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265 lines
12 KiB
Python
265 lines
12 KiB
Python
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) 2022-2023 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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# Configuration du brochage du jumeau réel
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pin_config = {
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'voy_0' : [['d','o'],['Led niveau 0','pin']],
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'voy_1' : [['d','o'],['Led niveau 1','pin']],
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'pc_0' : [['d','i'],['Microrupteur niveau 0','pin']],
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'pc_1' : [['d','i'],['Microrupteur niveau 1','pin']],
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'ba_0' : [['d','i'],['Bp niveau 0','pin']],
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'ba_1' : [['d','i'],['Bp niveau 1','pin']],
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'mot_m' : [['d','o'],['Moteur','pin_m',]],
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'mot_d' : [['d','o'],['Moteur','pin_d']]}
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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 numériquement uniquement : jaune
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color_activated_real = (0.799, 0.031, 0.038, 1) # élément activé physiquement uniquement : rouge (hors clic)
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color_activated_dbl = (0.246, 0.687, 0.078, 1) # élément activé physiquement et numériquement : vert clair
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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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# Brochage
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for pin in pin_config:
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# print (pin_config[pin][1][0], pin_config[pin][1][1])
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scene.objects[pin_config[pin][1][0]][pin_config[pin][1][1]] = None
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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['Cabine'].worldPosition.x
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scene.objects['Cabine']['init_ly']=scene.objects['Cabine'].worldPosition.y
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scene.objects['Cabine']['init_lz']=scene.objects['Cabine'].worldPosition.z
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scene.objects['Contrepoids']['init_lx']=scene.objects['Contrepoids'].worldPosition.x
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scene.objects['Contrepoids']['init_ly']=scene.objects['Contrepoids'].worldPosition.y
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scene.objects['Contrepoids']['init_lz']=scene.objects['Contrepoids'].worldPosition.z
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scene.objects['Moteur vis sans fin']['init_rx']=scene.objects['Moteur vis sans fin'].worldOrientation.to_euler().x
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scene.objects['Moteur vis sans fin']['init_ry']=scene.objects['Moteur vis sans fin'].worldOrientation.to_euler().y
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scene.objects['Moteur vis sans fin']['init_rz']=scene.objects['Moteur vis sans fin'].worldOrientation.to_euler().z
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scene.objects['Moteur pignon']['init_rx']=scene.objects['Moteur pignon'].worldOrientation.to_euler().x
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scene.objects['Moteur pignon']['init_ry']=scene.objects['Moteur pignon'].worldOrientation.to_euler().y
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scene.objects['Moteur pignon']['init_rz']=scene.objects['Moteur pignon'].worldOrientation.to_euler().z
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# Groupe de focus pour les actionneurs
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twin.cycle_def_focusgroup([["Moteur","blue-dark"] ,
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["Moteur arriere","blue-dark"] ,
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["Moteur condensateur","grey"],
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["Reducteur flanc droit","blue"],
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["Reducteur flanc gauche","blue"],
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["Moteur vis sans fin","blue-dark"],
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["Moteur pignon","blue-dark"],
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["Moteur axe 1","blue"],
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["Moteur axe 2","blue-dark"],
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["Moteur gaine thermo","blue"],
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["Cable","blue"]], "Moteur : mot_m(True | False), mot_d(True | False)")
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twin.cycle_def_focusgroup([["Led niveau 0", "led_yellow"]], "Voyant témoin d\"étage niveau 0 : voy_0(True | False)")
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twin.cycle_def_focusgroup([["Led niveau 1", "led_yellow"]], "Voyant témoin d\"étage niveau 1 : voy_1(True | False)")
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# Description des composants sensibles
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scene.objects['Bp niveau 0']['description']="Bouton poussoir appel niveau 0 : ba_0()"
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scene.objects['Bp niveau 1']['description']="Bouton poussoir appel niveau 1 : ba_1()"
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scene.objects['Microrupteur niveau 0']['description']="Capteur présence cabine niveau 0 : pc_0()"
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scene.objects['Microrupteur niveau 1']['description']="Capteur présence cabine niveau 1 : pc_1()"
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system_init() # Initialisation du système
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def get_pin_config():
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return pin_config
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###############################################################################
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# Actionneurs
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###############################################################################
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##
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# Moteur et cabine
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##
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def mot (cont):
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if scene.objects['System']['run']:
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obj = cont.owner
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vitesse = 0.015
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pas_cabine = 10 # Diam axe = 3 mm -> 1 tour = 3*math.pi
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pas_pignon = pas_cabine/(3*math.pi) # Z pignon = 48 dents
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pas_vissansfin = pas_pignon*48
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obj_vissansfin = scene.objects['Moteur vis sans fin']
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obj_pignon = scene.objects['Moteur pignon']
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obj_cabine = scene.objects['Cabine']
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obj_cabine['z']= scene.objects['Cabine'].localPosition.z # Affichage de l'altitude de la cabine
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obj_contrepoids = scene.objects['Contrepoids']
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obj_cable = scene.objects['Cable'] # FIXME : plus tard
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# Monter
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if obj['up']:
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obj_vissansfin.applyRotation((0, 0, pas_vissansfin*vitesse), True)
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obj_pignon.applyRotation((pas_pignon*vitesse, 0, 0), True)
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obj_cabine.applyMovement((0, 0, pas_cabine*vitesse), True)
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obj_contrepoids.applyMovement((0, 0, -pas_cabine*vitesse), True)
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# Modele 3D -> Arduino
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if scene.objects['System']['twins']:
