mirror of
https://forge.apps.education.fr/blender-edutech/jumeaux-numeriques.git
synced 2024-01-27 06:56:18 +01:00
382 lines
16 KiB
Python
382 lines
16 KiB
Python
import bge # Bibliothèque Blender Game Engine (UPBGE)
|
||
import twin # Bibliothèque de l'environnement 3D des jumeaux numériques
|
||
import math
|
||
import time
|
||
|
||
###############################################################################
|
||
# porcou.py
|
||
# @title: Commandes pour le portail coulissant
|
||
# @project: Blender-EduTech
|
||
# @lang: fr
|
||
# @authors: Philippe Roy <philippe.roy@ac-grenoble.fr>
|
||
# @copyright: Copyright (C) 2020-2023 Philippe Roy
|
||
# @license: GNU GPL
|
||
###############################################################################
|
||
|
||
# Récupérer la scène UPBGE
|
||
scene = bge.logic.getCurrentScene()
|
||
|
||
# Configuration du brochage du jumeau réel
|
||
pin_config = {
|
||
'bp_ext' : [['d','i'],['Bp cote rue','pin']],
|
||
'bp_int' : [['d','i'],['Bp cote cour','pin']],
|
||
'fdc_o' : [['d','i'],['Microrupteur fdc ouvert','pin']],
|
||
'fdc_f' : [['d','i'],['Microrupteur fdc ferme','pin']],
|
||
'mot_o' : [['d','o'],['Moteur','pin_o']],
|
||
'mot_f' : [['d','o'],['Moteur','pin_f']],
|
||
'gyr' : [['d','o'],['Led','pin']],
|
||
'ir_emet' : [['d','o'],['Emetteur IR','pin']],
|
||
'ir_recep' : [['d','i'],['Recepteur IR','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
|
||
|
||
# Mémorisation de la position et orientation des composants du système
|
||
scene.objects['Portail']['init_lx']=scene.objects['Portail'].worldPosition.x
|
||
scene.objects['Portail']['init_ly']=scene.objects['Portail'].worldPosition.y
|
||
scene.objects['Portail']['init_lz']=scene.objects['Portail'].worldPosition.z
|
||
scene.objects['Engrenage']['init_rx']=scene.objects['Engrenage'].worldOrientation.to_euler().x
|
||
scene.objects['Engrenage']['init_ry']=scene.objects['Engrenage'].worldOrientation.to_euler().y
|
||
scene.objects['Engrenage']['init_rz']=scene.objects['Engrenage'].worldOrientation.to_euler().z
|
||
|
||
# Groupe de focus pour les actionneurs
|
||
twin.cycle_def_focusgroup([["Moteur","blue"] ,
|
||
["Reducteur","blue"],
|
||
["Pattes moteur","blue"],
|
||
["Engrenage","blue-dark"],
|
||
["Engrennage patte","blue-dark"],
|
||
["Engrenage vis1","grey"],
|
||
["Engrenage vis2","grey"],
|
||
["Engrenage vis3","grey"]], "Moteur : mot_o(True | False), mot_f(True | False)")
|
||
twin.cycle_def_focusgroup([["Led", "led_yellow"]], "Gyrophare : gyr(True | False)")
|
||
|
||
# Focus sur les boutons et capteurs
|
||
scene.objects['Bp cote cour']['description']="Bouton poussoir coté cour : bp_int()"
|
||
scene.objects['Bp cote rue']['description']="Bouton poussoir coté rue : bp_ext()"
|
||
scene.objects['Microrupteur fdc ouvert']['description']="Capteur fin de course portail ouvert : fdc_o()"
|
||
scene.objects['Microrupteur fdc ferme']['description']="Capteur fin de course portail fermé : fdc_f()"
|
||
scene.objects['Emetteur IR']['description']="Capteur barrage IR (absence d\"obstacle) : ir_recep()"
|
||
scene.objects['Recepteur IR']['description']="Capteur barrage IR (absence d\"obstacle) : ir_recep()"
|
||
|
||
