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442 lines
20 KiB
Python
442 lines
20 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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# porcou.py
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# @title: Commandes pour le portail coulissant
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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) 2020-2023 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 des variables publiques
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# 'nom_variable' :
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# - Objet 3D : [nom de l'objet 3D, propriété associée à la valeur (activate ou activated_real), type de la valeur ('d' (digital, binary), 'a', (analog) ou 'n' (numeric)), échelle (1 si ommis)]
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# - Configuration de la broche : [nom de la propriété stockant l'object broche (pyfirmata),
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# type de broche par défaut : 'd' (digital), 'a' (analog) ou 'p' (pwm)), mode de la broche par défaut : 'i' (input) ou 'o' (output)]
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# - Configuration du graphique : ['marque', 'type de ligne', 'couleur', linewidth]] (Codification de Matplotlib)
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#
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# 'nom_variable_r' est la valeur réelle de la variable (valeur numérique) 'nom_variable' issue du jumelage numérique.
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# Dans ce cas, il n'y a pas configuration de broche car elle est présente sur la variable 'nom_variable'.
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# Ce distinguo ne concerne que les entrées, car les sorties sont pilotées par le numérique.
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public_vars = {
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't' : [['System','time','a'],[],[]],
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'bp_ext' : [['Bp cote rue','activated','d'],['pin','d','i'],['.','-','green',1]],
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'bp_ext_r' : [['Bp cote rue','activated_real','d'],[],['.','--','green',1]],
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'bp_int' : [['Bp cote cour','activated','d'],['pin','d','i'],['.','-','darkgreen',1]],
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'bp_int_r' : [['Bp cote cour','activated_real','d'],[],['.','--','darkgreen',1]],
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'fdc_o' : [['Microrupteur fdc ouvert','activated','d'],['pin','d','i'],['.','-','orange',1]],
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'fdc_o_r' : [['Microrupteur fdc ouvert','activated_real','d'],[],['.','--','orange',1]],
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'fdc_f' : [['Microrupteur fdc ferme','activated','d'],['pin','d','i'],['.','-','darkorange',1]],
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'fdc_f_r' : [['Microrupteur fdc ferme','activated_real','d'],[],['.','--','darkorange',1]],
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'mot_o' : [['Moteur','open','d'],['pin_open','d','o'],['.','-','violet',1]],
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'mot_f' : [['Moteur','close','d'],['pin_close','d','o'],['.','-','darkviolet',1]],
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'mot_angle' : [['Moteur','alpha','a'],[],['.','-','blue',1]],
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'mot_vitesse' : [['Moteur','speed','a'],[],['.','-','darkblue',1]],
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'mot_pas' : [['Moteur','step','a'],[],[]],
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'portail_x' : [['Portail','x','a'],[],['.','-','turquoise',1]],
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'portail_vitesse' : [['Portail','speed','a'],[],['.','-','darkturquoise',1]],
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'portail_pas' : [['Portail','step','a'],[],[]],
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'gyr' : [['Led','activated','d'],['pin','d','o'],['.','-','gold',1]],
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'ir_emet' : [['Emetteur IR','activated','d'],['pin','d','o'],['.','-','red',1]],
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'ir_recep' : [['Recepteur IR','activated','d'],['pin','d','i'],['.','-','darkred',1]],
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'ir_recep_r' : [['Recepteur IR','activated_real','d'],[],['.','--','darkred',1]]}
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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 public_vars:
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if public_vars[pin][1] != []:
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scene.objects[public_vars[pin][0][0]][public_vars[pin][1][0]] = None
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# Mémorisation de la position et orientation des composants du système
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scene.objects['Portail']['init_lx']=scene.objects['Portail'].worldPosition.x
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scene.objects['Portail']['init_ly']=scene.objects['Portail'].worldPosition.y
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scene.objects['Portail']['init_lz']=scene.objects['Portail'].worldPosition.z
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scene.objects['Engrenage']['init_rx']=scene.objects['Engrenage'].worldOrientation.to_euler().x
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scene.objects['Engrenage']['init_ry']=scene.objects['Engrenage'].worldOrientation.to_euler().y
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scene.objects['Engrenage']['init_rz']=scene.objects['Engrenage'].worldOrientation.to_euler().z
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# Groupe de focus pour les actionneurs
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twin.cycle_def_focusgroup([["Moteur","blue"] ,
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["Reducteur","blue"],
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["Pattes moteur","blue"],
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["Engrenage","blue-dark"],
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["Engrennage patte","blue-dark"],
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["Engrenage vis1","grey"],
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["Engrenage vis2","grey"],
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["Engrenage vis3","grey"]], "Moteur : mot_o(True | False), mot_f(True | False)")
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twin.cycle_def_focusgroup([["Led", "led_yellow"]], "Gyrophare : gyr(True | False)")
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# Focus sur les boutons et capteurs
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scene.objects['Bp cote cour']['description']="Bouton poussoir coté cour : bp_int()"
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scene.objects['Bp cote rue']['description']="Bouton poussoir coté rue : bp_ext()"
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scene.objects['Microrupteur fdc ouvert']['description']="Capteur fin de course portail ouvert : fdc_o()"
