mirror of
https://forge.apps.education.fr/blender-edutech/jumeaux-numeriques.git
synced 2024-01-27 06:56:18 +01:00
273 lines
12 KiB
Python
273 lines
12 KiB
Python
import bge # Bibliothèque Blender Game Engine (UPBGE)
|
||
import twin # Bibliothèque de l'environnement 3D des jumeaux numériques
|
||
import math
|
||
import time
|
||
|
||
###############################################################################
|
||
# montchg.py
|
||
# @title: Commandes pour le monte-charge
|
||
# @project: Blender-EduTech
|
||
# @lang: fr
|
||
# @authors: Philippe Roy <philippe.roy@ac-grenoble.fr>
|
||
# @copyright: Copyright (C) 2022 Philippe Roy
|
||
# @license: GNU GPL
|
||
###############################################################################
|
||
|
||
# Récupérer la scène UPBGE
|
||
scene = bge.logic.getCurrentScene()
|
||
|
||
# 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 : jaune
|
||
|
||
# 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
|
||
|
||
# Mémorisation de la position et orientation des composants du système au départ
|
||
scene.objects['Cabine']['init_lx']=scene.objects['Cabine'].worldPosition.x
|
||
scene.objects['Cabine']['init_ly']=scene.objects['Cabine'].worldPosition.y
|
||
scene.objects['Cabine']['init_lz']=scene.objects['Cabine'].worldPosition.z
|
||
scene.objects['Contrepoids']['init_lx']=scene.objects['Contrepoids'].worldPosition.x
|
||
scene.objects['Contrepoids']['init_ly']=scene.objects['Contrepoids'].worldPosition.y
|
||
scene.objects['Contrepoids']['init_lz']=scene.objects['Contrepoids'].worldPosition.z
|
||
scene.objects['Moteur vis sans fin']['init_rx']=scene.objects['Moteur vis sans fin'].worldOrientation.to_euler().x
|
||
scene.objects['Moteur vis sans fin']['init_ry']=scene.objects['Moteur vis sans fin'].worldOrientation.to_euler().y
|
||
scene.objects['Moteur vis sans fin']['init_rz']=scene.objects['Moteur vis sans fin'].worldOrientation.to_euler().z
|
||
scene.objects['Moteur pignon']['init_rx']=scene.objects['Moteur pignon'].worldOrientation.to_euler().x
|
||
scene.objects['Moteur pignon']['init_ry']=scene.objects['Moteur pignon'].worldOrientation.to_euler().y
|
||
scene.objects['Moteur pignon']['init_rz']=scene.objects['Moteur pignon'].worldOrientation.to_euler().z
|
||
|
||
# Description des composants sensibles
|
||
scene.objects['Bp niveau 0']['description']="Bouton poussoir appel niveau 0 : ba_0()"
|
||
scene.objects['Bp niveau 1']['description']="Bouton poussoir appel niveau 1 : ba_1()"
|
||
scene.objects['Microrupteur niveau 0']['description']="Capteur présence cabine niveau 0 : pc_0()"
|
||
scene.objects['Microrupteur niveau 1']['description']="Capteur présence cabine niveau 1 : pc_1()"
|
||
|
||
system_init() # Initialisation du système
|
||
|
||
###############################################################################
|
||
# Voyants
|
||
###############################################################################
|
||
|
||
##
|
||
# Etat voyant 0
|
||
# Modele 3d -> Arduino : FIXME
|
||
# Arduino -> Modele 3d : FIXME
|
||
##
|
||
|
||
def voy_0 (cont):
|
||
if scene.objects['System']['run']:
|
||
obj = cont.owner
|
||
if obj['activated'] and scene.objects['Led niveau 0-on'].visible == False:
|
||
scene.objects['Led niveau 0-on'].setVisible(True,False)
|
||
scene.objects['Led niveau 0'].setVisible(False,False)
|
||
if obj['activated']==False and scene.objects['Led niveau 0-on'].visible == True:
|
||
scene.objects['Led niveau 0'].setVisible(True,False)
|
||
scene.objects['Led niveau 0-on'].setVisible(False,False)
|
||
|
||
##
|
||
# Etat voyant 1
|
||
# Modele 3d -> Arduino : FIXME
|
||
# Arduino -> Modele 3d : FIXME
|
