ropy/rp_lib.py

312 lines
9.0 KiB
Python

import bge # Blender Game Engine (UPBGE)
import aud # Sounds
import threading # Multithreading
import trace
import sys
import time
import math
import mathutils
import random
###############################################################################
# rp_lib.py
# @title: Bibliothèque du Robot Ropy (rp_*)
# @project: Ropy (Blender-EduTech)
# @lang: fr
# @authors: Philippe Roy <philippe.roy@ac-grenoble.fr>
# @copyright: Copyright (C) 2020-2022 Philippe Roy
# @license: GNU GPL
#
# Bibliothèque des actions du robot
# Bibliothèque pour la construction des murs
#
# Ropy est destiné à la découverte de la programmation procédurale et du language Python.
# A travers plusieurs challenges, donc de manière graduée, les élèves vont apprendre à manipuler les structures algorithmiques de base et à les coder en Python.
#
###############################################################################
scene = bge.logic.getCurrentScene()
# Colors
purple = (0.202, 0.114, 0.521,1)
turquoise = (0.051, 0.270, 0.279,1)
magenta = (0.799, 0.005, 0.314,1)
orange = (0.799, 0.130, 0.063,1)
yellow = (0.799, 0.617, 0.021, 1)
green = (0.246, 0.687, 0.078, 1)
red = (0.799, 0.031, 0.038, 1)
blue = (0.127, 0.456, 1.000, 1)
black = (0, 0, 0, 1)
color_text = (0, 0, 0, 1) # Noir
color_text_red = (0.799, 0.031, 0.038, 1)
color_text_orange = (0.799, 0.176, 0.054, 1)
color_text_yellow = (0.799, 0.617, 0.021, 1)
# ray_yellow = (0.799, 0.617, 0.021, 1) # [0.8, 0.619, 0.021])
# ray_blue = (0.127, 0.456, 1.000, 1)
# ray_black = (0, 0, 0, 1)
color_kaykit_black = (0.019, 0.032, 0.037, 1)
# Sounds
# audiodev = aud.Device()
# snd_build = aud.Sound('asset/sounds/build.wav')
# sndbuff_build = aud.Sound.cache(snd_build)
# snd_archer = aud.Sound('asset/sounds/archer.wav')
# sndbuff_archer = aud.Sound.cache(snd_archer)
# snd_mage = aud.Sound('asset/sounds/mage.wav')
# sndbuff_mage = aud.Sound.cache(snd_mage)
# snd_life = aud.Sound('asset/sounds/life.ogg')
# sndbuff_life = aud.Sound.cache(snd_life)
threads_cmd=[]
debug_thread = scene.objects['Terrain']['debug_thread']
# UPBGE constants
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
###############################################################################
# Méthode kill pour les tâches (threads)
###############################################################################
class thread_with_trace(threading.Thread):
def __init__(self, *args, **keywords):
threading.Thread.__init__(self, *args, **keywords)
self.killed = False
def start(self):
self.__run_backup = self.run
self.run = self.__run
threading.Thread.start(self)
def __run(self):
sys.settrace(self.globaltrace)
self.__run_backup()
self.run = self.__run_backup
def globaltrace(self, frame, event, arg):
if event == 'call':
return self.localtrace
else:
return None
def localtrace(self, frame, event, arg):
if self.killed:
if event == 'line':
raise SystemExit()
return self.localtrace
def kill(self):
self.killed = True
###############################################################################
# Start et stop des tâches (threads)
###############################################################################
def thread_start(threads, type_txt, fct):
threads.append(thread_with_trace(target = fct))
threads[len(threads)-1].start()
if (debug_thread):
print ("Thread",type_txt, "#", len(threads)-1, "open.")
def thread_stop(threads, type_txt):
i=0
zombie_flag=False
for t in threads:
if not t.is_alive():
if (debug_thread):
print ("Thread",type_txt, "#",i,"closed.")
else:
if (debug_thread):
print ("Thread",type_txt, "#",i,"still open ...")
t.kill()
t.join()
if not t.is_alive():
if (debug_thread):
print ("Thread",type_txt, "#",i,"killed.")
else:
if (debug_thread):
print ("Thread",type_txt, "#",i,"zombie...")
zombie_flag=True
i +=1
if zombie_flag==False:
if (debug_thread):
print ("All threads",type_txt, "are closed.")
scene.objects['Terrain']['thread_cmd']=False
return True
else:
if (debug_thread):
print ("There are zombies threads",type_txt, ".")
