Blender-EduTech/ropy
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ropy/rp_lib.py

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import bge # Blender Game Engine (UPBGE)
import bpy # Blender
import aud # Sounds
import threading # Multithreading
import trace
import sys
import time
import math
import mathutils
import random
import serial # Liaison série (jumeau numérique)
from serial.tools.list_ports import comports # Détection du port automatique
import rp_map1 as rp_map # Map definition
###############################################################################
# rp_lib.py
# @title: Bibliothèque du Rover 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
#
# 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()
debug_mvt = scene.objects['Terrain']['debug_mvt']
# Sounds
audiodev = aud.Device()
snd_click = aud.Sound('asset/sounds/rp_click.ogg')
# Threads
threads_cmd=[]
threads_gostore=[]
debug_thread = scene.objects['Terrain']['debug_thread']
# Jumeau numérique
twins_serial = None
# 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 thread_gostore_start(fct):
thread_start(threads_gostore, "go store", fct)
def thread_gostore_stop():
thread_stop(threads_gostore, "go store")
def rp_end():
# Jumeau numérique
if scene.objects['Commands']['twins']:
serial_msg = "FI\n"
twins_serial.write(serial_msg.encode()) # Communication série : modele 3d -> carte communication ( arduino | micro:bit )
rp_jumeau_close()
# Thread
if (debug_thread):
print ("Thread commands is arrived.")
time.sleep(0.125)
scene.objects['Terrain']['thread_cmd']=False
time.sleep(0.125)
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
# - twins (True|False) : envoi un ordre au jumeau réel
##
def rp_avancer (twins=True):
obj=scene.objects['Rover']
# Pas de mouvement si colision ou objectif
if obj['stop']:
return False
# Contrôle colision
x0 = obj.worldPosition.x
y0 = obj.worldPosition.y
z0 = obj.worldPosition.z
if round(obj.worldOrientation.to_euler().z, 2) == 0.00: # Sud
x1 = x0
y1 = y0-1
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
x1 = x0
y1 = y0+1
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
x1 = x0+1
y1 = y0
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
x1 = x0-1
y1 = y0
if [x1,y1] in scene.objects['Terrain']['map_tile_montain']:
print ("Crash dans la montagne !")
rover_colision_montain (False)
obj['stop'] = True
if [x1,y1] in scene.objects['Terrain']['map_tile_station']:
print ("Crash dans la station !")
rover_colision_station (False)
obj['stop'] = True
if x1 < scene.objects['Terrain']['size'][0] or x1 > scene.objects['Terrain']['size'][2] or y1 < scene.objects['Terrain']['size'][1] or y1 > scene.objects['Terrain']['size'][3] :
print ("Sortie de carte !")
obj['stop'] = True
if obj['stop']:
return False
# Points, console et jumeau numérique
if debug_mvt:
print ("rp_avancer()")
scene.objects['Points']['step'] +=1
if scene.objects['Commands']['twins'] and twins:
serial_msg = "AV\n"
twins_serial.write(serial_msg.encode()) # Communication série : modele 3d -> carte communication ( arduino | micro:bit )
# Animation rapide
if scene.objects['Commands']['speed'] >= 10 and scene.objects['Points']['step']> 2: # A tendance à planter sur les premiers mouvements en rapide + balisage
rp_tempo (0.1)
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, y0-1, 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+1, 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+1, 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=[x0-1, y0, z0]
rp_tempo (0.1)
# FIXME : Animation sacadée
# step =1/100
# print (obj.worldOrientation.to_euler().z)
# x0 = obj.worldPosition.x
# y0 = obj.worldPosition.y
# z0 = obj.worldPosition.z
# for i in range (100) :
# if round(obj.worldOrientation.to_euler().z, 2) == 0.00: # Sud
# obj.worldPosition=[x0, y0-step*i, 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*i, 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*i, 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*i, y0, z0]
# rp_tempo (0.1*step)
# Animation
if scene.objects['Commands']['speed'] < 10 or scene.objects['Points']['step']<=2:
start = 1
end = 100
layer = 0
priority = 1
blendin = 1.0
mode = bge.logic.KX_ACTION_MODE_PLAY
layerWeight = 0.0
ipoFlags = 0
speed = scene.objects['Commands']['speed']*8
if round(obj.worldOrientation.to_euler().z, 2) == 0.00: # Sud
obj.playAction('Rover-Avancer-Y-', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
# obj.worldPosition=[x0, y0-step*i, 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.playAction('Rover-Avancer-Y+', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
# obj.worldPosition=[x0, y0+step*i, 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.playAction('Rover-Avancer-X+', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
# obj.worldPosition=[x0+step*i, 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.playAction('Rover-Avancer-X-', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
# obj.worldPosition=[x0-step*i, y0, z0]
scene.objects['Rv-Wheel-right-front'].playAction('Wheel-Avancer', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
scene.objects['Rv-Wheel-right-mid'].playAction('Wheel-Avancer', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
scene.objects['Rv-Wheel-right-rear'].playAction('Wheel-Avancer', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
scene.objects['Rv-Wheel-left-front'].playAction('Wheel-Avancer', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
scene.objects['Rv-Wheel-left-mid'].playAction('Wheel-Avancer', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
scene.objects['Rv-Wheel-left-rear'].playAction('Wheel-Avancer', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
while scene.objects['Rv-Wheel-right-front'].isPlayingAction(): # Forçage du redraw
# scene.objects['Camera'].applyMovement((0, 0, 0), True)
scene.objects['Sun'].applyMovement((0, 0, 0), True)
rp_tempo (0.1)
# Contrôle objectif
if rp_map.objectif_control(x1,y1):
rover_goal ()
return True
##
# Reculer le rover
# - twins (True|False) : envoi un ordre au jumeau réel
##
def rp_reculer (twins=True):
obj=scene.objects['Rover']
# Pas de mouvement si colision ou objectif
if obj['stop']:
return False
# Contrôle colision
x0 = obj.worldPosition.x
y0 = obj.worldPosition.y
z0 = obj.worldPosition.z
if round(obj.worldOrientation.to_euler().z, 2) == 0.00: # Sud
x1 = x0
y1 = y0+1
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
x1 = x0
y1 = y0-1
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
x1 = x0-1
y1 = y0
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
x1 = x0+1
y1 = y0
if [x1,y1] in scene.objects['Terrain']['map_tile_montain']:
print ("Crash dans la montagne !")
