['actif'] == True and obj_microrupteur.color !=couleur_jaune:
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# obj_microrupteur.color =couleur_jaune
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# if obj['actif'] == False :
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# if obj_microrupteur['MO'] == True and obj_microrupteur.color !=couleur_blanc:
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# obj_microrupteur.color =couleur_blanc
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# if obj_microrupteur['MO'] == False and obj_microrupteur.color !=couleur_orange:
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# obj_microrupteur.color =couleur_orange
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##
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# Etat capteur fin de course portail fermé
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##
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# def sml_fdc_ferme (cont):
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# if scene.objects['System']['run'] :
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# obj = cont.owner
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# obj_etat=obj['actif']
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# obj_microrupteur=scene.objects['Microrupteur fdc ferme']
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# # Etat capteur en fonction de la grille : worldPosition.x : 0 -> 65.5 et localPosition.x : 0 -> 218
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# if scene.objects['Portail'].localPosition.x >= 218 and obj['actif'] == False :
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# obj['actif'] = True
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# if scene.objects['Portail'].localPosition.x < 218 and obj_microrupteur['actif'] == False and obj['actif'] == True :
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# obj['actif'] = False
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# #Forçage
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# if obj_microrupteur['actif'] == True:
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# obj['actif'] = True
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# #Couleurs
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# if obj['actif'] == True and obj_microrupteur.color !=couleur_jaune:
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# obj_microrupteur.color =couleur_jaune
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# if obj['actif'] == False :
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# if obj_microrupteur['MO'] == True and obj_microrupteur.color !=couleur_blanc:
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# obj_microrupteur.color =couleur_blanc
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# if obj_microrupteur['MO'] == False and obj_microrupteur.color !=couleur_orange:
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# obj_microrupteur.color =couleur_orange
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# ##
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# # Forçage capteur fin de course avec la souris
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# ##
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# def sml_microrupteur (cont):
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# if scene.objects['System']['run'] :
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# system_click(cont, cont.owner)
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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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# ##
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# def sml_emet_ir (cont):
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# if scene.objects['System']['run'] :
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# obj = cont.owner
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# obj_emetteur_ir=scene.objects['Emetteur IR']
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# obj_recepteur_ir=scene.objects['Recepteur IR']
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# if obj['actif'] and scene.objects['Emetteur IR Led allumee'].visible == False:
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# scene.objects['Emetteur IR Led allumee'].setVisible(True,False)
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# scene.objects['Emetteur IR Led'].setVisible(False,False)
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# obj_emetteur_ir.color = couleur_orange
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# obj_recepteur_ir.color = couleur_orange
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# if obj['actif']==False and scene.objects['Emetteur IR Led allumee'].visible == True:
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# scene.objects['Emetteur IR Led'].setVisible(True,False)
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# scene.objects['Emetteur IR Led allumee'].setVisible(False,False)
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# obj_emetteur_ir.color = couleur_magenta
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# obj_recepteur_ir.color = couleur_magenta
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# ##
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# # Récepteur IR
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# ##
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# def sml_recep_ir (cont):
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# if scene.objects['System']['run'] and scene.objects['Module emetteur IR']['actif'] :
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# obj = cont.owner
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# system_click(cont, scene.objects['Module recepteur IR'])
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# if scene.objects['Module recepteur IR']['actif']==True :
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# scene.objects['Emetteur IR'].color = couleur_jaune
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# scene.objects['Recepteur IR'].color = couleur_jaune
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# ###############################################################################
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# # Boutons poussoirs
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# ###############################################################################
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# ##
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# # Bouton pousssoir coté rue
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# ##
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# def sml_bp_rue (cont):
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# if scene.objects['System']['run'] :
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# system_click(cont, scene.objects['Module bouton cote rue'])
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# ##
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# # Bouton pousssoir coté cour
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# ##
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# def sml_bp_cour (cont):
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# if scene.objects['System']['run'] :
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# system_click(cont, scene.objects['Module bouton cote cour'])
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###############################################################################
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# Système
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###############################################################################
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##
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# Initialisation du système
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# # Le moteur est géré en continue.
