Blender-EduTech/jumeaux-numeriques
Blender-EduTech/jumeaux-numeriques
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jumeaux-numeriques/volet_roulant/volrou.py

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import bge # Bibliothèque Blender Game Engine (UPBGE)
import twin # Bibliothèque de l'environnement 3D des jumeaux numériques
import math
import time
###############################################################################
# volrou.py
# @title: Commandes pour le volet roulant
# @project: Blender-EduTech
# @lang: fr
# @authors: Philippe Roy <philippe.roy@ac-grenoble.fr>
# @copyright: Copyright (C) 2022-2023 Philippe Roy
# @license: GNU GPL
###############################################################################
# Récupérer la scène UPBGE
scene = bge.logic.getCurrentScene()
# Configuration du brochage du jumeau réel
pin_config = {
'fdc_h' : [['d','i'],['Microrupteur haut','pin']],
'fdc_b' : [['d','i'],['Microrupteur bas','pin']],
'bp_m' : [['d','i'],['Bp monter','pin']],
'bp_d' : [['d','i'],['Bp descendre','pin']],
'bp_a' : [['d','i'],['Bp arret','pin']],
'mot_m' : [['d','o'],['Moteur','pin_m']],
'mot_d' : [['d','o'],['Moteur','pin_d']],
'bp_auto' : [['d','i'],['Bp auto','pin']],
'voy_auto' : [['d','o'],['Led auto','pin']],
'lum' : [['d','i'],['Recepteur LDR','pin']]}
# Couleurs
color_passive = (0.800, 0.005, 0.315,1) # bouton non activable : magenta
color_active = (0.799, 0.130, 0.063,1) # bouton activable : orange
color_hl = (0.8, 0.8, 0.8, 1) # bouton focus : blanc
color_activated = (0.8, 0.619, 0.021, 1) # bouton activé numériquement uniquement : jaune
color_activated_real = (0.799, 0.031, 0.038, 1) # élément activé physiquement uniquement : rouge (hors clic)
color_activated_dbl = (0.246, 0.687, 0.078, 1) # élément activé physiquement et numériquement : vert clair
# Constantes UPBGE
JUST_ACTIVATED = bge.logic.KX_INPUT_JUST_ACTIVATED
JUST_RELEASED = bge.logic.KX_INPUT_JUST_RELEASED
ACTIVATE = bge.logic.KX_INPUT_ACTIVE
# JUST_DEACTIVATED = bge.logic.KX_SENSOR_JUST_DEACTIVATED
###############################################################################
# Initialisation de la scène
###############################################################################
def init(cont):
if cont.sensors['Init'].positive == False: # 1 seule fois
return False
twin.manip_init() # Manipulation du modèle 3D
twin.cmd_init() # Commandes
# Brochage
for pin in pin_config:
# print (pin_config[pin][1][0], pin_config[pin][1][1])
scene.objects[pin_config[pin][1][0]][pin_config[pin][1][1]] = None
# Groupe de focus pour les actionneurs
twin.cycle_def_focusgroup([["Moteur","blue"],
["Capuchon moteur","blue"],
["Arriere moteur","blue"],
["Moteur axe-1","blue"],
["Moteur coupleur","blue-dark"],
["Moteur vis1","grey"],
["Moteur vis2","grey"]], "Moteur : mot_m(True | False), mot_d(True | False)")
twin.cycle_def_focusgroup([["Led auto", "led_yellow"]], "Voyant témoin mode automatique : voy_auto(True | False)")
# Description des composants sensibles
scene.objects['Bp monter']['description']="Bouton poussoir monter volet : bp_m()"
scene.objects['Bp descendre']['description']="Bouton poussoir descendre volet : bp_d()"
scene.objects['Bp arret']['description']="Bouton poussoir arrêt volet : bp_a()"
scene.objects['Bp auto']['description']="Bouton poussoir mode automatique : bp_auto()"
scene.objects['Microrupteur haut']['description']="Capteur fin de course volet en haut : fdc_h()"
scene.objects['Microrupteur bas']['description']="Capteur fin de course volet en bas : fdc_b()"
scene.objects['Recepteur LDR']['description']="Capteur de luminosité (LDR) : lum()"
system_init() # Initialisation du système
def get_pin_config():
return pin_config
###############################################################################
# Actionneurs
###############################################################################
##
# Moteur et volet
##
def mot (cont):
if scene.objects['System']['run']:
obj = cont.owner
layer = 0
# Monter
if obj['up']:
# Animation
if obj['frame_down']<105: # Volet pas cassé
