import bge # Bibliothèque Blender Game Engine (UPBGE)
import twin # Bibliothèque de l'environnement 3D des jumeaux numériques
import math
import time

###############################################################################
# volrou.py
# @title: Commandes pour le volet roulant
# @project: Blender-EduTech
# @lang: fr
# @authors: Philippe Roy <philippe.roy@ac-grenoble.fr>
# @copyright: Copyright (C) 2022-2023 Philippe Roy
# @license: GNU GPL
###############################################################################

# Récupérer la scène UPBGE
scene = bge.logic.getCurrentScene()

# Couleurs
color_passive = (0.800, 0.005, 0.315,1) # bouton non activable :  magenta
color_active =  (0.799, 0.130, 0.063,1) # bouton activable :  orange
color_hl =  (0.8, 0.8, 0.8, 1) # bouton focus : blanc
color_activated =  (0.8, 0.619, 0.021, 1) # bouton activé :  jaune

# Constantes UPBGE
JUST_ACTIVATED = bge.logic.KX_INPUT_JUST_ACTIVATED
JUST_RELEASED = bge.logic.KX_INPUT_JUST_RELEASED
ACTIVATE = bge.logic.KX_INPUT_ACTIVE
# JUST_DEACTIVATED = bge.logic.KX_SENSOR_JUST_DEACTIVATED

###############################################################################
# Initialisation de la scène
###############################################################################

def  init(cont):
    if cont.sensors['Init'].positive == False: # 1 seule fois 
        return False

    twin.manip_init() # Manipulation du modèle 3D 
    twin.cmd_init() # Commandes

    # Description des composants sensibles
    scene.objects['Bp monter']['description']="Bouton poussoir monter volet : bp_m()"
    scene.objects['Bp descendre']['description']="Bouton poussoir descendre volet : bp_d()"
    scene.objects['Bp arret']['description']="Bouton poussoir arrêt volet : bp_a()"
    scene.objects['Bp auto']['description']="Bouton poussoir mode automatique : bp_auto()"
    scene.objects['Microrupteur haut']['description']="Capteur fin de course volet en haut : fdc_h()"
    scene.objects['Microrupteur bas']['description']="Capteur fin de course volet en bas : fdc_b()" 
    scene.objects['Recepteur LDR']['description']="Capteur de luminosité (LDR) : lum()"
    
    system_init() # Initialisation du système

###############################################################################
# Voyants
###############################################################################

##
# Etat voyant mode automatique
# Modele 3d -> Arduino : FIXME
# Arduino -> Modele 3d : FIXME
##

def voy_auto (cont):
    if scene.objects['System']['run']:
        obj = cont.owner
        if obj['activated'] and scene.objects['Led auto-on'].visible == False:
            scene.objects['Led auto-on'].setVisible(True,False)
            scene.objects['Led auto'].setVisible(False,False)
        if obj['activated']==False and scene.objects['Led auto-on'].visible == True:
            scene.objects['Led auto'].setVisible(True,False)
            scene.objects['Led auto-on'].setVisible(False,False)