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##
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def system_init ():
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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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# Voyants aux états initiaux
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scene.objects['Led niveau 0'].setVisible(True,False)
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scene.objects['Led niveau 0-on'].setVisible(False,False)
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scene.objects['Led niveau 1'].setVisible(True,False)
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scene.objects['Led niveau 1-on'].setVisible(False,False)
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# Cabine
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# # applyRotationTo(scene.objects['System'], 0, 0, 0)
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# scene.objects['Portail'].worldPosition.x = scene.objects['Portail']['init_lx']
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# scene.objects['Portail'].worldPosition.y = scene.objects['Portail']['init_ly']
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# scene.objects['Portail'].worldPosition.z = scene.objects['Portail']['init_lz']
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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']
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# while (obj1.localOrientation.to_euler().y) > 1.1*rres :
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# obj1.applyRotation((0, 0, -rres), True)
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# while (obj1.localOrientation.to_euler().y) < -1.1*rres :
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# obj1.applyRotation((0, 0, rres), True)
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# I/O à l'état initial
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scene.objects['Led niveau 0']['activated']=False
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scene.objects['Led niveau 1']['activated']=False
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scene.objects['Bp niveau 0']['activated']=False
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scene.objects['Bp niveau 1']['activated']=False
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scene.objects['Microrupteur niveau 0']['activated']=False
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scene.objects['Microrupteur niveau 1']['activated']=False
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##
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# Boucle principale
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##
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def system_run ():
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# # Lecture de la liaison série : programme Arduino : berceau_arduino.ino
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# serial_msg = str(serial_comm.readline()) # Communication série : arduino -> modele 3d
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# # Affiche le message uniquement
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# if serial_msg.find("Print")>0 or serial_msg.find("Debug")>0 or serial_msg.find("Echo")>0:
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# print ("Communication port série : ", serial_msg)
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# serial_msg=""
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# return
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# Position cabine numérique
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print ("serial_msg : ", serial_msg)
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roll_txt = txt_extrac(serial_msg,"Roll (Rx): ", " Pitch")
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# pitch_txt= txt_extrac(serial_msg,"Pitch (Ry): ", " \\r\\n")
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pitch_txt = txt_extrac(serial_msg,"Pitch (Ry): ", " bt_a_m:")
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if roll_txt !="" and pitch_txt !="" :
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obj1=scene.objects['Plateau']
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roll=float(roll_txt)/57.3