||
##
|
||
|
||
def voy_1 (cont):
|
||
if scene.objects['System']['run']:
|
||
obj = cont.owner
|
||
if obj['activated'] and scene.objects['Led niveau 1-on'].visible == False:
|
||
scene.objects['Led niveau 1-on'].setVisible(True,False)
|
||
scene.objects['Led niveau 1'].setVisible(False,False)
|
||
if obj['activated']==False and scene.objects['Led niveau 1-on'].visible == True:
|
||
scene.objects['Led niveau 1'].setVisible(True,False)
|
||
scene.objects['Led niveau 1-on'].setVisible(False,False)
|
||
|
||
###############################################################################
|
||
# Actionneurs
|
||
###############################################################################
|
||
|
||
##
|
||
# Moteur et cabine
|
||
# Modele 3d -> Arduino : FIXME
|
||
# Arduino -> Modele 3d : FIXME
|
||
##
|
||
|
||
def mot (cont):
|
||
if scene.objects['System']['run']:
|
||
obj = cont.owner
|
||
vitesse = 0.015
|
||
pas_cabine = 10 # Diam axe = 3 mm -> 1 tour = 3*math.pi
|
||
pas_pignon = pas_cabine/(3*math.pi) # Z pignon = 48 dents
|
||
pas_vissansfin = pas_pignon*48
|
||
obj_vissansfin = scene.objects['Moteur vis sans fin']
|
||
obj_pignon = scene.objects['Moteur pignon']
|
||
obj_cabine = scene.objects['Cabine']
|
||
obj_cabine['z']= scene.objects['Cabine'].localPosition.z # Affichage de l'altitude de la cabine
|
||
obj_contrepoids = scene.objects['Contrepoids']
|
||
obj_cable = scene.objects['Cable'] # FIXME : plus tard
|
||
if obj['up']:
|
||
obj_vissansfin.applyRotation((0, 0, pas_vissansfin*vitesse), True)
|
||
obj_pignon.applyRotation((pas_pignon*vitesse, 0, 0), True)
|
||
obj_cabine.applyMovement((0, 0, pas_cabine*vitesse), True)
|
||
obj_contrepoids.applyMovement((0, 0, -pas_cabine*vitesse), True)
|
||
# else: # Pas de priorité
|
||
if obj['down']:
|
||
obj_vissansfin.applyRotation((0, 0, -pas_vissansfin*vitesse), True)
|
||
obj_pignon.applyRotation((-pas_pignon*vitesse, 0, 0), True)
|
||
obj_cabine.applyMovement((0, 0, -pas_cabine*vitesse), True)
|
||
obj_contrepoids.applyMovement((0, 0, pas_cabine*vitesse), True)
|
||
|
||
###############################################################################
|
||
# Capteurs
|
||
###############################################################################
|
||
|
||
##
|
||
# Etat capteur présence cabine niveau 0
|
||
# Modele 3d -> Arduino : FIXME
|
||
# Arduino -> Modele 3d : FIXME
|
||
##
|
||
|
||
def pc_0 (cont):
|
||
if scene.objects['System']['run'] :
|
||
obj = cont.owner
|
||
|
||
# Etat capteur en fonction de la position de la cabine : localPosition.z entre -40 et -42
|
||
if scene.objects['Cabine'].localPosition.z <-40 and scene.objects['Cabine'].localPosition.z >-42 and obj['activated'] == False :
|
||
obj['activated'] = True
|
||
if (scene.objects['Cabine'].localPosition.z > -40 or scene.objects['Cabine'].localPosition.z <-42) and obj['activated'] == True :
|
||
obj['activated'] = False
|
||
|
||
# Forçage (click)
|
||
if obj['click'] == True:
|
||
obj['activated'] = True
|
||
|
||
# Couleurs
|
||
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
|
||
|
||
##
|
||
# Etat capteur présence cabine niveau 1
|
||
# Modele 3d -> Arduino : FIXME
|
||
# Arduino -> Modele 3d : FIXME
|
||
##
|
||
|
||
def pc_1 (cont):
|
||
if scene.objects['System']['run'] :
|
||
obj = cont.owner
|
||
|
||
# Etat capteur en fonction de la position de la cabine : localPosition.z entre 0 et -2
|
||
if scene.objects['Cabine'].localPosition.z <0 and scene.objects['Cabine'].localPosition.z >-2 and obj['activated'] == False :
|
||
obj['activated'] = True
|
||
if (scene.objects['Cabine'].localPosition.z > 0 or scene.objects['Cabine'].localPosition.z <-2) and obj['activated'] == True :
