407 lines
13 KiB
Python
407 lines
13 KiB
Python
import bge # Bibliothèque Blender Game Engine (UPBGE)
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import threading # Multithreading
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import trace
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import sys
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import time
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import serial # Liaison série
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import pyfirmata # Protocole Firmata
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from serial.tools.list_ports import comports # Détection du port automatique
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###############################################################################
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# ergojr_lib.py
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# @title: Bibliothèque utilisateur du bras robotisé Poppy Ergo Jr
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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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scene = bge.logic.getCurrentScene()
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# Threads
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threads_cmd=[]
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debug_thread = scene.objects['System']['debug_thread']
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# Jumeau numérique
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board = None
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board_it = None # Iterator (input)
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bp_int_pin = None
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bp_ext_pin = None
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fdc_o_pin = None
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fdc_f_pin = None
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ir_emett_pin = None
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ir_recept_pin = None
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mot_o_pin = None
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mot_f_pin = None
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gyr_pin = None
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# UPBGE constants
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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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# Méthode kill pour les tâches (threads)
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###############################################################################
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class thread_with_trace(threading.Thread):
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def __init__(self, *args, **keywords):
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threading.Thread.__init__(self, *args, **keywords)
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self.killed = False
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def start(self):
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self.__run_backup = self.run
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self.run = self.__run
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threading.Thread.start(self)
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def __run(self):
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sys.settrace(self.globaltrace)
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self.__run_backup()
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self.run = self.__run_backup
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def globaltrace(self, frame, event, arg):
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if event == 'call':
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return self.localtrace
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else:
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return None
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def localtrace(self, frame, event, arg):
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if self.killed:
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if event == 'line':
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raise SystemExit()
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return self.localtrace
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def kill(self):
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self.killed = True
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###############################################################################
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# Start et stop des tâches (threads)
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###############################################################################
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def thread_start(threads, type_txt, fct):
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threads.append(thread_with_trace(target = fct))
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threads[len(threads)-1].start()
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if (debug_thread):
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print ("Thread",type_txt, "#", len(threads)-1, "open.")
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def thread_stop(threads, type_txt):
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i=0
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zombie_flag=False
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for t in threads:
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if not t.is_alive():
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if (debug_thread):
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print ("Thread",type_txt, "#",i,"closed.")
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else:
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if (debug_thread):
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print ("Thread",type_txt, "#",i,"still open ...")
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t.kill()
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t.join()
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if not t.is_alive():
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if (debug_thread):
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print ("Thread",type_txt, "#",i,"killed.")
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else:
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if (debug_thread):
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print ("Thread",type_txt, "#",i,"zombie...")
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zombie_flag=True
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i +=1
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if zombie_flag==False:
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if (debug_thread):
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print ("All threads",type_txt, "are closed.")
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scene.objects['System']['thread_cmd']=False
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return True
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else:
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if (debug_thread):
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print ("There are zombies threads",type_txt, ".")
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return False
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def thread_cmd_start(fct):
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thread_start(threads_cmd, "commands", fct)
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def thread_cmd_stop():
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thread_stop(threads_cmd, "commands")
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def end():
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# Jumeau numérique
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if scene.objects['System']['twins']:
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# serial_msg = "FI\n"
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# twins_serial.write(serial_msg.encode()) # Communication série : modele 3d -> carte communication ( arduino | micro:bit )
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jumeau_close()
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# Thread
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if (debug_thread):
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print ("Thread commands is arrived.")
