297 lines
9.5 KiB
Python
297 lines
9.5 KiB
Python
import bge # Bibliothèque Blender Game Engine (UPBGE)
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import importlib
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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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# twin_serial.py
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# @title: Gestion de la liaison série
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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) 2022-2023 Philippe Roy
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# @license: GNU GPL
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###############################################################################
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# UPBGE scene
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scene = bge.logic.getCurrentScene()
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# Récupérer le brochage du jumeau réel
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system=importlib.import_module(scene.objects['System']['system']) # Système
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pin_config = system.get_public_vars()
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###############################################################################
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# Liaison série
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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 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 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 serial_open():
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# UI : étape 1
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scene.objects['Twins-text']['Text'] = "Connection en cours ..."
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# Mise en place de la carte
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speed = 57600
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# speed = 115200
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# speed = 9600
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[device, board_name] =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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print ("Jumelage : aucune connection disponible, jumeau réel débranché.")
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return None, 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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print ("Jumelage : aucune connection disponible : port "+device+" pas prêt.")
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return None, False
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scene.objects['System']['twins'] = True
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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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time.sleep(0.1)
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return board, True
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##
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# Fermeture de la communication série
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##
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def serial_close(board):
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if scene.objects['System']['twins']:
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scene.objects['Twins-text']['Text'] = "Connection fermée."
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board.exit() # Fermer proprement la communication avec la carte
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time.sleep(0.1)
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scene.objects['System']['twins'] = False
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print ("Jumelage : connection fermée.")
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# Configuration manuelle du port
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# FIXME : plus tard
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def config(port, speed):
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pass
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# global board
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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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# Jumeau
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###############################################################################
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##
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# Créer une broche
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##
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def jumeau_get_pin(board, name, brochage):
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for pin in brochage :
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if pin ==name:
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if len (brochage[pin])==3:
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return board.get_pin(brochage[pin][0]+':'+str(brochage[pin][1])+':'+brochage[pin][2])
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else:
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print ("Jumelage : adressage incomplet de l'objet 3D :", pin)
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return None
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##
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# Activer le jumelage
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##
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def jumeau (brochage=None):
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# Carte
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board, board_ok =serial_open()
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if board_ok == False:
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return None
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scene.objects['System']['board']=board
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print ("Jumelage :", scene.objects['System']['board'])
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# Brochage
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if brochage is not None:
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for pin in pin_config :
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if len (pin_config[pin][1])>0:
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scene.objects[pin_config[pin][0][0]][pin_config[pin][1][0]] = jumeau_get_pin(board, pin, brochage)
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return board
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else:
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return None
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##
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# Désactiver le jumelage
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##
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def jumeau_stop ():
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serial_close(scene.objects['System']['board'])
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##
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# Définir les modes d'activation du jumelage pour le systeme
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##
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def jumeau_mode_system (input_objs, output_objs, input_real, input_digital, output_real, output_digital):
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# Entrées numériques
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if input_digital:
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for obj in input_objs:
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scene.objects[obj]['prior']=True
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else:
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for obj in input_objs:
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scene.objects[obj]['prior']=False
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# Entrées réelles
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if input_real:
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for obj in input_objs:
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scene.objects[obj]['prior_real']=True
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else:
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for obj in input_objs:
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scene.objects[obj]['prior_real']=False
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# Sorties numériques
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if output_digital:
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for obj in output_objs:
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scene.objects[obj]['prior']=True
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else:
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for obj in output_objs:
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scene.objects[obj]['prior']=False
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# Sorties réelles
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if output_real:
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for obj in output_objs:
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scene.objects[obj]['prior_real']=True
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else:
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for obj in output_objs:
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scene.objects[obj]['prior_real']=False
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##
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# Définir les modes d'activation du jumelage pour un objet 3D
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##
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def jumeau_mode_object (name, priority_real=True, priority_digital=True):
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scene.objects[pin_config[name][0][0]]['prior_real']=priority_real
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scene.objects[pin_config[name][0][0]]['prior']=priority_digital
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###############################################################################
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# Message
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###############################################################################
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##
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# Envoi d'un message vers la communication série
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# FIXME : plus tard
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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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# FIXME : plus tard
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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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# FIXME : plus tard
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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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