if obj['frame_up'] <0: # Réinit entre 0 et -4
obj['frame_up']=0
if obj['frame_up']<110 : # Cycle normal de 0 à 100 (butée en 110)
start = obj['frame_up']
end = 111
priority = 1
blendin = 1.0
mode = bge.logic.KX_ACTION_MODE_PLAY
layerWeight = 0.0
ipoFlags = 0
speed = 0.4
scene.objects['Axe enrouleur'].playAction('Axe enrouleur-Up', start, 135, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
scene.objects['Axe fdc'].playAction('Axe fdc-Up', start, 135, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
scene.objects['Lame volet 1'].playAction('Lame volet 1-Up', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
scene.objects['Lame volet 2'].playAction('Lame volet 2-Up', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
scene.objects['Lame volet 3'].playAction('Lame volet 3-Up', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
scene.objects['Lame volet 4'].playAction('Lame volet 4-Up', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
scene.objects['Lame volet 5'].playAction('Lame volet 5-Up', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
scene.objects['Lame volet 6'].playAction('Lame volet 6-Up', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
scene.objects['Lame volet 7'].playAction('Lame volet 7-Up', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
scene.objects['Lame volet 8'].playAction('Lame volet 8-Up', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
scene.objects['Lame volet 9'].playAction('Lame volet 9-Up', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
scene.objects['Lame volet 10'].playAction('Lame volet 10-Up', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
scene.objects['Lame volet 11'].playAction('Lame volet 11-Up', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
scene.objects['Lame volet 12'].playAction('Lame volet 12-Up', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
scene.objects['Lame volet 13'].playAction('Lame volet 13-Up', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
obj['frame_up'] = scene.objects['Axe enrouleur'].getActionFrame(layer)
else: # Tourner sans fin
# vitesse = 0.015
vitesse = 0.03
pas_axe_enrouleur = 0.5
pas_axe_fdc = 0.5/3
# scene.objects['Axe enrouleur'].applyRotation((pas_axe_enrouleur*vitesse, 0, 0), True)
scene.objects['Axe fdc'].stopAction(layer)
scene.objects['Axe fdc'].applyRotation((-pas_axe_fdc*vitesse, 0, 0), True)
if obj['frame_up'] ==170: # Réinit
obj['frame_up']=110
start = obj['frame_up']
end = 171
priority = 1
blendin = 1.0
mode = bge.logic.KX_ACTION_MODE_PLAY
layerWeight = 0.0
ipoFlags = 0
speed = 0.4
scene.objects['Axe enrouleur'].playAction('Axe enrouleur-Up', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
# scene.objects['Axe fdc'].playAction('Axe fdc-Up', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
scene.objects['Lame volet 1'].playAction('Lame volet 1-Up', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
scene.objects['Lame volet 2'].playAction('Lame volet 2-Up', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
scene.objects['Lame volet 3'].playAction('Lame volet 3-Up', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
scene.objects['Lame volet 4'].playAction('Lame volet 4-Up', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
scene.objects['Lame volet 5'].playAction('Lame volet 5-Up', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
scene.objects['Lame volet 6'].playAction('Lame volet 6-Up', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
scene.objects['Lame volet 7'].playAction('Lame volet 7-Up', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
scene.objects['Lame volet 8'].playAction('Lame volet 8-Up', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
scene.objects['Lame volet 9'].playAction('Lame volet 9-Up', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
scene.objects['Lame volet 10'].playAction('Lame volet 10-Up', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
scene.objects['Lame volet 11'].playAction('Lame volet 11-Up', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
