427 lines
10 KiB
Python
427 lines
10 KiB
Python
import subprocess
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import inputs
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import threading
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MAX_VAL=32767
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DEAD_ZONE = 20
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SENSIBILITY = 2
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lock = threading.Lock()
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phrase = "";
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continue_thread = 1
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est_stop = 0
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actions_a_faire = []
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def getProcess(a_dire):
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return subprocess.Popen(["espeak",
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"-v",
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"mb/mb-fr1",
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"-s",
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"120",
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a_dire
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], stdout=subprocess.PIPE)
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def dis_phrase_thread():
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global continue_thread
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global phrase
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global actions_a_faire
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prev_phrase = ""
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while (continue_thread == 1) :
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lock.acquire()
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actions_a_faire2 = actions_a_faire.copy()
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actions_a_faire.clear()
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# Énoncer le déplacement
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if phrase is not "" :
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a_dire = phrase
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if phrase is prev_phrase :
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if not (phrase == "STOP !") :
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a_dire = "Continue le déplacement !"
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else :
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a_dire = ""
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if a_dire is not "" :
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process = getProcess(a_dire)
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lock.release()
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prev_phrase = phrase
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output, error = process.communicate()
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else:
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lock.release()
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else :
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lock.release()
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# Énoncer les actions à faire, pas besoin de lock ici puisque l'on
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# utilise une copie locale d'actions à faire
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if len(actions_a_faire2)>0 :
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getProcess("Actions !").communicate()
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for action_a_faire in actions_a_faire2 :
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process = getProcess(action_a_faire)
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process.communicate()
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def ajoute_action(action) :
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global actions_a_faire
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lock.acquire()
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if action not in actions_a_faire :
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actions_a_faire.append(action)
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lock.release()
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# propose la phrase à dire au thread qui parle
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def dis_phrase(phrase1):
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global phrase
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lock.acquire()
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phrase = phrase1
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lock.release()
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# raffinerie des entrées
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def raffine_entree(entree):
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val = int((entree *100)/32767)
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return val
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# Contrôle génériques
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def stop():
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global est_stop
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if est_stop == 0 :
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dis_phrase("STOP !")
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est_stop = 1
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def encore():
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global est_stop
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est_stop = 0
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dis_phrase("Continue !")
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# Déplacements
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def avance_droit():
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global est_stop
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est_stop = 0
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dis_phrase("Avance tout droit !")
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def avance_en_tournant_gauche():
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global est_stop
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est_stop = 0
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dis_phrase("Avance en tournant à gauche !")
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def avance_en_tournant_droite():
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global est_stop
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est_stop = 0
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dis_phrase("Avance en tournant à droite !")
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def avance_diag_gauche():
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global est_stop
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est_stop = 0
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dis_phrase("Avance en diagonale gauche !")
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def avance_diag_droite():
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global est_stop
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est_stop = 0
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dis_phrase("Avance en diagonale droite !")
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def recule_droit():
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global est_stop
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est_stop = 0
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dis_phrase("Recule tout droit !")
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def recule_en_tournant_gauche():
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global est_stop
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est_stop = 0
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dis_phrase("Recule en tournant à gauche !")
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def recule_en_tournant_droite():
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global est_stop
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est_stop = 0
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dis_phrase("Recule en tournant à droite !")
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def recule_diag_gauche():
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global est_stop
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est_stop = 0
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dis_phrase("Recule en diagonale gauche !")
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def recule_diag_droite():
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global est_stop
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est_stop = 0
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dis_phrase("Recule en diagonale droite !")
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def pas_cote_gauche():
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global est_stop
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est_stop = 0
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dis_phrase("Pas de côté vers la gauche !")
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def pas_cote_droit():
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global est_stop
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est_stop = 0
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dis_phrase("Pas de côté vers la droite !")
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# Orientation
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def tourne_gauche():
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global est_stop
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est_stop = 0
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dis_phrase("Oriente toi vers la gauche !")
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def tourne_droite():
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global est_stop
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est_stop = 0
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dis_phrase("Oriente toi vers la droite !")
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# Actions
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def accroupis_toi():
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global est_stop
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est_stop = 0
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ajoute_action("Jusqu'à nouvel ordre, déplace toi accroupi !")
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def releve_toi():
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global est_stop
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est_stop = 0
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ajoute_action("Jusqu'à nouvel ordre, déplace toi debout !")
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def tends_bras_droit():
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global est_stop
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est_stop = 0
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ajoute_action("Jusqu'à nouvel ordre, tends le bras droit !")
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def tends_bras_gauche():
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global est_stop
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est_stop = 0
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ajoute_action("Jusqu'à nouvel ordre, tends le bras gauche !")
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def detends_bras_droit():
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global est_stop
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est_stop = 0
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ajoute_action("Jusqu'à nouvel ordre, détends le bras droit !")
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def detends_bras_gauche():
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global est_stop
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est_stop = 0
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ajoute_action("Jusqu'à nouvel ordre, détends le bras gauche !")
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def attrape():
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global est_stop
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est_stop = 0
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ajoute_action("Attrape !")
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def lache():
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global est_stop
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est_stop = 0
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ajoute_action("Lâche !")
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def saute():
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global est_stop
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est_stop = 0
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ajoute_action("Saute !")
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def coup_pied_gauche():
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global est_stop
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est_stop = 0
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ajoute_action("Coup de pied gauche !")
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def coup_pied_droit():
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global est_stop
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est_stop = 0
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ajoute_action("Coup de pied droit !")