rover_colision_montain (True)
obj['stop'] = True
if [x1,y1] in scene.objects['Terrain']['map_tile_station']:
print ("Crash dans la station !")
rover_colision_station (True) # FIXME à faire en recul
obj['stop'] = True
if x1 < scene.objects['Terrain']['size'][0] or x1 > scene.objects['Terrain']['size'][2] or y1 < scene.objects['Terrain']['size'][1] or y1 > scene.objects['Terrain']['size'][3] :
print ("Sortie de carte !") # FIXME à faire en recul
obj['stop'] = True
if obj['stop']:
return False
# Points, console et jumeau numérique
if (debug_mvt):
print ("rp_reculer()")
scene.objects['Points']['step'] +=1
if scene.objects['Commands']['twins'] and twins:
serial_msg = "RE\n"
twins_serial.write(serial_msg.encode()) # Communication série : modele 3d -> carte communication ( arduino | micro:bit )
# Animation rapide
if scene.objects['Commands']['speed'] >= 10 and scene.objects['Points']['step']> 2: # A tendance à planter sur les premiers mouvements en rapide + balisage
rp_tempo (0.1)
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+1, 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, y0-1, 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=[x0-1, 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+1, y0, z0]
rp_tempo (0.1)
# Animation
if scene.objects['Commands']['speed'] < 10:
start = 1
end = 100
layer = 0
priority = 1
blendin = 1.0
mode = bge.logic.KX_ACTION_MODE_PLAY
layerWeight = 0.0
ipoFlags = 0
speed = scene.objects['Commands']['speed']*8
if round(obj.worldOrientation.to_euler().z, 2) == 0.00: # Sud
obj.playAction('Rover-Avancer-Y+', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
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.playAction('Rover-Avancer-Y-', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
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.playAction('Rover-Avancer-X-', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
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.playAction('Rover-Avancer-X+', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
scene.objects['Rv-Wheel-right-front'].playAction('Wheel-Reculer', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
scene.objects['Rv-Wheel-right-mid'].playAction('Wheel-Reculer', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
scene.objects['Rv-Wheel-right-rear'].playAction('Wheel-Reculer', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
scene.objects['Rv-Wheel-left-front'].playAction('Wheel-Reculer', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
scene.objects['Rv-Wheel-left-mid'].playAction('Wheel-Reculer', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
scene.objects['Rv-Wheel-left-rear'].playAction('Wheel-Reculer', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
while scene.objects['Rv-Wheel-right-front'].isPlayingAction(): # Forçage du redraw
scene.objects['Sun'].applyMovement((0, 0, 0), True)
rp_tempo (0.1)
# Contrôle objectif
if rp_map.objectif_control(x1,y1):
rover_goal ()
return True
##
# Tourner à gauche
# - twins (True|False) : envoi un ordre au jumeau réel
##
def rp_gauche (twins=True):
obj=scene.objects['Rover']
# Pas de mouvement si colision ou objectif
if obj['stop']:
return False
# Points, console et jumeau numérique
if (debug_mvt):
print ("rp_gauche()")
scene.objects['Points']['step'] +=1
step=math.pi/2 # Pas angulaire
if scene.objects['Commands']['twins'] and twins:
serial_msg = "GA\n"
twins_serial.write(serial_msg.encode()) # Communication série : modele 3d -> carte communication ( arduino | micro:bit )
# Animation rapide
if scene.objects['Commands']['speed'] >= 10:
rp_tempo (0.1)
obj.applyRotation((0, 0, step), True)
rp_tempo (0.1)
return True
# Animation
start = 1
end = 100
layer = 0
priority = 1
blendin = 1.0
mode = bge.logic.KX_ACTION_MODE_PLAY
layerWeight = 0.0
ipoFlags = 0
speed = scene.objects['Commands']['speed']*8
obj.playAction('Rover-Gauche', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
scene.objects['Rv-Wheel-right-front'].playAction('Wheel-Avancer', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
scene.objects['Rv-Wheel-right-mid'].playAction('Wheel-Avancer', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
scene.objects['Rv-Wheel-right-rear'].playAction('Wheel-Avancer', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
scene.objects['Rv-Wheel-left-front'].playAction('Wheel-Reculer', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
scene.objects['Rv-Wheel-left-mid'].playAction('Wheel-Reculer', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
scene.objects['Rv-Wheel-left-rear'].playAction('Wheel-Reculer', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
while scene.objects['Rv-Wheel-right-front'].isPlayingAction(): # Forçage du redraw
# scene.objects['Camera'].applyMovement((0, 0, 0), True)
scene.objects['Sun'].applyMovement((0, 0, 0), True)
rp_tempo (0.1)
return True
##
# Tourner à droite
# - twins (True|False) : envoi un ordre au jumeau réel
##
def rp_droite (twins=True):
obj=scene.objects['Rover']
# Pas de mouvement si colision ou objectif
if obj['stop']:
return False