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scene.objects['Microrupteur fdc ferme']['description']="Capteur fin de course portail fermé : fdc_f()"
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scene.objects['Emetteur IR']['description']="Capteur barrage IR (absence d\"obstacle) : ir_recep()"
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scene.objects['Recepteur IR']['description']="Capteur barrage IR (absence d\"obstacle) : ir_recep()"
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system_init() # Initialisation du système
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def get_public_vars():
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return public_vars
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###############################################################################
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# Actionneurs
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###############################################################################
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##
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# Moteur et portail
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##
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def mot (cont):
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if scene.objects['System']['run']:
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fps = 60 # frame per second
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obj = cont.owner
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obj_engrenage = scene.objects['Engrenage']
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obj_portail = scene.objects['Portail']
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# Réducteur
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r = 1/100 # Rapport de réduction
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# Crémaillaire
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pas_dent = 7.85 # 7.85 mm soit 2.35 m (bender)
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z = 14 # nb dents
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obj['step']= obj['speed_setting'] / fps # Vitesse du moteur numérique : 1,3 rad /s par défaut
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obj_engrenage['step']= obj['step'] * r
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obj_portail['step'] = obj_engrenage['step'] * (pas_dent * z)/(2*math.pi)
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# Ouvrir
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if obj['open']:
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# Physique du modèle 3D
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if obj['prior']:
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obj_engrenage.applyRotation((0, 0, -obj_engrenage['step']), True)
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obj['alpha']= obj['alpha']-obj['step']
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if scene.objects['System']['time'] != obj['last_time']:
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obj['speed']= (-obj['step'])/(scene.objects['System']['time']-obj['last_time'])
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obj_portail.applyMovement((-obj_portail['step'], 0, 0), True)
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obj_portail['x']= obj_portail['x']-obj_portail['step'] # Echelle pris en compte par le scale de 'System' : 0,3)
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if scene.objects['System']['time'] != obj['last_time']:
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obj_portail['speed']= -obj_portail['step']/(scene.objects['System']['time']-obj['last_time'])
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obj['last_time'] = scene.objects['System']['time']
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# Modele 3D -> Arduino
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if scene.objects['System']['twins'] and obj['prior_real']:
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if scene.objects['Moteur']['pin_open'] is not None :
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if scene.objects['Moteur']['pin_close'] is not None:
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scene.objects['Moteur']['pin_close'].write(0)
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scene.objects['Moteur']['pin_open'].write(1)
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# Fermer
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# else: # Pas de priorité
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if obj['close']:
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# Physique du modèle 3D
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if obj['prior']:
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obj_engrenage.applyRotation((0, 0, obj_engrenage['step']), True)
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obj['alpha']= obj['alpha']+obj['step']
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if scene.objects['System']['time'] != obj['last_time']:
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obj['speed']= (obj['step'])/(scene.objects['System']['time']-obj['last_time'])
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obj_portail.applyMovement((obj_portail['step'], 0, 0), True)
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obj_portail['x']= obj_portail['x']+obj_portail['step'] # Echelle pris en compte par le scale de 'System' : 0,3)
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if scene.objects['System']['time'] != obj['last_time']:
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obj_portail['speed']= obj_portail['step']/(scene.objects['System']['time']-obj['last_time'])
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obj['last_time'] = scene.objects['System']['time']
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# Modele 3D -> Arduino
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if scene.objects['System']['twins'] and obj['prior_real']:
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if scene.objects['Moteur']['pin_close'] is not None:
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if scene.objects['Moteur']['pin_open'] is not None:
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scene.objects['Moteur']['pin_open'].write(0)
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scene.objects['Moteur']['pin_close'].write(1)
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# Arrêrer
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if obj['open']== False and obj['close'] == False and obj['prior']:
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# Physique du modèle 3D
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if obj['prior']:
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obj['speed']= 0
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obj_portail['speed']= 0
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obj['last_time'] = scene.objects['System']['time']
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# Modele 3D -> Arduino
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if scene.objects['System']['twins'] and obj['prior_real']:
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if scene.objects['Moteur']['pin_close'] is not None:
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if scene.objects['Moteur']['pin_open'] is not None:
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scene.objects['Moteur']['pin_open'].write(0)
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scene.objects['Moteur']['pin_close'].write(0)
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###############################################################################
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# Capteurs fin de course
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###############################################################################
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##
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# Etat capteur fin de course portail ouvert
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##
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def fdc_o (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'] and obj['prior_real']:
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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 grille : worldPosition.x : 0 -> 65.5 et localPosition.x : 0 -> 218
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if scene.objects['Portail'].localPosition.x <= 0 and obj['activated'] == False and obj['prior']:
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obj['activated'] = True
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if scene.objects['Portail'].localPosition.x > 0 and obj['activated'] == True and obj['prior']:
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obj['activated'] = False
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# Forçage par clic
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if obj['click'] == True and obj['prior']:
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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 fin de course portail fermé
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##
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def fdc_f (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'] and obj['prior_real']:
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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 grille : worldPosition.x : 0 -> 65.5 et localPosition.x : 0 -> 218
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if scene.objects['Portail'].localPosition.x >= 218 and obj['activated'] == False and obj['prior']:
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obj['activated'] = True
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if scene.objects['Portail'].localPosition.x < 218 and obj['activated'] == True and obj['prior']:
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obj['activated'] = False
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# Forçage par clic
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if obj['click'] == True and obj['prior']:
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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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# Capteur barrage
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###############################################################################
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##
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# Emetteur IR
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##
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def ir_emet (cont):
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if scene.objects['System']['run'] :
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obj = cont.owner
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# Mouse over
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if obj['mo'] == True and obj['click'] == False and obj.color !=color_hl:
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obj.color =color_hl
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return
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# Passif
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if obj['active'] == False and obj.color !=color_passive:
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obj.color =color_passive
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# Physique du modèle 3D
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if obj['prior']:
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scene.objects['Emetteur IR Led'].setVisible(True,False)
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scene.objects['Emetteur IR Led-on'].setVisible(False,False)
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scene.objects['Recepteur IR']['active'] = False
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# Modele 3D -> Arduino
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if scene.objects['System']['twins'] and obj['prior_real']:
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if scene.objects['Emetteur IR']['pin'] is not None:
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scene.objects['Emetteur IR']['pin'].write(0)
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return
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# Active
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if obj['active']:
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# Allumage
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if scene.objects['Emetteur IR Led-on'].visible == False:
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# Physique du modèle 3D
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if obj['prior']:
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scene.objects['Emetteur IR Led-on'].setVisible(True,False)
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scene.objects['Emetteur IR Led'].setVisible(False,False)
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obj.color = color_active
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scene.objects['Recepteur IR']['active'] = True
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# Modele 3D -> Arduino
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if scene.objects['System']['twins'] and obj['prior_real']:
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if scene.objects['Emetteur IR']['pin'] is not None:
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scene.objects['Emetteur IR']['pin'].write(1)
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# Forçage par clic
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if obj['click'] == True and obj['prior']:
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obj['activated'] = True
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scene.objects['Recepteur IR']['activated'] = True
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# Couleurs
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# FIXME : à faire
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if obj['activated'] == True and obj.color !=color_activated:
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obj.color =color_activated
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if obj['activated'] == False :