scene.objects['Lame volet 12'].playAction('Lame volet 12-Up', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
scene.objects['Lame volet 13'].playAction('Lame volet 13-Up', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
obj['frame_up'] = scene.objects['Axe enrouleur'].getActionFrame(layer)
obj['frame_down']= 100-obj['frame_up']
# Modele 3D -> Arduino
if scene.objects['System']['twins']:
if scene.objects['Moteur']['pin_m'] is not None:
if scene.objects['Moteur']['pin_d'] is not None:
scene.objects['Moteur']['pin_d'].write(0)
scene.objects['Moteur']['pin_m'].write(1)
# Descendre
if obj['down']:
# Animation
if obj['frame_up']<105: # Volet pas cassé
if obj['frame_down'] <0: # Réinit entre 0 et -4
obj['frame_down']=0
if obj['frame_down']<135 : # Cycle normal de 0 à 100 (butée en 135)
start = obj['frame_down']
end = 136
layer = 0
priority = 1
blendin = 1.0
mode = bge.logic.KX_ACTION_MODE_PLAY
layerWeight = 0.0
ipoFlags = 0
speed = 0.4
scene.objects['Axe enrouleur'].playAction('Axe enrouleur-Down', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
scene.objects['Axe fdc'].playAction('Axe fdc-Down', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
scene.objects['Lame volet 1'].playAction('Lame volet 1-Down', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
scene.objects['Lame volet 2'].playAction('Lame volet 2-Down', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
scene.objects['Lame volet 3'].playAction('Lame volet 3-Down', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
scene.objects['Lame volet 4'].playAction('Lame volet 4-Down', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
scene.objects['Lame volet 5'].playAction('Lame volet 5-Down', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
scene.objects['Lame volet 6'].playAction('Lame volet 6-Down', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
scene.objects['Lame volet 7'].playAction('Lame volet 7-Down', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
scene.objects['Lame volet 8'].playAction('Lame volet 8-Down', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
scene.objects['Lame volet 9'].playAction('Lame volet 9-Down', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
scene.objects['Lame volet 10'].playAction('Lame volet 10-Down', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
scene.objects['Lame volet 11'].playAction('Lame volet 11-Down', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
scene.objects['Lame volet 12'].playAction('Lame volet 12-Down', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
scene.objects['Lame volet 13'].playAction('Lame volet 13-Down', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
obj['frame_down'] = scene.objects['Axe enrouleur'].getActionFrame(layer)
else: # Tourner sans fin et volet cassé
scene.objects['Axe enrouleur'].stopAction(layer)
scene.objects['Axe fdc'].stopAction(layer)
scene.objects['Lame volet 1'].stopAction(layer)
scene.objects['Lame volet 2'].stopAction(layer)
scene.objects['Lame volet 3'].stopAction(layer)
scene.objects['Lame volet 4'].stopAction(layer)
scene.objects['Lame volet 5'].stopAction(layer)
scene.objects['Lame volet 6'].stopAction(layer)
scene.objects['Lame volet 7'].stopAction(layer)
scene.objects['Lame volet 8'].stopAction(layer)
scene.objects['Lame volet 9'].stopAction(layer)
scene.objects['Lame volet 10'].stopAction(layer)
scene.objects['Lame volet 11'].stopAction(layer)
scene.objects['Lame volet 12'].stopAction(layer)
scene.objects['Lame volet 13'].stopAction(layer)
vitesse = 0.03
# vitesse = 0.015
pas_axe_enrouleur = 0.5
pas_axe_fdc = 0.5/3
pas_volet = 10
scene.objects['Axe enrouleur'].applyRotation((-pas_axe_enrouleur*vitesse, 0, 0), True)
scene.objects['Axe fdc'].applyRotation((pas_axe_fdc*vitesse, 0, 0), True)
scene.objects['Lame volet 1'].applyMovement((0, 0, -pas_volet*vitesse), False)
scene.objects['Lame volet 2'].applyMovement((0, 0, -pas_volet*vitesse), False)
scene.objects['Lame volet 3'].applyMovement((0, 0, -pas_volet*vitesse), False)
scene.objects['Lame volet 4'].applyMovement((0, 0, -pas_volet*vitesse), False)
