import bge # Bibliothèque Blender Game Engine (UPBGE) import numpy as np import importlib import time import serial # Liaison série import pyfirmata # Protocole Firmata from serial.tools.list_ports import comports # Détection du port automatique ############################################################################### # twin_serial.py # @title: Gestion de la liaison série # @project: Blender-EduTech # @lang: fr # @authors: Philippe Roy # @copyright: Copyright (C) 2022-2023 Philippe Roy # @license: GNU GPL ############################################################################### # UPBGE scene scene = bge.logic.getCurrentScene() # Récupérer le brochage du jumeau réel system=importlib.import_module(scene.objects['System']['system']) # Système pin_config = system.get_public_vars() ############################################################################### # Liaison série ############################################################################### ## # Recherche automatique du port ## def 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 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 serial_open(): # UI : étape 1 scene.objects['Twins-text']['Text'] = "Connection en cours ..." # Mise en place de la carte speed = 57600 [device, board_name] =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 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." time.sleep(0.1) return (board) ## # Fermeture de la communication série ## def serial_close(board): if scene.objects['System']['twins']: scene.objects['Twins-text']['Text'] = "Connection fermée." board.exit() # Fermer proprement la communication avec la carte time.sleep(0.1) scene.objects['System']['twins'] = False # Configuration manuelle du port # FIXME : plus tard def 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()) ############################################################################### # Jumeau ############################################################################### # Créer une broche def jumeau_get_pin(board, name, brochage): for pin in brochage : if pin ==name: return board.get_pin(brochage[pin][0]+':'+str(brochage[pin][1])+':'+brochage[pin][2]) return None # Activer le jumelage def jumeau (brochage=None): # Carte board =serial_open() scene.objects['System']['board']=board # print ("jumeau : ", scene.objects['System']['board']) # Brochage if brochage is not None: for pin in pin_config : scene.objects[pin_config[pin][0][0]][pin_config[pin][1][0]] = jumeau_get_pin(board, pin, brochage) return board else: return None # Désactiver le jumelage def jumeau_stop (): serial_close(scene.objects['System']['board']) ############################################################################### # Message ############################################################################### ## # Envoi d'un message vers la communication série # FIXME : plus tard ## # 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) # FIXME : plus tard ## # 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 # FIXME : plus tard ## # 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']