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

##
# Moteur et volet
# Modele 3d -> Arduino : FIXME
# Arduino -> Modele 3d : FIXME
##

def mot (cont):
    if scene.objects['System']['run']:
        # scene.objects['System'].applyMovement((0, 0, 0), False)
        # scene.objects['System'].applyRotation((0, 0, 0), True)
        obj = cont.owner
        layer = 0
        # Monter 
        if obj['up']:
            if obj['frame_down']<105: # Volet pas cassé
                if obj['frame_up'] <0: # Réinit entre 0 et -4
                    obj['frame_up']=0
                if obj['frame_up']<110 : # Cycle normal de 0 à 100 (butée en 110)
                    start = obj['frame_up']
                    end = 111
                    priority = 1
                    blendin = 1.0
                    mode = bge.logic.KX_ACTION_MODE_PLAY
                    layerWeight = 0.0
                    ipoFlags = 0
                    speed = 0.4
                    scene.objects['Axe enrouleur'].playAction('Axe enrouleur-Up', start, 135, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
                    scene.objects['Axe fdc'].playAction('Axe fdc-Up', start, 135, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
                    scene.objects['Lame volet 1'].playAction('Lame volet 1-Up', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
                    scene.objects['Lame volet 2'].playAction('Lame volet 2-Up', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
                    scene.objects['Lame volet 3'].playAction('Lame volet 3-Up', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
                    scene.objects['Lame volet 4'].playAction('Lame volet 4-Up', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
                    scene.objects['Lame volet 5'].playAction('Lame volet 5-Up', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
                    scene.objects['Lame volet 6'].playAction('Lame volet 6-Up', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
                    scene.objects['Lame volet 7'].playAction('Lame volet 7-Up', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
                    scene.objects['Lame volet 8'].playAction('Lame volet 8-Up', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
                    scene.objects['Lame volet 9'].playAction('Lame volet 9-Up', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
                    scene.objects['Lame volet 10'].playAction('Lame volet 10-Up', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
                    scene.objects['Lame volet 11'].playAction('Lame volet 11-Up', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
                    scene.objects['Lame volet 12'].playAction('Lame volet 12-Up', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
                    scene.objects['Lame volet 13'].playAction('Lame volet 13-Up', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
                    obj['frame_up'] = scene.objects['Axe enrouleur'].getActionFrame(layer)
                else: # Tourner sans fin
                    # vitesse = 0.015
                    vitesse = 0.03
                    pas_axe_enrouleur = 0.5
                    pas_axe_fdc = 0.5/3
                    # scene.objects['Axe enrouleur'].applyRotation((pas_axe_enrouleur*vitesse, 0, 0), True)
                    scene.objects['Axe fdc'].stopAction(layer)
                    scene.objects['Axe fdc'].applyRotation((-pas_axe_fdc*vitesse, 0, 0), True)
                    if obj['frame_up'] ==170: # Réinit 
                        obj['frame_up']=110
                    start = obj['frame_up']
                    end = 171
                    priority = 1
                    blendin = 1.0
                    mode = bge.logic.KX_ACTION_MODE_PLAY
                    layerWeight = 0.0
                    ipoFlags = 0
                    speed = 0.4
                    scene.objects['Axe enrouleur'].playAction('Axe enrouleur-Up', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
                    # scene.objects['Axe fdc'].playAction('Axe fdc-Up', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
                    scene.objects['Lame volet 1'].playAction('Lame volet 1-Up', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
                    scene.objects['Lame volet 2'].playAction('Lame volet 2-Up', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
                    scene.objects['Lame volet 3'].playAction('Lame volet 3-Up', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
                    scene.objects['Lame volet 4'].playAction('Lame volet 4-Up', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
                    scene.objects['Lame volet 5'].playAction('Lame volet 5-Up', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
                    scene.objects['Lame volet 6'].playAction('Lame volet 6-Up', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
                    scene.objects['Lame volet 7'].playAction('Lame volet 7-Up', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
                    scene.objects['Lame volet 8'].playAction('Lame volet 8-Up', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
                    scene.objects['Lame volet 9'].playAction('Lame volet 9-Up', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
                    scene.objects['Lame volet 10'].playAction('Lame volet 10-Up', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
                    scene.objects['Lame volet 11'].playAction('Lame volet 11-Up', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
                    scene.objects['Lame volet 12'].playAction('Lame volet 12-Up', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
                    scene.objects['Lame volet 13'].playAction('Lame volet 13-Up', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
                    obj['frame_up'] = scene.objects['Axe enrouleur'].getActionFrame(layer)
                obj['frame_down']= 100-obj['frame_up']