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pitch=float(pitch_txt)/57.3
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# print ("Roll : ", roll, " Pitch : ", pitch)
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applyRotationTo(scene.objects['Plateau'], roll,0, 0)
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applyRotationTo(scene.objects['Plateau'], roll,pitch, 0)
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scene.objects['Plateau']['roll']=roll
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scene.objects['Plateau']['pitch']=pitch
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# Capteurs numériques
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# Modele 3d -> Arduino : FIXME
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# Arduino -> Modele 3d : FIXME
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# Arduino -> numérique
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# bt_a_m_txt = txt_extrac_bool(serial_msg,"bt_a_m: ")
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# bt_a_d_txt = txt_extrac_bool(serial_msg,"bt_a_d: ")
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# bt_b_m_txt = txt_extrac_bool(serial_msg,"bt_b_m: ")
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# bt_b_d_txt = txt_extrac_bool(serial_msg,"bt_b_d: ")
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# bt_c_m_txt = txt_extrac_bool(serial_msg,"bt_c_m: ")
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# bt_c_d_txt = txt_extrac_bool(serial_msg,"bt_c_d: ")
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# bp_phy('Bp Am', bt_a_m_txt)
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# bp_phy('Bp Ad', bt_a_d_txt)
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# bp_phy('Bp Bm', bt_b_m_txt)
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# bp_phy('Bp Bd', bt_b_d_txt)
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# bp_phy('Bp Cm', bt_c_m_txt)
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# bp_phy('Bp Cd', bt_c_d_txt)
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# # Voyants aux états initiaux
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# scene.objects['Led niveau 0'].setVisible(True,False)
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# scene.objects['Led niveau 0-on'].setVisible(False,False)
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# scene.objects['Led niveau 1'].setVisible(True,False)
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# scene.objects['Led niveau 1-on'].setVisible(False,False)
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# Cabine
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# # applyRotationTo(scene.objects['System'], 0, 0, 0)
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# scene.objects['Portail'].worldPosition.x = scene.objects['Portail']['init_lx']
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# scene.objects['Portail'].worldPosition.y = scene.objects['Portail']['init_ly']
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# scene.objects['Portail'].worldPosition.z = scene.objects['Portail']['init_lz']
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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']
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# while (obj1.localOrientation.to_euler().y) > 1.1*rres :
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# obj1.applyRotation((0, 0, -rres), True)
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# while (obj1.localOrientation.to_euler().y) < -1.1*rres :
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# obj1.applyRotation((0, 0, rres), True)
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# I/O à l'état initial
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# scene.objects['Led niveau 0']['activated']=False
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|
||||||
# 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
|
|
||||||
|
|
||||||
###############################################################################
|
|
||||||
# Interface
|
|
||||||
###############################################################################
|
|
||||||
|
|
||||||
##
|
|
||||||