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if obj['mo'] == True and obj.color !=color_hl:
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obj.color =color_hl
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if obj['mo'] == False and obj.color !=color_active:
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obj.color =color_active
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##
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# Récepteur IR
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# FIXME : Modele 3D -> Arduino à faire
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##
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def ir_recep (cont):
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if scene.objects['System']['run'] :
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obj = cont.owner
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# Mouse over
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if obj['mo'] == True and obj['click'] == False and obj.color !=color_hl:
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obj.color =color_hl
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return
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# Passif
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if obj['active'] == False and obj.color !=color_passive:
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obj.color =color_passive
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return
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# Active
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if obj['active']:
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# Arduino -> Modele 3D (activé si Pin = False) FIXME : à vérifier avec le jumeau réel
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if scene.objects['System']['twins'] and obj['prior_real']:
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if obj['pin'] is not None :
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if obj['pin'].read()==False and obj['activated_real'] == False :
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obj['activated_real'] = True
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if obj['pin'].read()==True and obj['activated_real'] == True :
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obj['activated_real'] = False
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# Forçage par clic
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if obj['click'] == True and obj['prior']:
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obj['activated'] = True
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scene.objects['Emetteur IR']['activated'] = True
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# Couleurs
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# FIXME : à faire
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if obj['activated'] == True and obj.color !=color_activated:
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obj.color =color_activated
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if obj['activated'] == False :
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if obj['mo'] == True and obj.color !=color_hl:
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obj.color =color_hl
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if obj['mo'] == False and obj.color !=color_active:
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obj.color =color_active
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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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##
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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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# Entrées à l'état initial
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objs= ['Microrupteur fdc ouvert', 'Microrupteur fdc ferme', 'Bp cote cour','Bp cote rue']
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for obj in objs:
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scene.objects[obj]['activated']=False
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scene.objects[obj]['activated_real']=False
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scene.objects['Recepteur IR']['activated'] =False
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scene.objects['Recepteur IR']['active'] =False
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scene.objects['Recepteur IR']['activated_real'] =True # Absence d'obstacle -> True, présence d'obstacle -> False
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# Grille à l'état initial
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scene.objects['Portail']['x']=0
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scene.objects['Portail']['speed']=0
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scene.objects['Portail']['step']=0
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scene.objects['Portail'].worldPosition.x = scene.objects['Portail']['init_lx']-scene.objects['System']['init_lx']+scene.objects['System'].worldPosition.x
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scene.objects['Portail'].worldPosition.y = scene.objects['Portail']['init_ly']-scene.objects['System']['init_ly']+scene.objects['System'].worldPosition.y
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scene.objects['Portail'].worldPosition.z = scene.objects['Portail']['init_lz']-scene.objects['System']['init_lz']+scene.objects['System'].worldPosition.z
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# Moteur à l'état initial
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scene.objects['Moteur']['open']=False
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scene.objects['Moteur']['close']=False
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scene.objects['Moteur']['alpha']=0
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scene.objects['Moteur']['speed']=0
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scene.objects['Moteur']['speed_setting']=125.6 # Vitesse du moteur numérique : 125.6 rad /s ( 20 tr / s )
|
||
scene.objects['Moteur']['step']=0
|
||
|
||
rres=0.001 # resolution rotation
|
||
obj1=scene.objects['Engrenage']
|
||
while (obj1.localOrientation.to_euler().y) > 1.1*rres :
|
||
obj1.applyRotation((0, 0, -rres), True)
|
||
while (obj1.localOrientation.to_euler().y) < -1.1*rres :
|
||
obj1.applyRotation((0, 0, rres), True)
|
||
|
||
# Gyrophare à l'état initial
|
||
scene.objects['Led']['activated']=False
|
||
scene.objects['Led'].setVisible(True,False)
|
||
scene.objects['Led-on'].setVisible(False,False)
|
||
|
||
# Capteur barrage IR
|
||
scene.objects['Emetteur IR']['activated'] =False
|
||
scene.objects['Emetteur IR']['active'] =False
|
||
scene.objects['Emetteur IR Led'].setVisible(True,False)
|
||
scene.objects['Emetteur IR Led-on'].setVisible(False,False)
|
||
scene.objects['Emetteur IR'].color = color_passive
|
||
scene.objects['Recepteur IR'].color = color_passive
|
||
|
||
# Priorités activées
|
||
objs= ['Led', 'Moteur', 'Microrupteur fdc ouvert', 'Microrupteur fdc ferme',
|
||
'Bp cote cour','Bp cote rue', 'Emetteur IR', 'Recepteur IR']
|
||
for obj in objs:
|
||
scene.objects[obj]['prior']=True
|
||
scene.objects[obj]['prior_real']=True
|