        # Descendre
        if obj['down']:
            if obj['frame_up']<105: # Volet pas cassé
                if obj['frame_down'] <0: # Réinit entre 0 et -4
                    obj['frame_down']=0
                if obj['frame_down']<135 : # Cycle normal de 0 à 100 (butée en 135)
                    start = obj['frame_down']
                    end = 136
                    layer = 0
                    priority = 1
                    blendin = 1.0
                    mode = bge.logic.KX_ACTION_MODE_PLAY
                    layerWeight = 0.0
                    ipoFlags = 0
                    speed = 0.4
                    scene.objects['Axe enrouleur'].playAction('Axe enrouleur-Down', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
                    scene.objects['Axe fdc'].playAction('Axe fdc-Down', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
                    scene.objects['Lame volet 1'].playAction('Lame volet 1-Down', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
                    scene.objects['Lame volet 2'].playAction('Lame volet 2-Down', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
                    scene.objects['Lame volet 3'].playAction('Lame volet 3-Down', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
                    scene.objects['Lame volet 4'].playAction('Lame volet 4-Down', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
                    scene.objects['Lame volet 5'].playAction('Lame volet 5-Down', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
                    scene.objects['Lame volet 6'].playAction('Lame volet 6-Down', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
                    scene.objects['Lame volet 7'].playAction('Lame volet 7-Down', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
                    scene.objects['Lame volet 8'].playAction('Lame volet 8-Down', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
                    scene.objects['Lame volet 9'].playAction('Lame volet 9-Down', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
                    scene.objects['Lame volet 10'].playAction('Lame volet 10-Down', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
                    scene.objects['Lame volet 11'].playAction('Lame volet 11-Down', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
                    scene.objects['Lame volet 12'].playAction('Lame volet 12-Down', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
                    scene.objects['Lame volet 13'].playAction('Lame volet 13-Down', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
                    obj['frame_down'] = scene.objects['Axe enrouleur'].getActionFrame(layer)
                else: # Tourner sans fin et volet cassé
                    scene.objects['Axe enrouleur'].stopAction(layer)
                    scene.objects['Axe fdc'].stopAction(layer)
                    scene.objects['Lame volet 1'].stopAction(layer)
                    scene.objects['Lame volet 2'].stopAction(layer)
                    scene.objects['Lame volet 3'].stopAction(layer)
                    scene.objects['Lame volet 4'].stopAction(layer)
                    scene.objects['Lame volet 5'].stopAction(layer)
                    scene.objects['Lame volet 6'].stopAction(layer)
                    scene.objects['Lame volet 7'].stopAction(layer)
                    scene.objects['Lame volet 8'].stopAction(layer)
                    scene.objects['Lame volet 9'].stopAction(layer)
                    scene.objects['Lame volet 10'].stopAction(layer)
                    scene.objects['Lame volet 11'].stopAction(layer)
                    scene.objects['Lame volet 12'].stopAction(layer)
                    scene.objects['Lame volet 13'].stopAction(layer)
                    vitesse = 0.03
                    # vitesse = 0.015
                    pas_axe_enrouleur = 0.5
                    pas_axe_fdc = 0.5/3
                    pas_volet = 10
                    scene.objects['Axe enrouleur'].applyRotation((-pas_axe_enrouleur*vitesse, 0, 0), True)
                    scene.objects['Axe fdc'].applyRotation((pas_axe_fdc*vitesse, 0, 0), True)
                    scene.objects['Lame volet 1'].applyMovement((0, 0, -pas_volet*vitesse), False)
                    scene.objects['Lame volet 2'].applyMovement((0, 0, -pas_volet*vitesse), False)
                    scene.objects['Lame volet 3'].applyMovement((0, 0, -pas_volet*vitesse), False)
                    scene.objects['Lame volet 4'].applyMovement((0, 0, -pas_volet*vitesse), False)
                    scene.objects['Lame volet 5'].applyMovement((0, 0, -pas_volet*vitesse), False)
                    scene.objects['Lame volet 6'].applyMovement((0, 0, -pas_volet*vitesse), False)
                    scene.objects['Lame volet 7'].applyMovement((0, 0, -pas_volet*vitesse), False)
                    scene.objects['Lame volet 8'].applyMovement((0, 0, -pas_volet*vitesse), False)
                    scene.objects['Lame volet 9'].applyMovement((0, 0, -pas_volet*vitesse), False)
                    scene.objects['Lame volet 10'].applyMovement((0, 0, -pas_volet*vitesse), False)
                    scene.objects['Lame volet 11'].applyMovement((0, 0, -pas_volet*vitesse), False)
                    scene.objects['Lame volet 12'].applyMovement((0, 0, -pas_volet*vitesse), False)
                    scene.objects['Lame volet 13'].applyMovement((0, 0, -pas_volet*vitesse), False)
                    obj['frame_down'] +=1
                obj['frame_up']= 100-obj['frame_down']