# Highlight sur les éléments cliquables du systèmes
|
|
||||||
##
|
|
||||||
|
|
||||||
def hl(cont):
|
|
||||||
obj = cont.owner
|
|
||||||
name=obj.name
|
|
||||||
|
|
||||||
# Activation
|
|
||||||
if cont.sensors['MO'].status == JUST_ACTIVATED and scene.objects['System']['run']:
|
|
||||||
scene.objects[name].color = color_hl
|
|
||||||
|
|
||||||
# Désactivation
|
|
||||||
if cont.sensors['MO'].status == JUST_RELEASED:
|
|
||||||
scene.objects[name].color = color_active
|
|
||||||
|
|
||||||
##
|
|
||||||
# Click sur les éléments cliquables du systèmes (activation numérique)
|
|
||||||
##
|
|
||||||
|
|
||||||
def click(cont):
|
|
||||||
obj = cont.owner
|
|
||||||
name=obj.name
|
|
||||||
|
|
||||||
# Activation
|
|
||||||
if cont.sensors['Click'].status == JUST_ACTIVATED and cont.sensors['MO'].positive and scene.objects['System']['manip_mode']==0:
|
|
||||||
scene.objects[name].color = color_activated
|
|
||||||
obj['activated'] = True
|
|
||||||
# Modele 3d -> Arduino : FIXME
|
|
||||||
|
|
||||||
# Désactivation
|
|
||||||
if cont.sensors['Click'].status == JUST_RELEASED:
|
|
||||||
obj['activated'] = False
|
|
||||||
# Modele 3d -> Arduino : FIXME
|
|
||||||
if cont.sensors['MO'].positive:
|
|
||||||
scene.objects[name].color = color_hl
|
|
||||||
else:
|
|
||||||
scene.objects[name].color = color_active
|
|
||||||
|
|
||||||
##
|
|
||||||
# Activation réel
|
|
||||||
##
|
|
||||||
|
|
||||||
# FIXME
|
|
||||||
|
|
||||||
# obj = cont.owner
|
|
||||||
# if cont.sensors['MO'].status == JUST_ACTIVATED :
|
|
||||||
# obj.color = couleur_blanc
|
|
||||||
# obj['MO']=True
|
|
||||||
# if cont.sensors['Click'].status == JUST_ACTIVATED and scene.objects['System']['manip_mode']==0:
|
|
||||||
# if obj['MO']:
|
|
||||||
# obj_activation['actif'] = True
|
|
||||||
# obj.color = couleur_jaune
|
|
||||||
# if cont.sensors['MO'].status == JUST_RELEASED :
|
|
||||||
# obj['MO']=False
|
|
||||||
# if cont.sensors['Click'].status == ACTIVATE :
|
|
||||||
# obj.color = couleur_jaune
|
|
||||||
# else:
|
|
||||||
# obj.color = couleur_orange
|
|
||||||
# if cont.sensors['Click'].status == JUST_RELEASED:
|
|
||||||
# obj_activation['actif'] = False
|
|
||||||
# obj.color = couleur_blanc
|
|
||||||
# if cont.sensors['MO'].status != ACTIVATE :
|
|
||||||
# obj.color = couleur_orange
|
|
||||||
|
|
||||||
# ###############################################################################
|
|
||||||
# # Boutons poussoirs
|
|
||||||
# ###############################################################################
|
|
||||||
|
|
||||||
# # Activation numérique des boutons
|
|
||||||
# def bp_num(cont):
|
|
||||||
# if scene.objects['Systeme']['run'] :
|
|
||||||
# obj = cont.owner
|
|
||||||
# # print(obj.name, "obj.name")
|
|
||||||
# if cont.sensors['MO'].status == JUST_ACTIVATED :
|
|
||||||
# obj.color = couleur_blanc
|
|
||||||
# obj['MO']=True
|
|
||||||
# if cont.sensors['Click'].status == JUST_ACTIVATED and scene.objects['Systeme']['manip_mode']==0:
|
|
||||||
# if obj['MO']:
|
|
||||||
# obj['actif_num'] = True
|
|
||||||
# # print(obj.name, "activé")
|
|
||||||
# obj.color = couleur_jaune
|
|
||||||
# serial_msg = obj.name+"\n"
|
|
||||||
# serial_comm.write(serial_msg.encode()) # Communication série : modele 3d -> arduino
|
|
||||||
# if cont.sensors['MO'].status == JUST_RELEASED :
|
|
||||||
# if obj['MO']:
|
|
||||||
# obj['MO']=False
|
|
||||||
# if cont.sensors['Click'].status == ACTIVATE :
|
|
||||||
# obj.color = couleur_jaune
|
|
||||||
# else:
|
|
||||||
# obj.color = couleur_orange
|
|
||||||
# if cont.sensors['Click'].status == JUST_RELEASED:
|
|
||||||
# if obj['actif_num']:
|
|
||||||
# obj['actif_num'] = False
|
|
||||||
# # print(obj.name, "desactivé")
|
|
||||||
# obj.color = couleur_blanc
|
|
||||||
# serial_msg = obj.name+" R\n"
|
|
||||||
# # serial_msg = "RELEASED"+"\n"
|
|
||||||
# serial_comm.write(serial_msg.encode()) # Communication série : modele 3d -> arduino
|
|
||||||
# if cont.sensors['MO'].status != ACTIVATE :
|
|
||||||
# obj.color = couleur_orange
|
|
||||||
|
|
||||||
# # 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
|
|
||||||
@ -1,412 +0,0 @@
|
|||||||
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']
|
|
||||||
Binary file not shown.
Binary file not shown.