system_init() # Initialisation du système
|
||
|
||
def get_pin_config():
|
||
return pin_config
|
||
|
||
###############################################################################
|
||
# Actionneurs
|
||
###############################################################################
|
||
|
||
##
|
||
# Moteur et portail
|
||
##
|
||
|
||
def mot (cont):
|
||
if scene.objects['System']['run']:
|
||
obj = cont.owner
|
||
vitesse = 0.05
|
||
pas_portail = 2.35619/0.3 # pas echelle 1:1 = 2.35619 -> pas à l'échelle de la maquette (0,3) : 2.35619/0.3 = 7,85396 FIXME à enlever
|
||
pas_engrenage = math.pi/7 # z = 14 FIXME à enlever
|
||
|
||
obj_engrenage = scene.objects['Engrenage']
|
||
obj_portail = scene.objects['Portail']
|
||
# obj_portail['x']= scene.objects['Portail'].localPosition.x # Affichage de la position du portail
|
||
speed= obj['speed'] # 0,5 en tour / seconde -> course de 500 mm en 4s
|
||
speed= 0.1
|
||
scene.objects['System']['scale']=0.33
|
||
# speed= obj['speed'] # 0,2 en tour / seconde -> course de 500 mm en 20s
|
||
gear_radius = ((obj_engrenage['diameter'])/2) *(1/scene.objects['System']['scale']) # diametre : 40 mm et scale : 0,0033
|
||
|
||
if obj['close']:
|
||
print ("speed :", speed)
|
||
print ("gear_radius :", gear_radius)
|
||
print ("Vitesse engrenage : ", speed * 2 * math.pi*(1/60), pas_engrenage*vitesse)
|
||
print ("Vitesse portail : ", speed * 2 * math.pi * gear_radius*(1/60), pas_portail*vitesse)
|
||
print ("Ratio Vitesse portail/ Vitesse engrenage : ",( speed * 2 * math.pi * gear_radius*(1/60))/(speed * 2 * math.pi *(1/60)), pas_portail/pas_engrenage)
|
||
|
||
# Ouvrir
|
||
if obj['open']:
|
||
obj_engrenage.applyRotation((0, 0, -speed * 2 * math.pi), True)
|
||
obj_portail.applyMovement((-speed * math.pi * gear_diameter, 0, 0), True)
|
||
# obj_engrenage.applyRotation((0, 0, -pas_engrenage*vitesse), True)
|
||
# obj_portail.applyMovement((-pas_portail*vitesse, 0, 0), True)
|
||
|
||
# Modele 3D -> Arduino
|
||
if scene.objects['System']['twins']:
|
||
if scene.objects['Moteur']['pin_o'] is not None:
|
||
if scene.objects['Moteur']['pin_f'] is not None:
|
||
scene.objects['Moteur']['pin_f'].write(0)
|
||
scene.objects['Moteur']['pin_o'].write(1)
|
||
|
||
# Fermer
|
||
# else: # Pas de priorité
|
||
if obj['close']:
|
||
obj_engrenage.applyRotation((0, 0, speed * 2 * math.pi*(1/60)), True)
|
||
obj_portail.applyMovement((speed * 2 * math.pi * gear_radius*(1/60), 0, 0), True)
|
||
|
||
# obj_engrenage.applyRotation((0, 0, pas_engrenage*vitesse), True)
|
||
# obj_portail.applyMovement((pas_portail*vitesse, 0, 0), True)
|
||
|
||
# Modele 3D -> Arduino
|
||
if scene.objects['System']['twins']:
|
||
if scene.objects['Moteur']['pin_f'] is not None:
|
||
if scene.objects['Moteur']['pin_o'] is not None:
|
||
scene.objects['Moteur']['pin_o'].write(0)
|
||
scene.objects['Moteur']['pin_f'].write(1)
|
||
|
||
# Arrêrer
|
||
if obj['open']== False and obj['close'] == False :
|
||
|
||
# Modele 3D -> Arduino
|
||
if scene.objects['System']['twins']:
|
||
if scene.objects['Moteur']['pin_f'] is not None:
|
||
if scene.objects['Moteur']['pin_o'] is not None:
|
||
scene.objects['Moteur']['pin_o'].write(0)