        # Arrêt
        if obj['up'] == False and obj['down'] == False:
            if scene.objects['Axe enrouleur'].isPlayingAction(layer):
                scene.objects['Axe enrouleur'].stopAction(layer)
                scene.objects['Axe fdc'].stopAction(layer)
                scene.objects['Lame volet 1'].stopAction(layer)
                scene.objects['Lame volet 2'].stopAction(layer)
                scene.objects['Lame volet 3'].stopAction(layer)
                scene.objects['Lame volet 4'].stopAction(layer)
                scene.objects['Lame volet 5'].stopAction(layer)
                scene.objects['Lame volet 6'].stopAction(layer)
                scene.objects['Lame volet 7'].stopAction(layer)
                scene.objects['Lame volet 8'].stopAction(layer)
                scene.objects['Lame volet 9'].stopAction(layer)
                scene.objects['Lame volet 10'].stopAction(layer)
                scene.objects['Lame volet 11'].stopAction(layer)
                scene.objects['Lame volet 12'].stopAction(layer)
                scene.objects['Lame volet 13'].stopAction(layer)

###############################################################################
# Capteurs fin de course
###############################################################################

##
# Etat capteur fin de course volet en haut
# Modele 3d -> Arduino : FIXME
# Arduino -> Modele 3d : FIXME
##

def fdc_h (cont):
    if scene.objects['System']['run'] :
        obj = cont.owner

        # Etat capteur en fonction du volet
        scene.objects['Axe fdc']['rx']= scene.objects['Axe fdc'].localOrientation.to_euler().x *(180/math.pi)
        if scene.objects['Axe fdc']['rx'] >= -175 and scene.objects['Axe fdc']['rx'] <= -155  and obj['activated'] == False :
            obj['activated'] = True
        if scene.objects['Axe fdc']['rx'] < -175 or scene.objects['Axe fdc']['rx'] > -155  and obj['activated'] == True :
            obj['activated'] = False
   
        # Forçage (click)
        if obj['click'] == True:
            obj['activated'] = True

        # Couleurs
        if obj['activated'] == True and obj.color !=color_activated:
            obj.color =color_activated
        if obj['activated'] == False :
            if obj['mo'] == True and obj.color !=color_hl:
                obj.color =color_hl
            if obj['mo'] == False and obj.color !=color_active:
                obj.color =color_active

##
# Etat capteur fin de course volet en bas
# Modele 3d -> Arduino : FIXME
# Arduino -> Modele 3d : FIXME
##

def fdc_b (cont):
    if scene.objects['System']['run'] :
        obj = cont.owner

        # Etat capteur en fonction du volet
        if scene.objects['Axe fdc']['rx'] >= -10 and scene.objects['Axe fdc']['rx'] <= 10  and obj['activated'] == False :
            obj['activated'] = True
        if scene.objects['Axe fdc']['rx'] < -10 or scene.objects['Axe fdc']['rx'] > 10  and obj['activated'] == True :
            obj['activated'] = False

        # Forçage (click)
        if obj['click'] == True:
            obj['activated'] = True

        # Couleurs
        if obj['activated'] == True and obj.color !=color_activated:
            obj.color =color_activated
        if obj['activated'] == False :
            if obj['mo'] == True and obj.color !=color_hl:
                obj.color =color_hl
            if obj['mo'] == False and obj.color !=color_active:
                obj.color =color_active

###############################################################################
# Boutons
###############################################################################