@ -15,7 +15,7 @@ Le script Python qui permet la commande du portail est le fichier **'porcou_cmd.
|
|||||||
#### Actions
|
#### Actions
|
||||||
|
|
||||||
Les actions (ordre = True ou False) sont :
|
Les actions (ordre = True ou False) sont :
|
||||||
- Gyrophare : **gyr (True|False)**
|
- Gyrophare : **gyr(True | False)**
|
||||||
- Ouvrir le portail (moteur sens trigo) : **mot_o (True | False)**
|
- Ouvrir le portail (moteur sens trigo) : **mot_o (True | False)**
|
||||||
- Fermer le portail (moteur sens horaire) : **mot_f (True | False)**
|
- Fermer le portail (moteur sens horaire) : **mot_f (True | False)**
|
||||||
- Emetteur pour le capteur barrage IR : **ir_emet(True | False)**
|
- Emetteur pour le capteur barrage IR : **ir_emet(True | False)**
|
||||||
|
|||||||
@ -1,301 +0,0 @@
|
|||||||
import bge # Bibliothèque Blender Game Engine (UPBGE)
|
|
||||||
import twin # Bibliothèque de l'environnement 3D des jumeaux numériques
|
|
||||||
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()
|
|
||||||
|
|
||||||
# Couleurs
|
|
||||||
couleur_magenta = (0.800, 0.005, 0.315,1) # bouton non activable : magenta
|
|
||||||
couleur_orange = (0.799, 0.130, 0.063,1) # bouton activable : orange
|
|
||||||
couleur_blanc = (0.8, 0.8, 0.8, 1) # bouton focus : blanc
|
|
||||||
couleur_jaune = (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
|
|
||||||
|
|
||||||
# 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
|
|
||||||
|
|
||||||
system_init() # Initialisation du système
|
|
||||||
|
|
||||||
###############################################################################
|
|
||||||
# Actionneurs
|
|
||||||
###############################################################################
|
|
||||||
|
|
||||||
##
|
|
||||||
# Action du simulateur pour le clignotant
|
|
||||||
##
|
|
||||||
|
|
||||||
def sml_clignotant (cont):
|
|
||||||
if scene.objects['System']['run']:
|
|
||||||
obj = cont.owner
|
|
||||||
if obj['actif'] and scene.objects['Led allumee'].visible == False:
|
|
||||||
scene.objects['Led allumee'].setVisible(True,False)
|
|
||||||
scene.objects['Led'].setVisible(False,False)
|
|
||||||
# print ("Clignotant allumée")
|
|
||||||
if obj['actif']==False and scene.objects['Led allumee'].visible == True:
|
|
||||||
scene.objects['Led'].setVisible(True,False)
|
|
||||||
scene.objects['Led allumee'].setVisible(False,False)
|
|
||||||
# print ("Clignotant éteint")
|
|
||||||
|
|
||||||
##
|
|
||||||
# Action du simulateur pour le moteur
|
|
||||||
##
|
|
||||||
|
|
||||||
def sml_moteur (cont):
|
|
||||||
if scene.objects['System']['run']:
|
|
||||||
obj = cont.owner
|
|
||||||
pas_rot = math.pi/7 # z = 14
|
|
||||||
pas = 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
|
|
||||||
vitesse = 0.05
|
|
||||||
engrenage_obj = scene.objects['Engrenage']
|
|
||||||
portail_obj = scene.objects['Portail']
|
|
||||||
if obj['actif_ouvrir']:
|
|
||||||
# print (scene.objects['Portail'].worldPosition.x)
|
|
||||||
engrenage_obj.applyRotation((0, 0, -pas_rot*vitesse), True)
|
|
||||||
portail_obj.applyMovement((-pas*vitesse, 0, 0), True)
|
|
||||||
# else:
|
|
||||||
if obj['actif_fermer']:
|
|
||||||
# print (scene.objects['Portail'].worldPosition.x)
|
|
||||||
engrenage_obj.applyRotation((0, 0, pas_rot*vitesse), True)
|
|
||||||
portail_obj.applyMovement((pas*vitesse, 0, 0), True)
|
|
||||||
|
|
||||||
###############################################################################
|
|
||||||
# Capteurs fin de course
|
|
||||||
###############################################################################
|
|
||||||
|
|
||||||
##
|
|
||||||
# Etat capteur fin de course portail ouvert
|
|
||||||
##
|
|
||||||
|
|
||||||
def sml_fdc_ouvert (cont):
|
|
||||||
if scene.objects['System']['run'] :
|
|
||||||
obj = cont.owner
|
|
||||||
obj_etat=obj['actif']
|
|
||||||
obj_microrupteur=scene.objects['Microrupteur fdc ouvert']
|
|
||||||
# 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['actif'] == False :
|
|
||||||
obj['actif'] = True
|
|
||||||
if scene.objects['Portail'].localPosition.x > 0 and obj_microrupteur['actif'] == False and obj['actif'] == True :
|
|
||||||
obj['actif'] = False
|
|
||||||
# Forçage
|
|
||||||
if obj_microrupteur['actif'] == True:
|
|
||||||
obj['actif'] = True
|