# Points, console et jumeau numérique
if (debug_mvt):
print ("rp_droite()")
scene.objects['Points']['step'] +=1
step=math.pi/2 # Pas angulaire
if scene.objects['Commands']['twins'] and twins:
serial_msg = "DR\n"
twins_serial.write(serial_msg.encode()) # Communication série : modele 3d -> carte communication ( arduino | micro:bit )
# Rapide
if scene.objects['Commands']['speed'] >= 10:
rp_tempo (0.1)
obj.applyRotation((0, 0, -step), True)
rp_tempo (0.1)
return True
# Animation
start = 1
end = 100
layer = 0
priority = 1
blendin = 1.0
mode = bge.logic.KX_ACTION_MODE_PLAY
layerWeight = 0.0
ipoFlags = 0
speed = scene.objects['Commands']['speed']*8
obj.playAction('Rover-Droite', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
scene.objects['Rv-Wheel-right-front'].playAction('Wheel-Reculer', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
scene.objects['Rv-Wheel-right-mid'].playAction('Wheel-Reculer', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
scene.objects['Rv-Wheel-right-rear'].playAction('Wheel-Reculer', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
scene.objects['Rv-Wheel-left-front'].playAction('Wheel-Avancer', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
scene.objects['Rv-Wheel-left-mid'].playAction('Wheel-Avancer', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
scene.objects['Rv-Wheel-left-rear'].playAction('Wheel-Avancer', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
while scene.objects['Rv-Wheel-right-front'].isPlayingAction(): # Forçage du redraw
# scene.objects['Camera'].applyMovement((0, 0, 0), True)
scene.objects['Sun'].applyMovement((0, 0, 0), True)
rp_tempo (0.1)
return True
##
# Marquer
# - twins (True|False) : envoi un ordre au jumeau réel
##
def rp_marquer (twins=True):
obj=scene.objects['Rover']
# Pas de mouvement si colision ou objectif
if obj['stop']:
return False
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
# Points, console et jumeau numérique
if (debug_mvt):
print ("rp_marquer() -> balise #"+ str(len(scene.objects['Terrain']['map_tile_beacon'])))
if scene.objects['Commands']['twins'] and twins:
serial_msg = "MA\n"
twins_serial.write(serial_msg.encode()) # Communication série : modele 3d -> carte communication ( arduino | micro:bit )
# Posage
rp_tempo (0.1)
if scene.objects['Points']['upgrade_beacon']:
beacon_max= 200
else:
beacon_max= 20
for i in range (beacon_max):
beacon = scene.objects["Beacon-"+str(i)]
if beacon['activated']==False:
beacon.worldPosition=[x,y,0.2]
beacon['activated']=True
beacon.setVisible(True, True)
scene.objects['Terrain']['map_tile_beacon'].append([x,y])
break
if i ==beacon_max-1 :
print ("Plus de balise disponible !")
rp_tempo (0.1)
return True
##
# Détecter
##
def rp_detect ():
obj=scene.objects['Rover']
# Pas de mouvement si colision ou objectif
if obj['stop']:
return True
# Points et console
if (debug_mvt):
print ("rp_detect")
# Détection
x0 = obj.worldPosition.x
y0 = obj.worldPosition.y
z0 = obj.worldPosition.z
if round(obj.worldOrientation.to_euler().z, 2) == 0.00: # Sud
x1 = x0
y1 = y0-1
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
x1 = x0
y1 = y0+1
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
x1 = x0+1
y1 = y0
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
x1 = x0-1
y1 = y0
if [x1,y1] in scene.objects['Terrain']['map_tile_montain']:
if (debug_mvt):
print ("Présence de montage devant !")
if scene.objects['Points']['mission']==3: # Contrôle objectif mission 3
rover_goal ()
return True
if [x1,y1] in scene.objects['Terrain']['map_tile_station']:
if (debug_mvt):
print ("Présence de la station devant !")
if scene.objects['Points']['mission']==3: # Contrôle objectif mission 3
rover_goal ()
return True
if [x1,y1] in scene.objects['Terrain']['map_tile_station']:
if (debug_mvt):
print ("Sortie de carte devant !")
if scene.objects['Points']['mission']==3: # Contrôle objectif mission 3
rover_goal ()
return True
return False
##
# Prendre
##
def rp_prendre ():
obj=scene.objects['Rover']
# Pas de mouvement si colision ou objectif
if obj['stop']:
return False
# Points et console
if (debug_mvt):
print ("rp_prendre")
# FIXME
##
# Radar
##
def rp_radar ():
obj=scene.objects['Rover']
# Pas de mouvement si colision ou objectif
if obj['stop']:
return False
# Points et console
if (debug_mvt):
print ("rp_radar")
# FIXME
###############################################################################
# Rover fonction avancées (upgrade) élèves
###############################################################################
##
# Peindre : station, rover, balise
##
# Couleurs par défaut
color_yellow = (1, 0.503, 0.018, 1)
color_black = (0.019794, 0.032076, 0.037408, 1)
color_white = (0.799, 0.799, 0.799, 1)
color_windows_red = (0.617, 0.037, 0.019, 1)
color_light_red = (1, 0.003, 0.012, 1) # Balise
color_stone = (0.191, 0.227, 0.246, 1)
color_wooddark = (0.153, 0.117, 0.107, 1)
color_metal = (0.401, 0.478, 0.518, 1)
# Objets 3D par groupe
paint_part ={}
all_group_part = ("Rover 1", "Rover 2", "Rover 3", "Station 1", "Station 2", "Station 3", "Station 4", "Station cube 1", "Station cube 2", "Stone", "Metal", "Black", "Red windows")