scene.objects['Lame volet 5'].applyMovement((0, 0, -pas_volet*vitesse), False)
scene.objects['Lame volet 6'].applyMovement((0, 0, -pas_volet*vitesse), False)
scene.objects['Lame volet 7'].applyMovement((0, 0, -pas_volet*vitesse), False)
scene.objects['Lame volet 8'].applyMovement((0, 0, -pas_volet*vitesse), False)
scene.objects['Lame volet 9'].applyMovement((0, 0, -pas_volet*vitesse), False)
scene.objects['Lame volet 10'].applyMovement((0, 0, -pas_volet*vitesse), False)
scene.objects['Lame volet 11'].applyMovement((0, 0, -pas_volet*vitesse), False)
scene.objects['Lame volet 12'].applyMovement((0, 0, -pas_volet*vitesse), False)
scene.objects['Lame volet 13'].applyMovement((0, 0, -pas_volet*vitesse), False)
obj['frame_down'] +=1
obj['frame_up']= 100-obj['frame_down']
# Modele 3D -> Arduino
if scene.objects['System']['twins']:
if scene.objects['Moteur']['pin_d'] is not None:
if scene.objects['Moteur']['pin_m'] is not None:
scene.objects['Moteur']['pin_m'].write(0)
scene.objects['Moteur']['pin_d'].write(1)
# Arrêt
if obj['up'] == False and obj['down'] == False:
# Animation
if scene.objects['Axe enrouleur'].isPlayingAction(layer):
scene.objects['Axe enrouleur'].stopAction(layer)
scene.objects['Axe fdc'].stopAction(layer)
scene.objects['Lame volet 1'].stopAction(layer)
scene.objects['Lame volet 2'].stopAction(layer)
scene.objects['Lame volet 3'].stopAction(layer)
scene.objects['Lame volet 4'].stopAction(layer)
scene.objects['Lame volet 5'].stopAction(layer)
scene.objects['Lame volet 6'].stopAction(layer)
scene.objects['Lame volet 7'].stopAction(layer)
scene.objects['Lame volet 8'].stopAction(layer)
scene.objects['Lame volet 9'].stopAction(layer)
scene.objects['Lame volet 10'].stopAction(layer)
scene.objects['Lame volet 11'].stopAction(layer)
scene.objects['Lame volet 12'].stopAction(layer)
scene.objects['Lame volet 13'].stopAction(layer)
# Modele 3D -> Arduino
if scene.objects['System']['twins']:
if scene.objects['Moteur']['pin_d'] is not None:
if scene.objects['Moteur']['pin_m'] is not None:
scene.objects['Moteur']['pin_m'].write(0)
scene.objects['Moteur']['pin_d'].write(0)
###############################################################################
# Capteurs fin de course
###############################################################################
##
# Etat capteur fin de course volet en haut
##
def fdc_h (cont):
if scene.objects['System']['run'] :
obj = cont.owner
# Arduino -> Modele 3D
if scene.objects['System']['twins']:
if obj['pin'] is not None:
if obj['pin'].read()==True and obj['activated_real'] == False :
obj['activated_real'] = True
if obj['pin'].read()==False and obj['activated_real'] == True :
obj['activated_real'] = False
# Etat capteur en fonction du volet
scene.objects['Axe fdc']['rx']= scene.objects['Axe fdc'].localOrientation.to_euler().x *(180/math.pi)
if scene.objects['Axe fdc']['rx'] >= -175 and scene.objects['Axe fdc']['rx'] <= -155 and obj['activated'] == False :
obj['activated'] = True
if scene.objects['Axe fdc']['rx'] < -175 or scene.objects['Axe fdc']['rx'] > -155 and obj['activated'] == True :
obj['activated'] = False
# Forçage par clic
if obj['click'] == True:
obj['activated'] = True
# Couleurs
twin.cycle_sensitive_color(obj)
##
# Etat capteur fin de course volet en bas
##
def fdc_b (cont):
if scene.objects['System']['run'] :
obj = cont.owner
# Arduino -> Modele 3D
if scene.objects['System']['twins']:
if obj['pin'] is not None:
if obj['pin'].read()==True and obj['activated_real'] == False :
obj['activated_real'] = True
if obj['pin'].read()==False and obj['activated_real'] == True :
obj['activated_real'] = False
# Etat capteur en fonction du volet
if scene.objects['Axe fdc']['rx'] >= -10 and scene.objects['Axe fdc']['rx'] <= 10 and obj['activated'] == False :
obj['activated'] = True
if scene.objects['Axe fdc']['rx'] < -10 or scene.objects['Axe fdc']['rx'] > 10 and obj['activated'] == True :
obj['activated'] = False
# Forçage par clic
if obj['click'] == True:
obj['activated'] = True
# Couleurs
twin.cycle_sensitive_color(obj)