|
||||||
# Couleurs
|
|
||||||
if obj['actif'] == True and obj_microrupteur.color !=couleur_jaune:
|
|
||||||
obj_microrupteur.color =couleur_jaune
|
|
||||||
if obj['actif'] == False :
|
|
||||||
if obj_microrupteur['MO'] == True and obj_microrupteur.color !=couleur_blanc:
|
|
||||||
obj_microrupteur.color =couleur_blanc
|
|
||||||
if obj_microrupteur['MO'] == False and obj_microrupteur.color !=couleur_orange:
|
|
||||||
obj_microrupteur.color =couleur_orange
|
|
||||||
|
|
||||||
##
|
|
||||||
# Etat capteur fin de course portail fermé
|
|
||||||
##
|
|
||||||
|
|
||||||
def sml_fdc_ferme (cont):
|
|
||||||
if scene.objects['System']['run'] :
|
|
||||||
obj = cont.owner
|
|
||||||
obj_etat=obj['actif']
|
|
||||||
obj_microrupteur=scene.objects['Microrupteur fdc ferme']
|
|
||||||
# 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['actif'] == False :
|
|
||||||
obj['actif'] = True
|
|
||||||
if scene.objects['Portail'].localPosition.x < 218 and obj_microrupteur['actif'] == False and obj['actif'] == True :
|
|
||||||
obj['actif'] = False
|
|
||||||
#Forçage
|
|
||||||
if obj_microrupteur['actif'] == True:
|
|
||||||
obj['actif'] = True
|
|
||||||
#Couleurs
|
|
||||||
if obj['actif'] == True and obj_microrupteur.color !=couleur_jaune:
|
|
||||||
obj_microrupteur.color =couleur_jaune
|
|
||||||
if obj['actif'] == False :
|
|
||||||
if obj_microrupteur['MO'] == True and obj_microrupteur.color !=couleur_blanc:
|
|
||||||
obj_microrupteur.color =couleur_blanc
|
|
||||||
if obj_microrupteur['MO'] == False and obj_microrupteur.color !=couleur_orange:
|
|
||||||
obj_microrupteur.color =couleur_orange
|
|
||||||
|
|
||||||
##
|
|
||||||
# Forçage capteur fin de course avec la souris
|
|
||||||
##
|
|
||||||
|
|
||||||
def sml_microrupteur (cont):
|
|
||||||
if scene.objects['System']['run'] :
|
|
||||||
system_click(cont, cont.owner)
|
|
||||||
|
|
||||||
###############################################################################
|
|
||||||
# Capteur barrage
|
|
||||||
###############################################################################
|
|
||||||
|
|
||||||
##
|
|
||||||
# Emetteur IR
|
|
||||||
##
|
|
||||||
|
|
||||||
def sml_emet_ir (cont):
|
|
||||||
if scene.objects['System']['run'] :
|
|
||||||
obj = cont.owner
|
|
||||||
obj_emetteur_ir=scene.objects['Emetteur IR']
|
|
||||||
obj_recepteur_ir=scene.objects['Recepteur IR']
|
|
||||||
if obj['actif'] and scene.objects['Emetteur IR Led allumee'].visible == False:
|
|
||||||
scene.objects['Emetteur IR Led allumee'].setVisible(True,False)
|
|
||||||
scene.objects['Emetteur IR Led'].setVisible(False,False)
|
|
||||||
obj_emetteur_ir.color = couleur_orange
|
|
||||||
obj_recepteur_ir.color = couleur_orange
|
|
||||||
if obj['actif']==False and scene.objects['Emetteur IR Led allumee'].visible == True:
|
|
||||||
scene.objects['Emetteur IR Led'].setVisible(True,False)
|
|
||||||
scene.objects['Emetteur IR Led allumee'].setVisible(False,False)
|
|
||||||
obj_emetteur_ir.color = couleur_magenta
|
|
||||||
obj_recepteur_ir.color = couleur_magenta
|
|
||||||
|
|
||||||
##
|
|
||||||
# Récepteur IR
|
|
||||||
##
|
|
||||||
|
|
||||||
def sml_recep_ir (cont):
|
|
||||||
if scene.objects['System']['run'] and scene.objects['Module emetteur IR']['actif'] :
|
|
||||||
obj = cont.owner
|
|
||||||
system_click(cont, scene.objects['Module recepteur IR'])
|
|
||||||
if scene.objects['Module recepteur IR']['actif']==True :
|
|
||||||
scene.objects['Emetteur IR'].color = couleur_jaune
|
|
||||||
scene.objects['Recepteur IR'].color = couleur_jaune
|
|
||||||
|
|
||||||
###############################################################################
|
|
||||||
# Boutons poussoirs
|
|
||||||
###############################################################################
|
|
||||||
|
|
||||||
##
|
|
||||||
# Bouton pousssoir coté rue
|
|
||||||
##
|
|
||||||
|
|
||||||
def sml_bp_rue (cont):
|
|
||||||
if scene.objects['System']['run'] :
|
|
||||||
system_click(cont, scene.objects['Module bouton cote rue'])
|
|
||||||
|
|
||||||
##
|
|
||||||
# Bouton pousssoir coté cour
|
|
||||||
##
|
|
||||||
|
|
||||||
def sml_bp_cour (cont):
|
|
||||||
if scene.objects['System']['run'] :
|
|
||||||
system_click(cont, scene.objects['Module bouton cote cour'])