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if scene.objects['Moteur']['pin_m'] is not None:
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if scene.objects['Moteur']['pin_d'] is not None:
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scene.objects['Moteur']['pin_d'].write(0)
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scene.objects['Moteur']['pin_m'].write(1)
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# Descendre
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# else: # Pas de priorité
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if obj['down']:
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obj_vissansfin.applyRotation((0, 0, -pas_vissansfin*vitesse), True)
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obj_pignon.applyRotation((-pas_pignon*vitesse, 0, 0), True)
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obj_cabine.applyMovement((0, 0, -pas_cabine*vitesse), True)
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obj_contrepoids.applyMovement((0, 0, pas_cabine*vitesse), True)
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# Arrêter
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if obj['up']== False and obj['down'] == False :
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# Modele 3D -> Arduino
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if scene.objects['System']['twins']:
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if scene.objects['Moteur']['pin_d'] is not None:
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if scene.objects['Moteur']['pin_m'] is not None:
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scene.objects['Moteur']['pin_m'].write(0)
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scene.objects['Moteur']['pin_d'].write(0)
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###############################################################################
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# Capteurs
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###############################################################################
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##
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# Etat capteur présence cabine niveau 0
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##
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def pc_0 (cont):
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if scene.objects['System']['run'] :
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obj = cont.owner
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# Arduino -> Modele 3D
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if scene.objects['System']['twins']:
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if obj['pin'] is not None:
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if obj['pin'].read()==True and obj['activated_real'] == False :
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obj['activated_real'] = True
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if obj['pin'].read()==False and obj['activated_real'] == True :
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obj['activated_real'] = False
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# Etat capteur en fonction de la position de la cabine : localPosition.z entre -40 et -42
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if scene.objects['Cabine'].localPosition.z <-40 and scene.objects['Cabine'].localPosition.z >-42 and obj['activated'] == False :
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obj['activated'] = True
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if (scene.objects['Cabine'].localPosition.z > -40 or scene.objects['Cabine'].localPosition.z <-42) and obj['activated'] == True :
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obj['activated'] = False
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# Forçage par clic
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if obj['click'] == True:
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obj['activated'] = True
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# Couleurs
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twin.cycle_sensitive_color(obj)
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##
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# Etat capteur présence cabine niveau 1
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##
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def pc_1 (cont):
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if scene.objects['System']['run'] :
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obj = cont.owner
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# Arduino -> Modele 3D
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if scene.objects['System']['twins']:
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if obj['pin'] is not None:
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if obj['pin'].read()==True and obj['activated_real'] == False :
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obj['activated_real'] = True
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if obj['pin'].read()==False and obj['activated_real'] == True :
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obj['activated_real'] = False
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# Etat capteur en fonction de la position de la cabine : localPosition.z entre 0 et -2
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if scene.objects['Cabine'].localPosition.z <0 and scene.objects['Cabine'].localPosition.z >-2 and obj['activated'] == False :
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obj['activated'] = True
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if (scene.objects['Cabine'].localPosition.z > 0 or scene.objects['Cabine'].localPosition.z <-2) and obj['activated'] == True :
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obj['activated'] = False
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# Forçage par clic
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if obj['click'] == True:
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obj['activated'] = True
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# Couleurs
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twin.cycle_sensitive_color(obj)
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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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scene.objects['Cabine'].worldPosition.x = scene.objects['Cabine']['init_lx']-scene.objects['System']['init_lx']+scene.objects['System'].worldPosition.x
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scene.objects['Cabine'].worldPosition.y = scene.objects['Cabine']['init_ly']-scene.objects['System']['init_ly']+scene.objects['System'].worldPosition.y
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scene.objects['Cabine'].worldPosition.z = scene.objects['Cabine']['init_lz']-scene.objects['System']['init_lz']+scene.objects['System'].worldPosition.z
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scene.objects['Contrepoids'].worldPosition.x = scene.objects['Contrepoids']['init_lx']-scene.objects['System']['init_lx']+scene.objects['System'].worldPosition.x
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scene.objects['Contrepoids'].worldPosition.y = scene.objects['Contrepoids']['init_ly']-scene.objects['System']['init_ly']+scene.objects['System'].worldPosition.y
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scene.objects['Contrepoids'].worldPosition.z = scene.objects['Contrepoids']['init_lz']-scene.objects['System']['init_lz']+scene.objects['System'].worldPosition.z
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# Moteur à l'état initial : pas utile
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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 0']['activated_real']=False
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scene.objects['Bp niveau 1']['activated']=False
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scene.objects['Bp niveau 1']['activated_real']=False
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scene.objects['Microrupteur niveau 0']['activated']=False
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scene.objects['Microrupteur niveau 0']['activated_real']=False
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scene.objects['Microrupteur niveau 1']['activated']=False
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scene.objects['Microrupteur niveau 1']['activated_real']=False
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scene.objects['Moteur']['up']=False
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scene.objects['Moteur']['down']=False
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