paint_part.update({"Stone" : [['Rv-Wheel-left-front', 'Rv-Wheel-right-front','Rv-Wheel-left-mid', 'Rv-Wheel-right-mid', 'Rv-Wheel-left-rear', 'Rv-Wheel-right-rear'],color_stone]}) # Stone
paint_part.update({"Metal" : [['Rv-Power source', 'Rv-Mast-arm', 'Rv-Antenna-1', 'St-Sheath', 'Rv-Arm-Segment-1', 'Rv-Arm-Segment-2'],color_metal]}) # Metal
paint_part.update({"Black" : [['St-Block1-foot1','St-Block1-foot2','St-Block1-foot3', 'St-Door-2', 'St-Stair-2','St-Cable1','St-Cable2'],color_black]}) # Black
paint_part.update({"Red windows" : [['St-Block1-window','St-Block2-window'],color_windows_red]}) # Red windows
# Rover
rover_partlist =['Rover (Rv-Body-1)', 'Rv-Body-2', 'Rv-Body-3', 'Rv-Body-4', 'Rv-Body-5', 'Rv-Body-6', 'Rv-Body-7',
'Rv-Mast', 'Rv-Mast-2', 'Rv-Mast-3', 'Rv-Mast-4', 'Rv-Mast-cap', 'Rv-Mast-arm','Rv-Antenna-1','Rv-Antenna-2','Rv-Antenna-3',
'Rv-Arm-Head', 'Rv-Arm-Segment-1', 'Rv-Arm-Segment-2',
'Rv-Power source', 'Rv-Power source-2', 'Rv-Power source-3', 'Rv-Power source-4', 'Rv-Power source-5',
'Rv-Wheel-left-front', 'Rv-Wheel-right-front','Rv-Wheel-left-mid', 'Rv-Wheel-right-mid', 'Rv-Wheel-left-rear', 'Rv-Wheel-right-rear']
paint_part.update({"Rover 1" : [['Rv-Body-2', 'Rv-Body-7', 'Rv-Power source-2', 'Rv-Power source-5', 'Rv-Mast-3', 'Rv-Mast-4', 'Rv-Mast-cap', 'Rv-Antenna-2'],color_yellow]}) # Jaune
paint_part.update({"Rover 2" : [['Rover', 'Rv-Body-6', 'Rv-Mast', 'Rv-Antenna-3', 'Rv-Arm-Head'],color_white]}) # Blanc
paint_part.update({"Rover 3" : [['Rv-Body-3', 'Rv-Body-4', 'Rv-Power source-3', 'Rv-Power source-4','Rv-Mast-2'],color_wooddark]}) # WoodDark
# Station
station_partlist =['St-Block1', 'St-Block2', 'St-Block3',
'St-Block1-side1', 'St-Block1-side2', 'St-Block1-roof', 'St-Block1-foot1', 'St-Block1-foot2','St-Block1-foot3',
'St-Door', 'St-Door-2', 'St-Block1-window', 'St-Stair', 'St-Stair-2', 'St-Stair-3','St-Block1-panel-support',
'St-Block2-side', 'St-Block2-window', 'St-Block2-roof',
'St-Block3-side', 'St-Block3-greenhouse', 'St-Block3-greenhouse-base', 'St-Tunnel', 'St-Tube', 'St-Cable1', 'St-Cable2', 'St-Sheath']
paint_part.update({"Station 1" : [[ 'St-Door','St-Block1-side1','St-Block2-side','St-Block2-roof'],color_yellow]}) # Jaune
paint_part.update({"Station 2" : [[ 'St-Block1','St-Block2','St-Block3','St-Block3-side2','St-Tunnel','St-Tube'],color_white]}) # Blanc
paint_part.update({"Station 3" : [[ 'St-Block1-roof', 'St-Block1-side2', 'St-Block3-side1'],color_stone]}) # Stone
paint_part.update({"Station 4" : [[ 'St-Stair'],color_metal]}) # Metal
paint_part.update({"Station cube 1" : [[ 'St-Cube1-hole','St-Cube2-hole','St-Cube3-hole', 'St-Cube4-hole'],color_yellow]}) # Jaune
paint_part.update({"Station cube 2" : [[ 'St-Cubes','St-Cube2','St-Cube3', 'St-Cube4'],color_white]}) # Blanc
# Balise : Objet lors de l'initialisation
# beacon_partlist =['Beacon_antenne', 'Beacon_sphere']
# paint_part.update({"Balise" : [['Beacon_antenne', 'Beacon_sphere'],color_light_red]}) # Rouge
# Mise en couleur
def rp_couleur (group_part, new_color):
if scene.objects['Points']['upgrade_paint']:
if (debug_mvt):
print ("Nouvelle couleur :", str(new_color),"->", group_part)
if "Balise" not in group_part :
for i in range (len(paint_part[group_part][0])):
scene.objects[paint_part[group_part][0][i]].color = new_color
else:
if group_part=="Balises":
for i in range (200):
beacon = scene.objects["Beacon-"+str(i)]
beacon.children[0].color = new_color
beacon.children[1].color = new_color
elif "Balise " in group_part :
beacon = scene.objects[group_part.replace("Balise ", "Beacon-")]
beacon.children[0].color = new_color
beacon.children[1].color = new_color
def rp_couleur_detail (part, new_color):
if scene.objects['Points']['upgrade_paint']:
if (debug_mvt):
print ("Nouvelle couleur :", str(new_color),"->", part)
scene.objects[part].color = new_color
# Initialisation de la couleur
def rp_couleur_init (group_part=None):
if group_part is not None:
if scene.objects['Points']['upgrade_paint']:
if (debug_mvt):
print ("Réinitialisation couleur ->", group_part)
for i in range (len(paint_part[group_part][0])):
scene.objects[paint_part[group_part][0][i]].color = paint_part[group_part][1]
return (paint_part[group_part][1])
else:
for i in range (len(all_group_part)):
for j in range (len(paint_part[all_group_part[i]][0])):
scene.objects[paint_part[all_group_part[i]][0][j]].color = paint_part[all_group_part[i]][1]
for i in range (200):
beacon = scene.objects["Beacon-"+str(i)]
beacon.children[0].color = color_light_red
beacon.children[1].color = color_light_red
# Affichage de la liste des composants 3D
def rp_couleur_listedetail (element, new_color):
if scene.objects['Points']['upgrade_paint']:
if element=="Rover":
print ("Mise en couleur : composants 3D du Rover :", rover_partlist)
if element=="Station":
print ("Mise en couleur : composants 3D de la Station :", station_partlist)
if element=="Balise":
print ("Mise en couleur : composants 3D des balises : Beacon-0.children[0|1] à Beacon-200.children[0|1].")