|
|
||||||
|
|
||||||
###############################################################################
|
|
||||||
# Système
|
|
||||||
###############################################################################
|
|
||||||
|
|
||||||
##
|
|
||||||
# Initialisation du système
|
|
||||||
# Le moteur est géré en continue.
|
|
||||||
##
|
|
||||||
|
|
||||||
def system_init ():
|
|
||||||
|
|
||||||
# Clignotant
|
|
||||||
scene.objects['Module led']['actif']=False
|
|
||||||
scene.objects['Led allumee'].setVisible(False,False)
|
|
||||||
scene.objects['Led'].setVisible(True,False)
|
|
||||||
|
|
||||||
# Emetteur IR
|
|
||||||
scene.objects['Module emetteur IR']['actif']=False
|
|
||||||
scene.objects['Emetteur IR Led allumee'].setVisible(False,False)
|
|
||||||
scene.objects['Emetteur IR Led'].setVisible(True,False)
|
|
||||||
scene.objects['Emetteur IR'].color = couleur_magenta
|
|
||||||
scene.objects['Recepteur IR'].color = couleur_magenta
|
|
||||||
|
|
||||||
##
|
|
||||||
# Réinitialisation du système
|
|
||||||
##
|
|
||||||
|
|
||||||
def system_reset ():
|
|
||||||
|
|
||||||
# Grille à l'état initial
|
|
||||||
# applyRotationTo(scene.objects['System'], 0, 0, 0)
|
|
||||||
scene.objects['Portail'].worldPosition.x = scene.objects['Portail']['init_lx']
|
|
||||||
scene.objects['Portail'].worldPosition.y = scene.objects['Portail']['init_ly']
|
|
||||||
scene.objects['Portail'].worldPosition.z = scene.objects['Portail']['init_lz']
|
|
||||||
|
|
||||||
# Moteur à l'état initial
|
|
||||||
rres=0.001 # resolution rotation
|
|
||||||
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)
|
|
||||||
|
|
||||||
# Led à l'état initial
|
|
||||||
scene.objects['Led'].setVisible(True,False)
|
|
||||||
scene.objects['Led allumee'].setVisible(False,False)
|
|
||||||
|
|
||||||
# Capteur barrage IR
|
|
||||||
scene.objects['Emetteur IR Led'].setVisible(True,False)
|
|
||||||
scene.objects['Emetteur IR Led allumee'].setVisible(False,False)
|
|
||||||
scene.objects['Emetteur IR'].color = couleur_magenta
|
|
||||||
scene.objects['Recepteur IR'].color = couleur_magenta
|
|
||||||
|
|
||||||
# I/O à l'état initial
|
|
||||||
scene.objects['Module led']['actif']=False
|
|
||||||
scene.objects['Ensemble moteur']['actif_ouvrir']=False
|
|
||||||
scene.objects['Ensemble moteur']['actif_fermer']=False
|
|
||||||
scene.objects['Capteur fdc ouvert']['actif'] =True
|
|
||||||
scene.objects['Capteur fdc ferme']['actif'] =False
|
|
||||||
scene.objects['Module emetteur IR']['actif'] =False
|
|
||||||
scene.objects['Module recepteur IR']['actif'] =False
|
|
||||||
scene.objects['Module bouton cote rue']['actif'] =False
|
|
||||||
scene.objects['Module bouton cote cour']['actif'] =False
|
|
||||||
|
|
||||||
##
|
|
||||||
# Click sur les éléments cliquables du systèmes
|
|
||||||
##
|
|
||||||
|
|
||||||
def system_click(cont, obj_activation):
|
|
||||||
obj = cont.owner
|
|
||||||
if cont.sensors['MO'].status == JUST_ACTIVATED :
|
|
||||||
obj.color = couleur_blanc
|
|
||||||
obj['MO']=True
|
|
||||||
if cont.sensors['Click'].status == JUST_ACTIVATED and scene.objects['System']['manip_mode']==0:
|
|
||||||
if obj['MO']:
|
|
||||||
obj_activation['actif'] = True
|
|
||||||
obj.color = couleur_jaune
|
|
||||||
if cont.sensors['MO'].status == JUST_RELEASED :
|
|
||||||
obj['MO']=False
|
|
||||||
if cont.sensors['Click'].status == ACTIVATE :
|
|
||||||
obj.color = couleur_jaune
|
|
||||||
else:
|
|
||||||
obj.color = couleur_orange
|
|
||||||
if cont.sensors['Click'].status == JUST_RELEASED:
|
|
||||||
obj_activation['actif'] = False
|
|
||||||
obj.color = couleur_blanc
|
|
||||||