|
||
scene.objects['Moteur']['pin_f'].write(0)
|
||
|
||
|
||
###############################################################################
|
||
# Capteurs fin de course
|
||
###############################################################################
|
||
|
||
##
|
||
# Etat capteur fin de course portail ouvert
|
||
##
|
||
|
||
def fdc_o (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 de la grille : worldPosition.x : 0 -> 65.5 et localPosition.x : 0 -> 218
|
||
if scene.objects['Portail'].localPosition.x <= 0 and obj['activated'] == False :
|
||
obj['activated'] = True
|
||
if scene.objects['Portail'].localPosition.x > 0 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 portail fermé
|
||
##
|
||
|
||
def fdc_f (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 de la grille : worldPosition.x : 0 -> 65.5 et localPosition.x : 0 -> 218
|
||
if scene.objects['Portail'].localPosition.x >= 218 and obj['activated'] == False :
|
||
obj['activated'] = True
|
||
if scene.objects['Portail'].localPosition.x < 218 and obj['activated'] == True :
|
||
obj['activated'] = False
|
||
|
||
# Forçage par clic
|
||
if obj['click'] == True:
|
||
obj['activated'] = True
|
||
|
||
# Couleurs
|
||
twin.cycle_sensitive_color(obj)
|
||
|
||
###############################################################################
|
||
# Capteur barrage
|
||
###############################################################################
|
||
|
||
##
|
||
# Emetteur IR
|
||
##
|
||
|
||
def ir_emet (cont):
|
||
if scene.objects['System']['run'] :
|
||
obj = cont.owner
|
||
|
||
# Mouse over
|
||
if obj['mo'] == True and obj['click'] == False and obj.color !=color_hl:
|
||
obj.color =color_hl
|
||
return
|
||
|
||
# Passif
|
||
if obj['active'] == False and obj.color !=color_passive:
|
||
obj.color =color_passive
|
||
scene.objects['Emetteur IR Led'].setVisible(True,False)
|
||
scene.objects['Emetteur IR Led-on'].setVisible(False,False)
|
||
scene.objects['Recepteur IR']['active'] = False
|
||
|
||
# Modele 3D -> Arduino
|
||
if scene.objects['System']['twins']:
|
||
if scene.objects['Emetteur IR']['pin'] is not None:
|
||
scene.objects['Emetteur IR']['pin'].write(0)
|
||
return
|
||
|
||
# Active
|
||
if obj['active']:
|
||
|
||
# Allumage
|
||
if scene.objects['Emetteur IR Led-on'].visible == False:
|
||
scene.objects['Emetteur IR Led-on'].setVisible(True,False)
|
||
scene.objects['Emetteur IR Led'].setVisible(False,False)
|
||
obj.color = color_active
|
||
scene.objects['Recepteur IR']['active'] = True
|
||
|
||
# Modele 3D -> Arduino
|
||
if scene.objects['System']['twins']:
|
||
if scene.objects['Emetteur IR']['pin'] is not None:
|
||
scene.objects['Emetteur IR']['pin'].write(1)
|
||
|
||
# Forçage par clic
|
||
if obj['click'] == True:
|
||
obj['activated'] = True
|
||
scene.objects['Recepteur IR']['activated'] = True
|
||
|
||
# Couleurs
|
||
# FIXME : à faire
|
||
if obj['activated'] == True and obj.color !=color_activated:
|
||
obj.color =color_activated
|
||
if obj['activated'] == False :
|
||
if obj['mo'] == True and obj.color !=color_hl:
|
||
obj.color =color_hl
|
||
if obj['mo'] == False and obj.color !=color_active:
|
||