##
# Changer la vitesse
##
def rp_vitesse (new_speed):
if scene.objects['Points']['upgrade_speed']:
if new_speed is not None:
if (debug_mvt):
print ("Nouvelle vitesse :", new_speed)
scene.objects['Text_speed']['Text']=str(new_speed)
scene.objects['Commands']['speed']=new_speed
return scene.objects['Commands']['speed']
##
# Connaitre le nombre de balise posées
##
def rp_balise ():
if scene.objects['Points']['upgrade_beacon']:
for i in range (200):
if scene.objects["Beacon-"+str(i)]['activated']==False:
break
if (debug_mvt):
print ("Nombre de balises posées :", i)
return i
##
# Connaitre la charge de la batterie
##
def rp_batterie ():
if scene.objects['Points']['upgrade_battery']:
if (debug_mvt):
print ("Charge de la batterie :", scene.objects['Points']['battery'])
return scene.objects['Points']['battery']
###############################################################################
# Colision
###############################################################################
##
# Montagne
##
def rover_colision_montain (back):
obj=scene.objects['Rover']
# Jumeau numérique
if scene.objects['Commands']['twins']:
serial_msg = "CO\n"
twins_serial.write(serial_msg.encode()) # Communication série : modele 3d -> carte communication ( arduino | micro:bit )
# Animation
start = 1
end = 120
layer = 0
priority = 1
blendin = 1.0
mode = bge.logic.KX_ACTION_MODE_PLAY
layerWeight = 0.0
ipoFlags = 0
speed = scene.objects['Commands']['speed']*2
if back==False: # Crash en avant
if round(obj.worldOrientation.to_euler().z, 2) == 0.00: # Sud
obj.playAction('Rover-Crash-Y-', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
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.playAction('Rover-Crash-Y+', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
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.playAction('Rover-Crash-X+', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
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.playAction('Rover-Crash-X-', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
scene.objects['Rv-Wheel-right-front'].playAction('Wheel-Avancer', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
scene.objects['Rv-Wheel-right-mid'].playAction('Wheel-Avancer', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
scene.objects['Rv-Wheel-right-rear'].playAction('Wheel-Avancer', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
scene.objects['Rv-Wheel-left-front'].playAction('Wheel-Avancer', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
scene.objects['Rv-Wheel-left-mid'].playAction('Wheel-Avancer', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
scene.objects['Rv-Wheel-left-rear'].playAction('Wheel-Avancer', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
else: # Crash en arrière
if round(obj.worldOrientation.to_euler().z, 2) == 0.00: # Sud
obj.playAction('Rover-Crash-Back-Y+', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
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.playAction('Rover-Crash-Back-Y-', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
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.playAction('Rover-Crash-Back-X-', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
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.playAction('Rover-Crash-Back-X+', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
scene.objects['Rv-Wheel-right-front'].playAction('Wheel-Reculer', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
scene.objects['Rv-Wheel-right-mid'].playAction('Wheel-Reculer', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
scene.objects['Rv-Wheel-right-rear'].playAction('Wheel-Reculer', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
scene.objects['Rv-Wheel-left-front'].playAction('Wheel-Reculer', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
scene.objects['Rv-Wheel-left-mid'].playAction('Wheel-Reculer', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
scene.objects['Rv-Wheel-left-rear'].playAction('Wheel-Reculer', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
# Forçage du redraw
while scene.objects['Rv-Wheel-right-front'].isPlayingAction(): # Forçage du redraw
scene.objects['Sun'].applyMovement((0, 0, 0), True)
rp_tempo (0.1)
return True
##
# Station
##
def rover_colision_station (back):
obj=scene.objects['Rover']
# Jumeau numérique
if scene.objects['Commands']['twins']:
serial_msg = "CO\n"
twins_serial.write(serial_msg.encode()) # Communication série : modele 3d -> carte communication ( arduino | micro:bit )
# Animation
start = 1
end = 120
layer = 0
priority = 1
blendin = 1.0
mode = bge.logic.KX_ACTION_MODE_PLAY
layerWeight = 0.0
ipoFlags = 0
speed = scene.objects['Commands']['speed']*2
if back==False: # Crash en avant
if round(obj.worldOrientation.to_euler().z, 2) == 0.00: # Sud
obj.playAction('Rover-CrashStation-Y-', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
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.playAction('Rover-CrashStation-Y+', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
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.playAction('Rover-CrashStation-X+', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
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.playAction('Rover-CrashStation-X-', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
scene.objects['Rv-Wheel-right-front'].playAction('Wheel-Avancer', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
scene.objects['Rv-Wheel-right-mid'].playAction('Wheel-Avancer', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
scene.objects['Rv-Wheel-right-rear'].playAction('Wheel-Avancer', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
scene.objects['Rv-Wheel-left-front'].playAction('Wheel-Avancer', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
scene.objects['Rv-Wheel-left-mid'].playAction('Wheel-Avancer', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
scene.objects['Rv-Wheel-left-rear'].playAction('Wheel-Avancer', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
else:
if round(obj.worldOrientation.to_euler().z, 2) == 0.00: # Sud
obj.playAction('Rover-CrashStation-Back-Y+', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
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.playAction('Rover-CrashStation-Back-Y-', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
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.playAction('Rover-CrashStation-Back-X-', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
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.playAction('Rover-CrashStation-Back-X+', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
scene.objects['Rv-Wheel-right-front'].playAction('Wheel-Reculer', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
scene.objects['Rv-Wheel-right-mid'].playAction('Wheel-Reculer', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
scene.objects['Rv-Wheel-right-rear'].playAction('Wheel-Reculer', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
scene.objects['Rv-Wheel-left-front'].playAction('Wheel-Reculer', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
scene.objects['Rv-Wheel-left-mid'].playAction('Wheel-Reculer', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
scene.objects['Rv-Wheel-left-rear'].playAction('Wheel-Reculer', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
# Forçage du redraw
while scene.objects['Rv-Wheel-right-front'].isPlayingAction():
scene.objects['Sun'].applyMovement((0, 0, 0), True)
rp_tempo (0.1)
return True
###############################################################################
# Goal
###############################################################################
##
# Fin de mission
##
def rover_goal ():
obj=scene.objects['Rover']
if (debug_mvt):
print ("Goal !!")