###############################################################################
# Système
###############################################################################
##
# Initialisation du système
# Le moteur est géré en continue.
##
def system_init ():
# Voyants statiques
scene.objects['Led capteur courant'].setVisible(True,False)
scene.objects['Led capteur courant-on'].setVisible(False,False)
scene.objects['Led moteur'].setVisible(True,False)
scene.objects['Led moteur-on'].setVisible(False,False)
scene.objects['Led alimentation'].setVisible(True,False)
scene.objects['Led alimentation-on'].setVisible(False,False)
system_reset()
##
# Réinitialisation du système
##
def system_reset ():
# Voyants aux états initiaux
scene.objects['Led auto'].setVisible(True,False)
scene.objects['Led auto-on'].setVisible(False,False)
# Volet
obj = scene.objects['Moteur']
start = 49
end = 50
priority = 1
layer = 0
blendin = 1.0
mode = bge.logic.KX_ACTION_MODE_PLAY
layerWeight = 0.0
ipoFlags = 0
speed = 0.4
scene.objects['Axe enrouleur'].playAction('Axe enrouleur-Up', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
scene.objects['Axe fdc'].playAction('Axe fdc-Up', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
scene.objects['Lame volet 1'].playAction('Lame volet 1-Up', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
scene.objects['Lame volet 2'].playAction('Lame volet 2-Up', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
scene.objects['Lame volet 3'].playAction('Lame volet 3-Up', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
scene.objects['Lame volet 4'].playAction('Lame volet 4-Up', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
scene.objects['Lame volet 5'].playAction('Lame volet 5-Up', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
scene.objects['Lame volet 6'].playAction('Lame volet 6-Up', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
scene.objects['Lame volet 7'].playAction('Lame volet 7-Up', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
scene.objects['Lame volet 8'].playAction('Lame volet 8-Up', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
scene.objects['Lame volet 9'].playAction('Lame volet 9-Up', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
scene.objects['Lame volet 10'].playAction('Lame volet 10-Up', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
scene.objects['Lame volet 11'].playAction('Lame volet 11-Up', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
scene.objects['Lame volet 12'].playAction('Lame volet 12-Up', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
scene.objects['Lame volet 13'].playAction('Lame volet 13-Up', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
# print ("reset")
obj['frame_up'] = scene.objects['Axe enrouleur'].getActionFrame(layer)
obj['frame_down']= 100-obj['frame_up']
# I/O à l'état initial
scene.objects['Led auto']['activated']=False
scene.objects['Bp monter']['activated']=False
scene.objects['Bp monter']['activated_real']=False
scene.objects['Bp arret']['activated']=False
scene.objects['Bp arret']['activated_real']=False
scene.objects['Bp descendre']['activated']=False
scene.objects['Bp descendre']['activated_real']=False
scene.objects['Bp auto']['activated']=False
scene.objects['Bp auto']['activated_real']=False
scene.objects['Microrupteur haut']['activated']=False
scene.objects['Microrupteur haut']['activated_real']=False
scene.objects['Microrupteur bas']['activated']=False
scene.objects['Microrupteur bas']['activated_real']=False
scene.objects['Moteur']['up']=False
scene.objects['Moteur']['down']=False
scene.objects['Recepteur LDR']['activated']=False
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