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print(inputs.devices.gamepads)
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actions = {
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0 : encore,
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1 : stop,
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2 : avance_droit,
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3 : avance_en_tournant_gauche,
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4 : avance_en_tournant_droite,
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5 : avance_diag_gauche,
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6 : avance_diag_droite,
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7 : recule_droit,
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8 : recule_en_tournant_gauche,
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9 : recule_en_tournant_droite,
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10 : recule_diag_gauche,
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11 : recule_diag_droite,
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13 : pas_cote_gauche,
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14 : pas_cote_droit,
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15 : tourne_gauche,
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16 : tourne_droite,
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17 : accroupis_toi,
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18 : releve_toi,
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19 : tends_bras_droit,
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20 : tends_bras_gauche,
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21 : detends_bras_droit,
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22 : detends_bras_gauche,
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23 : attrape,
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24 : lache,
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25 : saute,
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26 : coup_pied_gauche,
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27 : coup_pied_droit,
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}
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combo_actuel = -1
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combo_precedent = -1
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t1 = threading.Thread(target=dis_phrase_thread)
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t1.start()
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absx = -1
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absy = -1
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absrx = -1
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absry = -1
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prev_L3 = -1
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L3 = -1
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accroupi = 0
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prev_X = -1
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X = -1
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attrape = 0
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prev_TL = -1
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TL = -1
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pied_gauche= 0
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prev_TR = -1
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TR = -1
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pied_droit = 0
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prev_A = -1
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A = -1
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prev_brase_gauche = -1
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bras_gauche = -1
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bras_gauche_tendu = 0
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prev_brase_droit = -1
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bras_droit = -1
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bras_droit_tendu = 0
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prev_action = -1
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while (True) :
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neutral = 0
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events = inputs.get_gamepad()
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for event in events:
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if event.code =="ABS_X":
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absx = raffine_entree(event.state)
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if event.code =="ABS_Y":
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absy = raffine_entree(event.state)
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if event.code =="ABS_RX":
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absrx = raffine_entree(event.state)
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if event.code =="ABS_RY":
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absry = raffine_entree(event.state)
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if event.code == "BTN_THUMBL" :
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L3 = event.state
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if event.code =="ABS_Z":
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bras_gauche = event.state
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if event.code =="ABS_RZ":
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bras_droit = event.state
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if event.code == "BTN_NORTH" :
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X = event.state
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if event.code == "BTN_SOUTH" :
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A = event.state
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if event.code == "BTN_TL" :
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TL = event.state
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if event.code == "BTN_TR" :
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TR = event.state
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if abs(absx) < DEAD_ZONE and abs(absy) < DEAD_ZONE and abs(absrx) < DEAD_ZONE :
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neutral = 3
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# Traitement des déplacements
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action_voulue = -1
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if abs(absx) > DEAD_ZONE :
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if absx < -80 :
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action_voulue = 13
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elif absx > 80 :
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action_voulue = 14
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if abs(absy) > DEAD_ZONE :
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if absy < -80 :
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action_voulue = 2
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elif absy > 80 :
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action_voulue = 7
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if abs(absx) > DEAD_ZONE and abs(absy) > DEAD_ZONE :
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if (absx <0 and absx < -40) and (absy <0 and absy < -40) :
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action_voulue = 5
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elif (absx >0 and absx > 40) and (absy <0 and absy < -40) :
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action_voulue = 6
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elif (absx >0 and absx > 40) and (absy >0 and absy > 40) :
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action_voulue = 11
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elif (absx <0 and absx < -40) and (absy >0 and absy > 40) :
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action_voulue = 10
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if abs(absrx) > DEAD_ZONE :
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if absrx < -DEAD_ZONE :
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action_voulue = 15
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elif absrx > DEAD_ZONE :
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action_voulue = 16
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if abs(absrx) > DEAD_ZONE and abs(absy) > DEAD_ZONE :
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if (absrx <0 and absrx < -DEAD_ZONE) and (absy <0 and absy < -40) :
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action_voulue = 3
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elif (absrx >0 and absrx > DEAD_ZONE) and (absy <0 and absy < -40) :
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action_voulue = 4
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elif (absrx >0 and absrx > DEAD_ZONE) and (absy >0 and absy > 40) :
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action_voulue = 9
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elif (absrx <0 and absrx < -DEAD_ZONE) and (absy >0 and absy > 40) :
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action_voulue = 8
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if neutral == 3 :
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action_voulue = 1
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if action_voulue > -1 :
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actions[action_voulue]()
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# Traitements des actions à faire
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if L3 > -1 and not L3 == prev_L3 :
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if L3 == 1 :
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if accroupi == 0 :
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accroupi = 1
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actions[17]()
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else :
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accroupi = 0
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actions[18]()
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prev_L3 = L3
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if bras_gauche > -1 :
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if bras_gauche > 200 :
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if bras_gauche_tendu == 0 :
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bras_gauche_tendu = 1
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actions[20]()
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elif bras_gauche < 30 :
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if bras_gauche_tendu == 1 :
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bras_gauche_tendu = 0
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actions[22]()
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if bras_droit > -1 :
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if bras_droit > 200 :
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if bras_droit_tendu == 0 :
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bras_droit_tendu = 1
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actions[19]()
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elif bras_droit < 30 :
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if bras_droit_tendu == 1 :
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bras_droit_tendu = 0
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actions[21]()
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if X > -1 and not X == prev_X :
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if X == 1 :
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if attrape == 0 :
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attrape = 1
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actions[23]()
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else :
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attrape = 0
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actions[24]()
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prev_X = X
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if A > -1 and not A == prev_A :
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if A == 1 :
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actions[25]()
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prev_A = A
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if TL > -1 and not TL == prev_TL :
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if TL == 1 :
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actions[26]()
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prev_TL = TL
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if TR > -1 and not TR == prev_TR :
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if TR == 1 :
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actions[27]()
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prev_TR = TR
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