obj['stop'] = True
# Jumeau numérique
if scene.objects['Commands']['twins']:
serial_msg = "OB\n"
twins_serial.write(serial_msg.encode()) # Communication série : modele 3d -> carte communication ( arduino | micro:bit )
# Animation
start = 1
end = 160
layer = 0
priority = 1
blendin = 1.0
mode = bge.logic.KX_ACTION_MODE_PLAY
layerWeight = 0.0
ipoFlags = 0
speed = scene.objects['Commands']['speed']*4
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
rp_gauche()
rp_gauche()
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
rp_droite()
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
rp_gauche()
speed = scene.objects['Commands']['speed']
scene.objects['Rover'].playAction('Rover-Aim1', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
scene.objects['Rv-Mast'].playAction('Mast-Aim1', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
scene.objects['Rv-Mast-cap'].playAction('Mast-cap-Aim1', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
scene.objects['Rv-Wheel-right-front'].playAction('Wheel-Avancer', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
scene.objects['Rv-Wheel-right-mid'].playAction('Wheel-Avancer', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
scene.objects['Rv-Wheel-right-rear'].playAction('Wheel-Avancer', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
scene.objects['Rv-Wheel-left-front'].playAction('Wheel-Avancer', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
scene.objects['Rv-Wheel-left-mid'].playAction('Wheel-Avancer', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
scene.objects['Rv-Wheel-left-rear'].playAction('Wheel-Avancer', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
while scene.objects['Rv-Wheel-right-front'].isPlayingAction(): # Forçage du redraw
scene.objects['Sun'].applyMovement((0, 0, 0), True)
rp_tempo (0.1)
# Revenir à une position propre
x0 = obj.worldPosition.x
y0 = obj.worldPosition.y
obj.worldPosition.x = round(x0)
obj.worldPosition.y = round(y0)
# Level
if scene.objects['Points']['mission']==scene.objects['Points']['level']:
scene.objects['Points']['level']+=1
##
# Forage
##
def rover_drill (x,y):
obj=scene.objects['Rover']
if (debug_mvt):
print ("Goal : ", [x,y])
# Animation
if scene.objects['Commands']['speed'] < 10:
# Recul d'une 1/2 case
start = 1
end = 50
layer = 0
priority = 1
blendin = 1.0
mode = bge.logic.KX_ACTION_MODE_PLAY
layerWeight = 0.0
ipoFlags = 0
speed = scene.objects['Commands']['speed']*8
if round(obj.worldOrientation.to_euler().z, 2) == 0.00: # Sud
obj.playAction('Rover-Avancer-Y+', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
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.playAction('Rover-Avancer-Y-', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
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.playAction('Rover-Avancer-X-', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
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.playAction('Rover-Avancer-X+', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
scene.objects['Rv-Wheel-right-front'].playAction('Wheel-Reculer', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
scene.objects['Rv-Wheel-right-mid'].playAction('Wheel-Reculer', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
scene.objects['Rv-Wheel-right-rear'].playAction('Wheel-Reculer', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
scene.objects['Rv-Wheel-left-front'].playAction('Wheel-Reculer', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
scene.objects['Rv-Wheel-left-mid'].playAction('Wheel-Reculer', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
scene.objects['Rv-Wheel-left-rear'].playAction('Wheel-Reculer', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
while scene.objects['Rv-Wheel-right-front'].isPlayingAction(): # Forçage du redraw
scene.objects['Sun'].applyMovement((0, 0, 0), True)
rp_tempo (0.1)
# Forage
start = 1
end = 300
layer = 0
priority = 1
blendin = 1.0
mode = bge.logic.KX_ACTION_MODE_PLAY
layerWeight = 0.0
ipoFlags = 0
speed = scene.objects['Commands']['speed']*8
scene.objects['Rv-Arm-Joint-1'].playAction('Arm-Joint-1-Drill', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
scene.objects['Rv-Arm-Segment-1'].playAction('Arm-Segment-1-Drill', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
scene.objects['Rv-Arm-Segment-2'].playAction('Arm-Segment-2-Drill', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
scene.objects['Rv-Arm-Joint-2'].playAction('Arm-Joint-2-Drill', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
scene.objects['Rv-Arm-Head'].playAction('Arm-Head-Drill', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
while scene.objects['Rv-Arm-Joint-1'].isPlayingAction(): # Forçage du redraw
scene.objects['Sun'].applyMovement((0, 0, 0), True)
rp_tempo (0.1)
# Jumeau numérique
if scene.objects['Commands']['twins']:
serial_msg = "FO\n"
twins_serial.write(serial_msg.encode()) # Communication série : modele 3d -> carte communication ( arduino | micro:bit )
# Tuile
for i in range (10):
if scene.objects['Drill_tile-'+str(i)].visible==False:
scene.objects['Drill_tile-'+str(i)].worldPosition.x = x
scene.objects['Drill_tile-'+str(i)].worldPosition.y = y
scene.objects['Drill_tile-'+str(i)].setVisible(True,True)