|
||
obj['activated'] = False
|
||
|
||
# Forçage (click)
|
||
if obj['click'] == True:
|
||
obj['activated'] = True
|
||
|
||
# Couleurs
|
||
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
|
||
|
||
###############################################################################
|
||
# Boutons
|
||
###############################################################################
|
||
|
||
# Modele 3d -> Arduino : FIXME
|
||
# Arduino -> Modele 3d : FIXME
|
||
|
||
# Arduino -> numérique
|
||
# bt_a_m_txt = txt_extrac_bool(serial_msg,"bt_a_m: ")
|
||
# bt_a_d_txt = txt_extrac_bool(serial_msg,"bt_a_d: ")
|
||
# bt_b_m_txt = txt_extrac_bool(serial_msg,"bt_b_m: ")
|
||
# bt_b_d_txt = txt_extrac_bool(serial_msg,"bt_b_d: ")
|
||
# bt_c_m_txt = txt_extrac_bool(serial_msg,"bt_c_m: ")
|
||
# bt_c_d_txt = txt_extrac_bool(serial_msg,"bt_c_d: ")
|
||
# bp_phy('Bp Am', bt_a_m_txt)
|
||
# bp_phy('Bp Ad', bt_a_d_txt)
|
||
# bp_phy('Bp Bm', bt_b_m_txt)
|
||
# bp_phy('Bp Bd', bt_b_d_txt)
|
||
# bp_phy('Bp Cm', bt_c_m_txt)
|
||
# bp_phy('Bp Cd', bt_c_d_txt)
|
||
|
||
# # Affichage de l'activation physique des boutons
|
||
# def bp_phy(obj_name, bp_phy_sig):
|
||
# obj=scene.objects[obj_name]
|
||
# if bp_phy_sig =="0":
|
||
# obj['actif_phy'] = True
|
||
# obj.color = couleur_jaune
|
||
# else:
|
||
# if obj['actif_phy']:
|
||
# obj['actif_phy'] = False
|
||
# obj.color = couleur_orange
|
||
|
||
###############################################################################
|
||
# Système
|
||
###############################################################################
|
||
|
||
##
|
||
# Initialisation du système
|
||
# # Le moteur est géré en continue.
|
||
##
|
||
|
||
def system_init ():
|
||
system_reset()
|
||
|
||
##
|
||
# Réinitialisation du système
|
||
##
|
||
|
||
def system_reset ():
|
||
|
||
# Voyants aux états initiaux
|
||
scene.objects['Led niveau 0'].setVisible(True,False)
|
||
scene.objects['Led niveau 0-on'].setVisible(False,False)
|
||
scene.objects['Led niveau 1'].setVisible(True,False)
|
||
scene.objects['Led niveau 1-on'].setVisible(False,False)
|
||
|
||
# Cabine
|
||
scene.objects['Cabine'].worldPosition.x = scene.objects['Cabine']['init_lx']-scene.objects['System']['init_lx']+scene.objects['System'].worldPosition.x
|
||
scene.objects['Cabine'].worldPosition.y = scene.objects['Cabine']['init_ly']-scene.objects['System']['init_ly']+scene.objects['System'].worldPosition.y
|
||
scene.objects['Cabine'].worldPosition.z = scene.objects['Cabine']['init_lz']-scene.objects['System']['init_lz']+scene.objects['System'].worldPosition.z
|
||
scene.objects['Contrepoids'].worldPosition.x = scene.objects['Contrepoids']['init_lx']-scene.objects['System']['init_lx']+scene.objects['System'].worldPosition.x
|
||
scene.objects['Contrepoids'].worldPosition.y = scene.objects['Contrepoids']['init_ly']-scene.objects['System']['init_ly']+scene.objects['System'].worldPosition.y
|
||
scene.objects['Contrepoids'].worldPosition.z = scene.objects['Contrepoids']['init_lz']-scene.objects['System']['init_lz']+scene.objects['System'].worldPosition.z
|
||
|
||
# Moteur à l'état initial : pas utile
|
||
|
||
# I/O à l'état initial
|
||
scene.objects['Led niveau 0']['activated']=False
|
||
scene.objects['Led niveau 1']['activated']=False
|
||
scene.objects['Bp niveau 0']['activated']=False
|
||
scene.objects['Bp niveau 1']['activated']=False
|
||
scene.objects['Microrupteur niveau 0']['activated']=False
|
||
scene.objects['Microrupteur niveau 1']['activated']=False
|
||
scene.objects['Moteur']['up']=False
|
||
scene.objects['Moteur']['down']=False
|
||
|