# Modele 3d -> Arduino : FIXME
# Arduino -> Modele 3d : FIXME

    # Arduino -> numérique
    # bt_a_m_txt = txt_extrac_bool(serial_msg,"bt_a_m: ")
    # bt_a_d_txt = txt_extrac_bool(serial_msg,"bt_a_d: ")
    # bt_b_m_txt = txt_extrac_bool(serial_msg,"bt_b_m: ")
    # bt_b_d_txt = txt_extrac_bool(serial_msg,"bt_b_d: ")
    # bt_c_m_txt = txt_extrac_bool(serial_msg,"bt_c_m: ")
    # bt_c_d_txt = txt_extrac_bool(serial_msg,"bt_c_d: ")
    # bp_phy('Bp Am', bt_a_m_txt)
    # bp_phy('Bp Ad', bt_a_d_txt)
    # bp_phy('Bp Bm', bt_b_m_txt)
    # bp_phy('Bp Bd', bt_b_d_txt)
    # bp_phy('Bp Cm', bt_c_m_txt)
    # bp_phy('Bp Cd', bt_c_d_txt)

    # # Affichage de l'activation physique des boutons
    # def bp_phy(obj_name, bp_phy_sig):
    #     obj=scene.objects[obj_name]
    #     if bp_phy_sig =="0":
    #         obj['actif_phy'] = True
    #         obj.color = couleur_jaune
    #     else:
    #         if  obj['actif_phy']:
    #             obj['actif_phy'] = False
    #             obj.color = couleur_orange

###############################################################################
# Système
###############################################################################

##
# Initialisation du système
# Le moteur est géré en continue.
##

def system_init ():

    # Voyants statiques
    scene.objects['Led capteur courant'].setVisible(True,False)
    scene.objects['Led capteur courant-on'].setVisible(False,False)
    scene.objects['Led moteur'].setVisible(True,False)
    scene.objects['Led moteur-on'].setVisible(False,False)
    scene.objects['Led alimentation'].setVisible(True,False)
    scene.objects['Led alimentation-on'].setVisible(False,False)

    system_reset()

##
# Réinitialisation du système
##

def system_reset ():

    # Voyants aux états initiaux
    scene.objects['Led auto'].setVisible(True,False)
    scene.objects['Led auto-on'].setVisible(False,False)

    # Volet
    obj = scene.objects['Moteur']
    start = 49
    end = 50
    priority = 1
    layer = 0
    blendin = 1.0
    mode = bge.logic.KX_ACTION_MODE_PLAY
    layerWeight = 0.0
    ipoFlags = 0
    speed = 0.4
    scene.objects['Axe enrouleur'].playAction('Axe enrouleur-Up', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
    scene.objects['Axe fdc'].playAction('Axe fdc-Up', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
    scene.objects['Lame volet 1'].playAction('Lame volet 1-Up', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
    scene.objects['Lame volet 2'].playAction('Lame volet 2-Up', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
    scene.objects['Lame volet 3'].playAction('Lame volet 3-Up', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
    scene.objects['Lame volet 4'].playAction('Lame volet 4-Up', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
    scene.objects['Lame volet 5'].playAction('Lame volet 5-Up', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
    scene.objects['Lame volet 6'].playAction('Lame volet 6-Up', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
    scene.objects['Lame volet 7'].playAction('Lame volet 7-Up', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
    scene.objects['Lame volet 8'].playAction('Lame volet 8-Up', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
    scene.objects['Lame volet 9'].playAction('Lame volet 9-Up', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
    scene.objects['Lame volet 10'].playAction('Lame volet 10-Up', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
    scene.objects['Lame volet 11'].playAction('Lame volet 11-Up', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
    scene.objects['Lame volet 12'].playAction('Lame volet 12-Up', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
    scene.objects['Lame volet 13'].playAction('Lame volet 13-Up', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
    # print ("reset")
    obj['frame_up'] = scene.objects['Axe enrouleur'].getActionFrame(layer)
    obj['frame_down']= 100-obj['frame_up']

    # I/O à l'état initial
    scene.objects['Led auto']['activated']=False
    scene.objects['Bp monter']['activated']=False
    scene.objects['Bp arret']['activated']=False
    scene.objects['Bp descendre']['activated']=False
    scene.objects['Bp auto']['activated']=False
    scene.objects['Microrupteur haut']['activated']=False
    scene.objects['Microrupteur bas']['activated']=False
    scene.objects['Moteur']['up']=False
    scene.objects['Moteur']['down']=False
    scene.objects['Recepteur LDR']['activated']=False