rp_tempo (0.1)
break
for obj_i in scene.objects:
if "tile_dirtHigh" in obj_i.name:
if round(obj_i.worldPosition.x) == x and round(obj_i.worldPosition.y) == y :
obj_i.setVisible(False, True)
rp_tempo (0.1)
if scene.objects['Commands']['speed'] < 10:
# Fin de forage
start = 300
end = 600
layer = 0
priority = 1
blendin = 1.0
mode = bge.logic.KX_ACTION_MODE_PLAY
layerWeight = 0.0
ipoFlags = 0
speed = scene.objects['Commands']['speed']*8
scene.objects['Rv-Arm-Joint-1'].playAction('Arm-Joint-1-Drill', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
scene.objects['Rv-Arm-Segment-1'].playAction('Arm-Segment-1-Drill', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
scene.objects['Rv-Arm-Segment-2'].playAction('Arm-Segment-2-Drill', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
scene.objects['Rv-Arm-Joint-2'].playAction('Arm-Joint-2-Drill', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
scene.objects['Rv-Arm-Head'].playAction('Arm-Head-Drill', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
while scene.objects['Rv-Arm-Joint-1'].isPlayingAction(): # Forçage du redraw
scene.objects['Sun'].applyMovement((0, 0, 0), True)
rp_tempo (0.1)
# Avance d'une 1/2 case
start = 1
end = 50
layer = 0
priority = 1
blendin = 1.0
mode = bge.logic.KX_ACTION_MODE_PLAY
layerWeight = 0.0
ipoFlags = 0
speed = scene.objects['Commands']['speed']*8
if round(obj.worldOrientation.to_euler().z, 2) == 0.00: # Sud
obj.playAction('Rover-Avancer-Y-', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
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.playAction('Rover-Avancer-Y+', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
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.playAction('Rover-Avancer-X+', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
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.playAction('Rover-Avancer-X-', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
scene.objects['Rv-Wheel-right-front'].playAction('Wheel-Avancer', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
scene.objects['Rv-Wheel-right-mid'].playAction('Wheel-Avancer', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
scene.objects['Rv-Wheel-right-rear'].playAction('Wheel-Avancer', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
scene.objects['Rv-Wheel-left-front'].playAction('Wheel-Avancer', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
scene.objects['Rv-Wheel-left-mid'].playAction('Wheel-Avancer', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
scene.objects['Rv-Wheel-left-rear'].playAction('Wheel-Avancer', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
while scene.objects['Rv-Wheel-right-front'].isPlayingAction(): # Forçage du redraw
scene.objects['Sun'].applyMovement((0, 0, 0), True)
rp_tempo (0.1)
# # Tuile
# for i in range (10):
# if scene.objects['Drill_tile-'+str(i)].visible==False:
# scene.objects['Drill_tile-'+str(i)].worldPosition.x = x
# scene.objects['Drill_tile-'+str(i)].worldPosition.y = y
# scene.objects['Drill_tile-'+str(i)].setVisible(True,True)
# break
# for obj_i in scene.objects:
# if "tile_dirtHigh" in obj_i.name:
# if round(obj_i.worldPosition.x) == x and round(obj_i.worldPosition.y) == y :
# obj_i.setVisible(False, True)
###############################################################################
# Temporisation
###############################################################################
# Temporisation basée sur l'horloge de l'OS
def rp_sleep (duration):
time.sleep(duration)
# Temporisation basée par l'horloge de UPBGE
def rp_tempo (duration):
scene.objects['Commands']['time']=0
while scene.objects['Commands']['time']<duration*(1/scene.objects['Commands']['speed']):
# print (scene.objects['Commands']['time']
time.sleep(0.001)
###############################################################################
# Jumeau numérique
###############################################################################
##
# Activation de la communication avec la carte de communication (Arduino, Micro:bit)
# Vitesse : 115200 -> 7 fps, 38400 -> 6 fps, 9600 -> 2 fps
##
def rp_jumeau(port="auto", speed=115200):
global twins_serial
scene.objects['Points-Twins'].setVisible(True,True)
scene.objects['Points-Twins-text'].setVisible(True,False)
# Recherche automatique du port
if port=="auto" or port=="microbit" or port=="uno" or port=="mega":
[device,board] =serial_autoget_port(port)
else:
device = port
board=""
# Mise en place de la communication
twins_serial = serial_getSerialOrNone(device,speed)
if twins_serial is not None:
# twins_serial.set_buffer_size(rx_size = 12800, tx_size = 12800)
scene.objects['Commands']['twins'] = True
scene.objects['Commands']['twins_close'] = False
scene.objects['Commands']['twins_port'] = device
scene.objects['Commands']['twins_speed'] = speed
scene.objects['Commands']['twins_readline'] = ""
if board =="":
scene.objects['Points-Twins-text']['Text'] = "Connection ouverte :\n"+device+" - "+str(speed)+" baud"
else:
scene.objects['Points-Twins-text']['Text'] = "Connection ouverte :\n"+board+"\n"+device+" - "+str(speed)+" baud"
rp_tempo (0.1)
print (twins_serial)
else:
scene.objects['Commands']['twins'] = False