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time.sleep(0.125)
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scene.objects['System']['thread_cmd']=False
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time.sleep(0.125)
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def fin():
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end()
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def quit():
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end()
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###############################################################################
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# Actionneurs
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###############################################################################
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# Ordres utilisateur du clignotant
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def gyr (ordre):
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global gyr_pin
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scene.objects['Module led']['actif']=ordre
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if scene.objects['System']['twins'] :
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if ordre :
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gyr_pin.write(1)
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else:
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gyr_pin.write(0)
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# Ordres utilisateur du moteur
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def mot_o (ordre):
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scene.objects['Ensemble moteur']['actif_ouvrir']=ordre
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def mot_f (ordre):
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scene.objects['Ensemble moteur']['actif_fermer']=ordre
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# Ordre utilisateur du capteur barrage IR
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def ir_emet(ordre):
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scene.objects['Module emetteur IR']['actif']=ordre
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###############################################################################
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# Capteurs
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###############################################################################
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# Compte-rendu utilisateur du capteur fin de course portail ouvert
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def fdc_o ():
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return scene.objects['Capteur fdc ouvert']['actif']
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# Compte-rendu utilisateur du capteur fin de course portail ouvert
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def fdc_f ():
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return scene.objects['Capteur fdc ferme']['actif']
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# Compte-rendu utilisateur du capteur barrage IR
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def ir_recep ():
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if scene.objects['Module recepteur IR']['actif'] :
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return False
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else:
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return True
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###############################################################################
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# Boutons poussoirs
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###############################################################################
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# Compte-rendu utilisateur du bouton pousssoir coté rue
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def bp_ext ():
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return scene.objects['Module bouton cote rue']['actif']
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# Compte-rendu utilisateur du bouton pousssoir coté cour
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def bp_int ():
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return scene.objects['Module bouton cote cour']['actif']
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###############################################################################
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# Temporisation
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###############################################################################
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def tempo (duree):
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time.sleep(duree)
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###############################################################################
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# Jumeau numérique
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###############################################################################
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##
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# Recherche automatique du port
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##
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def serial_autoget_port():
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# USB Vendor ID, USB Product ID
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board_dict={'microbit' :[3368, 516],
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'uno' :[9025, 67],
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'mega' :[9025, 66]}
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for com in comports(): # Arduino Uno
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if com.vid == board_dict["uno"][0] and com.pid == board_dict["uno"][1]:
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return [com.device,"Arduino Uno"]
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for com in comports(): # Arduino Mega
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if com.vid == board_dict["mega"][0] and com.pid == board_dict["mega"][1]:
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return [com.device,"Arduino Mega"]
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return [None,""]
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##
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# Création de l'objet carte (protocole Firmata)
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##
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def board_init(port):
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try:
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return pyfirmata.Arduino(port)
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except:
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return None
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##
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# Création de l'objet serial (communication série)
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##
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def serial_init(port,speed):
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try:
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return serial.Serial(port,speed)
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except:
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return None
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##
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# Affiche la liste des cartes (communication série)
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##
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def serial_devices():
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for com in comports():
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print ("Name : "+str(com.name)+"\n"
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+" Device : "+str(com.device)+"\n"
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+" Hardware ID : "+str(com.hwid)+"\n"
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+" USB Vendor ID : "+str(com.vid)+"\n"
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+" USB Product ID : "+str(com.pid)+"\n"
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+" USB device location : "+str(com.location)+"\n"
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+" USB manufacturer : "+str(com.manufacturer)+"\n"
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+" USB product : "+str(com.product)+"\n"
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+" Interface-specific : "+str(com.interface))
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##
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# Activation de la communication avec la carte de communication (Arduino, Micro:bit)
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# Vitesse : 115200 -> 7 fps, 38400 -> 6 fps, 9600 -> 2 fps
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# pyserial : baudrate=115200
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# pyfirmata : baudrate=57600
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##
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def jumeau(pins):
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global board
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# global gyr_pin
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# UI : étape 1
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scene.objects['Twins-icon'].setVisible(True,True)
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scene.objects['Twins-text']['Text'] = "Connection en cours ..."
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scene.objects['Twins-text'].setVisible(True,False)
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# Mise en place de la carte
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speed = 57600
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[device,board_name] =serial_autoget_port() # Recherche automatique du port
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if device is None:
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scene.objects['System']['twins'] = False
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scene.objects['Twins-text']['Text'] = "Aucune connection disponible : jumeau réel débranché."