if cont.sensors['MO'].status != ACTIVATE :
|
|
||||||
obj.color = couleur_orange
|
|
||||||
@ -1,406 +0,0 @@
|
|||||||
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
|
|
||||||
|
|
||||||
###############################################################################
|
|
||||||
# porcou_lib.py
|
|
||||||
# @title: Bibliothèque utilisateur du 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
|
|
||||||
###############################################################################
|
|
||||||
|
|
||||||
scene = bge.logic.getCurrentScene()
|
|
||||||
|
|
||||||
# Threads
|
|
||||||
threads_cmd=[]
|
|
||||||
debug_thread = scene.objects['System']['debug_thread']
|
|
||||||
|
|
||||||
# Jumeau numérique
|
|
||||||
board = None
|
|
||||||
board_it = None # Iterator (input)
|
|
||||||
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
|
|
||||||
###############################################################################
|
|
||||||
|
|
||||||
# Ordres utilisateur du clignotant
|
|
||||||
def gyr(ordre):
|
|
||||||
global gyr_pin
|
|
||||||
scene.objects['Module led']['actif']=ordre
|
|
||||||
if scene.objects['System']['twins'] :
|
|
||||||
if ordre :
|
|
||||||
gyr_pin.write(1)
|
|
||||||
else:
|
|
||||||
gyr_pin.write(0)
|
|
||||||
|
|
||||||
# Ordres utilisateur du moteur
|
|
||||||
def mot_o(ordre):
|
|
||||||
scene.objects['Ensemble moteur']['actif_ouvrir']=ordre
|
|
||||||
|
|
||||||
def mot_f(ordre):
|
|
||||||
scene.objects['Ensemble moteur']['actif_fermer']=ordre
|
|
||||||
|
|
||||||
# Ordre utilisateur du capteur barrage IR
|
|
||||||
def ir_emet(ordre):
|
|
||||||
scene.objects['Module emetteur IR']['actif']=ordre
|
|
||||||
|
|
||||||
###############################################################################
|
|
||||||
# Capteurs
|
|
||||||
###############################################################################
|
|
||||||
|
|
||||||
# Compte-rendu utilisateur du capteur fin de course portail ouvert
|
|
||||||
def fdc_o ():
|
|
||||||
return scene.objects['Capteur fdc ouvert']['actif']
|
|
||||||
|
|
||||||
# Compte-rendu utilisateur du capteur fin de course portail ouvert
|
|
||||||
def fdc_f ():
|
|
||||||
return scene.objects['Capteur fdc ferme']['actif']
|
|
||||||
|
|
||||||
# Compte-rendu utilisateur du capteur barrage IR
|
|
||||||
def ir_recep ():
|
|
||||||
if scene.objects['Module recepteur IR']['actif'] :
|
|
||||||
return False
|
|
||||||
else:
|
|
||||||
return True
|
|
||||||
|
|
||||||
###############################################################################
|
|
||||||
# Boutons poussoirs
|
|
||||||
###############################################################################
|
|
||||||
|
|
||||||
# Compte-rendu utilisateur du bouton pousssoir coté rue
|
|
||||||
def bp_ext ():
|
|
||||||
return scene.objects['Module bouton cote rue']['actif']
|
|
||||||
|
|
||||||
# Compte-rendu utilisateur du bouton pousssoir coté cour
|
|
||||||
def bp_int ():
|
|
||||||
return scene.objects['Module bouton cote cour']['actif']
|
|
||||||
|
|
||||||
###############################################################################
|
|
||||||
# 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-icon'].setVisible(True,True)
|
|
||||||
scene.objects['Twins-text']['Text'] = "Connection en cours ..."
|
|
||||||
scene.objects['Twins-text'].setVisible(True,False)
|
|
||||||
|
|
||||||
# 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):
|
|
||||||
# global board
|
|
||||||
pass
|
|
||||||
# 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']
|
|
||||||
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Loading…
Reference in New Issue
Block a user