scene.objects['Points-Twins-text']['Text'] = "Port "+device+" pas prêt"
##
# Recherche automatique du port
##
def serial_autoget_port(port):
# USB Vendor ID, USB Product ID
board={'microbit' :[3368, 516],
'uno' :[9025, 67],
'mega' :[9025, 66]}
if port=="auto" or port=="microbit":
for com in comports():
if com.vid == board["microbit"][0] and com.pid == board["microbit"][1]:
return [com.device,"Micro:bit"]
if port=="auto" or port=="uno":
for com in comports():
if com.vid == board["uno"][0] and com.pid == board["uno"][1]:
return [com.device,"Arduino Uno"]
if port=="auto" or port=="mega":
for com in comports():
if com.vid == board["mega"][0] and com.pid == board["mega"][1]:
return [com.device,"Arduino Mega"]
return None
##
# Affiche la liste des ports (communication série)
##
def rp_serie_ports():
for com in comports():
print ("Name : "+str(com.name)+"\n"
+" Device : "+str(com.device)+"\n"
+" Hardware ID : "+str(com.hwid)+"\n"
+" USB Vendor ID : "+str(com.vid)+"\n"
+" USB Product ID : "+str(com.pid)+"\n"
+" USB device location : "+str(com.location)+"\n"
+" USB manufacturer : "+str(com.manufacturer)+"\n"
+" USB product : "+str(com.product)+"\n"
+" Interface-specific : "+str(com.interface))
##
# Création de l'objet serial (communication série)
##
def serial_getSerialOrNone(port,speed):
try:
# return serial.Serial(port,speed, bytesize=100)
return serial.Serial(port,speed)
except:
return None
##
# Fermeture de la communication série
##
def rp_jumeau_close():
global twins_serial
twins_serial.close() # Fermer proprement le port série
scene.objects['Commands']['twins'] = False
scene.objects['Points-Twins-text']['Text'] = "Connection fermée"
# Configuration de la vitesse et des temps
# FIXME : Bug dans le transfert des données
def rp_jumeau_config(speed, temps_avancer, temps_tourner):
global twins_serial
if scene.objects['Commands']['twins']:
serial_msg1 = "CF\n"
twins_serial.write(serial_msg1.encode())
rp_tempo (1)
serial_msg2 = str(speed)+"\n"
twins_serial.write(serial_msg2.encode())
rp_tempo (1)
serial_msg3 = str(temps_avancer)+"\n"
twins_serial.write(serial_msg3.encode())
rp_tempo (1)
serial_msg4 = str(temps_tourner)+"\n"
twins_serial.write(serial_msg4.encode())
rp_tempo (1)
serial_msg5 = "FC\n"
twins_serial.write(serial_msg5.encode())
##
# Envoi d'un message vers la communication série
##
def rp_serie_msg(text):
global twins_serial
text2= text+"\n"
scene.objects['Points-Twins-text']['Text'] = "Communication ...\nEnvoi message : "+text
twins_serial.write(text2.encode())
##
# Mise en écoute de jumeau numérique (figeage de la scène)
##
def twins_listen(cont):
global twins_serial
if scene.objects['Commands']['twins']:
if scene.objects['Commands']['twins_readline'] != "":
scene.objects['Points-Twins-text']['Text'] = "Écoute de la connection\nfigeage de la scène...\nMessage reçu : "+scene.objects['Commands']['twins_readline']
else:
scene.objects['Points-Twins-text']['Text'] = "Écoute de la connection\nfigeage de la scène..."
if cont.sensors['Property'].positive:
if scene.objects['Commands']['twins_listen'] :
serial_msg = twins_serial.readline()
if serial_msg is not None:
scene.objects['Commands']['twins_readline'] = str(serial_msg)
# scene.objects['Points-Twins-text']['Text'] = "Message reçu : "+str(serial_msg)
scene.objects['Commands']['twins_listen'] = False
##
# Réception d'un message de la communication série
##
def rp_serie_rcpt():
# scene.objects['Points-Twins-text']['Text'] = "Écoute de la \nconnection\n figeage de \n la scène"
scene.objects['Commands']['twins_readline'] = ""
scene.objects['Commands']['twins_listen'] = True
while scene.objects['Commands']['twins_readline'] == "":
if scene.objects['Commands']['twins_readline'] != "":
break
# scene.objects['Points-Twins-text']['Text'] = "Connection\nouverte :\n"+scene.objects['Commands']['twins_port']+"\n"+str(scene.objects['Commands']['twins_speed'])+" baud"
return scene.objects['Commands']['twins_readline']
###############################################################################
# Fonction bas niveau
###############################################################################
##
# Atteindre une orientation
##
def applyRotationTo(obj, rx=None, ry=None, rz=None, Local=True):
rres=0.001 # resolution rotation
# x
if rx is not None:
while (abs(rx-obj.worldOrientation.to_euler().x) > rres) :
if obj.worldOrientation.to_euler().x-rx > rres:
obj.applyRotation((-rres, 0, 0), Local)
if rx-obj.worldOrientation.to_euler().x > rres:
obj.applyRotation((rres, 0, 0), Local)
# print ("delta x ",rx-obj.worldOrientation.to_euler().x)
# y
if ry is not None:
while (abs(ry-obj.worldOrientation.to_euler().y) > rres) :
if obj.worldOrientation.to_euler().y-ry > rres:
obj.applyRotation((0, -rres, 0), Local)
if ry-obj.worldOrientation.to_euler().y > rres:
obj.applyRotation((0, rres, 0), Local)
# print ("delta y ",ry-obj.worldOrientation.to_euler().y)
# z
if rz is not None:
while (abs(rz-obj.worldOrientation.to_euler().z) > rres) :
if obj.worldOrientation.to_euler().z-rz > rres:
obj.applyRotation((0, 0, -rres), Local)
if rz-obj.worldOrientation.to_euler().z > rres:
obj.applyRotation((0, 0, rres), Local)
# print ("delta z ",rz-obj.worldOrientation.to_euler().z)
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