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return False
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board = board_init(device)
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if board is None:
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scene.objects['System']['twins'] = False
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scene.objects['Twins-text']['Text'] = "Aucune connection disponible : port "+device+" pas prêt"
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return False
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scene.objects['System']['twins'] = True
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# scene.objects['System']['twins_close'] = False
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scene.objects['System']['twins_port'] = device
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scene.objects['System']['twins_speed'] = speed
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# scene.objects['System']['twins_readline'] = ""
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board_it = pyfirmata.util.Iterator(board) # Itérateur pour les entrées
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board_it.start()
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# UI : étape 2
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if board =="":
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scene.objects['Twins-text']['Text'] = "Connection ouverte : "+device+" - "+str(speed)+" baud"
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else:
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scene.objects['Twins-text']['Text'] = "Connection ouverte : "+board_name+" sur "+device+" à "+str(speed)+" baud"
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tempo (0.1)
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# Déclaration des entrées - sorties
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for pin in pins:
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print (pin)
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# if
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# bp_ext_pin = board_io('d:'+str(es_dict['bp_ext'])+':i') # Bouton poussoir coté rue
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# bp_int_pin = board_io('d:'+str(es_dict['bp_int'])+':i') # Bouton poussoir coté cour
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# fdc_o_pin = board_io('d:'+str(es_dict['fdc_o'])+':i') # Capteur fin de course portail ouvert
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# fdc_f_pin = board_io('d:'+str(es_dict['fdc_f'])+':i') # Capteur fin de course portail fermé
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# ir_recept_pin = board_io('d:'+str(es_dict['ir_recept'])+':i') # Recepteur pour le capteur barrage IR
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# gyr_pin = board_io('d:'+str(es_dict['gyr'])+':o') # Gyrophare
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# mot_o_pin = board_io('d:'+str(es_dict['mot_o'])+':o') # Ouvrir le portail (moteur sens trigo)
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# mot_f_pin = board_io('d:'+str(es_dict['mot_f'])+':o') # Fermer le portail (moteur sens horaire
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# ir_emett_pin = board_io('d:'+str(es_dict['ir_emett'])+':o') # Emetteur pour le capteur barrage IR
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return True
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# def board_io(da,pin,io):
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# if pin_def is not None:
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# return board.get_pin(da+':'+pin_def)
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# else:
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# print ("Définition entrée-sortie non trouvée : "+pin_def)
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##
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# Fermeture de la communication série
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##
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def jumeau_close():
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global board
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# twins_serial.close() # Fermer proprement le port série
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board.exit() # Fermer proprement la communication avec la carte
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scene.objects['System']['twins'] = False
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scene.objects['Twins-text']['Text'] = "Connection fermée"
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# Configuration du port
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# FIXME
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def jumeau_config(port, speed):
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# global board
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pass
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# global twins_serial
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# if scene.objects['System']['twins']:
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# serial_msg1 = "CF\n"
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# twins_serial.write(serial_msg1.encode())
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# tempo (1)
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# serial_msg2 = str(speed)+"\n"
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# twins_serial.write(serial_msg2.encode())
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# tempo (1)
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# serial_msg3 = str(temps_avancer)+"\n"
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# twins_serial.write(serial_msg3.encode())
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# tempo (1)
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# serial_msg4 = str(temps_tourner)+"\n"
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# twins_serial.write(serial_msg4.encode())
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# tempo (1)
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# serial_msg5 = "FC\n"
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# twins_serial.write(serial_msg5.encode())
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##
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# Envoi d'un message vers la communication série
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##
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# def serie_msg(text):
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# global twins_serial
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# text2= text+"\n"
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# scene.objects['Twins-text']['Text'] = "Communication : envoi message : "+text
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# twins_serial.write(text2.encode())
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##
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# Mise en écoute de jumeau numérique (figeage de la scène)
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##
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# def twins_listen(cont):
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# global twins_serial
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# if scene.objects['System']['twins']:
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# if scene.objects['System']['twins_readline'] != "":
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# scene.objects['Twins-text']['Text'] = "Écoute de la connection figeage de la scène.... Message reçu : "+scene.objects['System']['twins_readline']
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# else:
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# scene.objects['Twins-text']['Text'] = "Écoute de la connection figeage de la scène..."
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# if cont.sensors['Property'].positive:
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# if scene.objects['System']['twins_listen'] :
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# serial_msg = twins_serial.readline()
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# if serial_msg is not None:
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# scene.objects['System']['twins_readline'] = str(serial_msg)
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# # scene.objects['Twins-text']['Text'] = "Message reçu : "+str(serial_msg)
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# scene.objects['System']['twins_listen'] = False
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##
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# Réception d'un message de la communication série
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##
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# def serie_rcpt():
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# # scene.objects['Twins-text']['Text'] = "Écoute de la \nconnection\n figeage de \n la scène"
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# scene.objects['System']['twins_readline'] = ""
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# scene.objects['System']['twins_listen'] = True
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# while scene.objects['System']['twins_readline'] == "":
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# if scene.objects['System']['twins_readline'] != "":
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# break
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# # scene.objects['Twins-text']['Text'] = "Connection\nouverte :\n"+scene.objects['System']['twins_port']+"\n"+str(scene.objects['System']['twins_speed'])+" baud"
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# return scene.objects['System']['twins_readline']
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