obj.color =color_active
|
||
|
||
##
|
||
# Récepteur IR
|
||
# FIXME : Modele 3D -> Arduino à faire
|
||
##
|
||
|
||
def ir_recep (cont):
|
||
if scene.objects['System']['run'] :
|
||
obj = cont.owner
|
||
|
||
# Mouse over
|
||
if obj['mo'] == True and obj['click'] == False and obj.color !=color_hl:
|
||
obj.color =color_hl
|
||
return
|
||
|
||
# Passif
|
||
if obj['active'] == False and obj.color !=color_passive:
|
||
obj.color =color_passive
|
||
return
|
||
|
||
# Active
|
||
if obj['active']:
|
||
|
||
# Forçage par clic
|
||
if obj['click'] == True:
|
||
obj['activated'] = True
|
||
scene.objects['Emetteur IR']['activated'] = True
|
||
|
||
# Couleurs
|
||
# FIXME : à faire
|
||
if obj['activated'] == True and obj.color !=color_activated:
|
||
obj.color =color_activated
|
||
if obj['activated'] == False :
|
||
if obj['mo'] == True and obj.color !=color_hl:
|
||
obj.color =color_hl
|
||
if obj['mo'] == False and obj.color !=color_active:
|
||
obj.color =color_active
|
||
|
||
###############################################################################
|
||
# Système
|
||
###############################################################################
|
||
|
||
##
|
||
# Initialisation du système
|
||
##
|
||
|
||
def system_init ():
|
||
system_reset()
|
||
|
||
##
|
||
# Réinitialisation du système
|
||
##
|
||
|
||
def system_reset ():
|
||
|
||
# Grille à l'état initial
|
||
scene.objects['Portail'].worldPosition.x = scene.objects['Portail']['init_lx']-scene.objects['System']['init_lx']+scene.objects['System'].worldPosition.x
|
||
scene.objects['Portail'].worldPosition.y = scene.objects['Portail']['init_ly']-scene.objects['System']['init_ly']+scene.objects['System'].worldPosition.y
|
||
scene.objects['Portail'].worldPosition.z = scene.objects['Portail']['init_lz']-scene.objects['System']['init_lz']+scene.objects['System'].worldPosition.z
|
||
|
||
# Moteur à l'état initial
|
||
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'].setVisible(True,False)
|
||
scene.objects['Led-on'].setVisible(False,False)
|
||
|
||
# Capteur barrage IR
|
||
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
|
||
|
||
# I/O à l'état initial
|
||
scene.objects['Led']['activated']=False
|
||
scene.objects['Moteur']['open']=False
|
||
scene.objects['Moteur']['close']=False
|
||
scene.objects['Microrupteur fdc ouvert']['activated']=False
|
||
scene.objects['Microrupteur fdc ouvert']['activated_real']=False
|
||
scene.objects['Microrupteur fdc ferme']['activated']=False
|
||
scene.objects['Microrupteur fdc ferme']['activated_real']=False
|
||
scene.objects['Bp cote cour']['activated'] =False
|
||
scene.objects['Bp cote cour']['activated_real'] =False
|
||
scene.objects['Bp cote rue']['activated'] =False
|
||
scene.objects['Bp cote rue']['activated_real'] =False
|
||
scene.objects['Emetteur IR']['activated'] =False
|
||
scene.objects['Emetteur IR']['activated_real'] =False
|
||
scene.objects['Emetteur IR']['active'] =False
|
||
scene.objects['Recepteur IR']['activated'] =False
|
||
scene.objects['Recepteur IR']['active'] =False
|
||
scene.objects['Recepteur IR']['activated_real'] =True # Absence d'obstacle -> True, présence d'obstacle -> False
|