return False
def thread_cmd_start(fct):
thread_start(threads_cmd, "commands", fct)
def thread_cmd_stop():
thread_stop(threads_cmd, "commands")
def rp_end():
if (debug_thread):
print ("Thread commands is arrived.")
scene.objects['Terrain']['thread_cmd']=False
def rp_fin():
rp_end()
def rp_quit():
rp_end()
###############################################################################
# Sounds
###############################################################################
# FIXME : Sound crash in Windows (very strange : blender, UPBGE, python ?), no music for Bill
def sound_play (sound):
if scene.objects['Commands']['sound'] and sys.platform!="win32":
audiodev.play(sound)
###############################################################################
# Rover fonction élèves
###############################################################################
##
# Avancer le rover
##
def rp_avancer ():
print ("rp_avancer()")
step =1
obj=scene.objects['Rover']
# print (obj.worldOrientation.to_euler().z)
x0 = obj.worldPosition.x
y0 = obj.worldPosition.y
z0 = obj.worldPosition.z
if round(obj.worldOrientation.to_euler().z, 2) == 0.00: # Sud
obj.worldPosition=[x0, y0-step, z0]
if round(obj.worldOrientation.to_euler().z, 2) == round(math.pi,2) or round(obj.worldOrientation.to_euler().z, 2) == - round(math.pi,2) : # Nord
obj.worldPosition=[x0, y0+step, z0]
if round(obj.worldOrientation.to_euler().z, 2) == round(math.pi/2,2) or round(obj.worldOrientation.to_euler().z, 2) == -round(3*(math.pi/2),2) : # Est
obj.worldPosition=[x0+step, y0, z0]
if round(obj.worldOrientation.to_euler().z, 2) == round(-math.pi/2,2) or round(obj.worldOrientation.to_euler().z, 2) == round(3*(math.pi/2),2) : # Ouest
obj.worldPosition=[x0-step, y0, z0]
rp_tempo (0.1)
##
# Tourner à gauche
##
def rp_gauche ():
print ("rp_gauche()")
step=math.pi/2 # Pas angulaire
obj=scene.objects['Rover']
obj.applyRotation((0, 0, step), True)
rp_tempo (0.1)
##
# Tourner à droite
##
def rp_droite ():
print ("rp_droite()")
step=math.pi/2 # Pas angulaire
obj=scene.objects['Rover']
obj.applyRotation((0, 0, -step), True)
rp_tempo (0.1)
##
# Marquer
##
def rp_marquer ():
rp_tempo (0.1)
print ("rp_marquer()")
obj=scene.objects['Rover']
x = obj.worldPosition.x
y = obj.worldPosition.y
z = obj.worldPosition.z
# Vérification de l'absence de balise sur la tuile
if [x,y] in scene.objects['Terrain']['map_tile_beacon'] :
print ("Case déjà marquée !")
return False
for i in range (100):
beacon = scene.objects["Beacon-"+str(i)]
if beacon['activated']==False:
beacon.worldPosition=[x,y,0.2]
beacon['activated']=True
beacon.setVisible(True, True)
break
if i ==99 :
print ("Plus de balise disponible !")
# beacon= scene.addObject("Beacon", scene.objects['Terrain'])
# beacon.worldPosition=[x,y,0.2]
scene.objects['Terrain']['map_tile_beacon'].append([x,y])
rp_tempo (0.1)
return True
##
# Détecter
##
def rp_detect ():
print ("rp_detect")
# FIXME
##
# Prendre
##
def rover_prendre ():
print ("rp_prendre")
# FIXME
##
# Radar
##
def rover_radar ():
print ("rp_radar")
# FIXME
###############################################################################
# Rover
###############################################################################
##
# Colision
##
def rover_colision ():
pass
###############################################################################
# Temporisation
###############################################################################
def rp_sleep (duration):
time.sleep(duration)
def rp_tempo (duration):
# time.sleep(duration*(1/scene.objects['Commands']['speed']))
scene.objects['Commands']['time']=0
while scene.objects['Commands']['time']<duration*(1/scene.objects['Commands']['speed']):
# print("Temporization commands :",scene.objects['Terrain']['delay_cmd'])
time.sleep(0.001)
# # pass
###############################################################################
# Map
###############################################################################
def map_aim_near (cont):
obj = cont.owner
sensor = obj.sensors['Near']
if sensor.positive :
print ("Goall !!")