SimOnePNCAPI module

SimOnePNCAPI. SoAPISetScenarioEventCB ( cb )

场景事件回调

Register a callback function for scenario event handling.

此函数用于注册场景事件的回调函数，以应对场景中的特定事件

This function is used to register a callback function for handling specific events in a scenario.

参数 :

  • cb ( function ) –

    场景事件的回调函数

    Callback function for scenario events.

  • source ( str ) –

    发送消息的车辆ID

    Vehicle ID sending the message.

  • target ( str ) –

    消息ID

    Message ID.

  • type ( str ) –

    消息类型（“Command”或“Event”）

    Message type (“Command” or “Event”).

  • content ( str ) –

    消息内容

    Message content.

返回 :

执行结果：成功或失败

Execution outcome: success or failure.

返回类型 :

bool

SimOnePNCAPI. SoGetControlMode ( mainVehicleId , controlModeData )

获取车辆控制模式

Retrieve the vehicle’s control mode.

此函数用于获取车辆的当前控制模式

This function is used to retrieve the current control mode of the vehicle.

参数 :

  • mainVehicleId ( str ) –

    车辆ID

    Vehicle ID.

  • controlModeData ( SimOne_Data_Control_Mode ) –

    当前车辆控制模式

    Current vehicle control mode.

返回 :

执行结果：成功或失败

Execution outcome: success or failure.

返回类型 :

bool

SimOnePNCAPI. SoGetDriverControl ( mainVehicleId , driverControlData )

获取SimOneDriver控制信号

Get control signals from SimOneDriver.

此函数用于在驾驶过程中获取SimOneDriver的控制信息

This function is used to get control information from SimOneDriver while driving.

参数 :

  • mainVehicleId ( str ) –

    车辆ID

    Vehicle ID.

  • driverControlData ( SimOne_Data_Control ) –

    驾驶控制信息

    Driving control information.

返回 :

执行结果：成功或失败

Execution outcome: success or failure.

返回类型 :

bool

SimOnePNCAPI. SoGetVehicleState ( mainVehicleId , data )

获取通过SoRegisterVehicleState注册的主车状态信息

Get chassis info which was registered by SoRegisterVehicleState.

此函数用于获取通过SoRegisterVehicleState注册的底盘信息

This function is used to retrieve chassis information that was registered through SoRegisterVehicleState.

参数 :

  • mainVehicleId ( str ) –

    车辆ID

    Vehicle ID.

  • data ( SimOne_Data_Vehicle_Extra ) –

    通过SoRegisterVehicleState注册的底盘信息

    Chassis information registered by SoRegisterVehicleState.

返回 :

执行结果：成功或失败

Execution outcome: success or failure.

返回类型 :

bool

SimOnePNCAPI. SoGetWayPoints ( mainVehicleId , wayPointsData )

获取案例主车路径点

Retrieve the main vehicle’s waypoints in a scenario.

此函数用于获取由案例编辑生成的主车路径点

This function is used to retrieve the main vehicle’s waypoints generated by case editing.

参数 :

  • mainVehicleId ( str ) –

    车辆ID

    Vehicle ID.

  • wayPointsData ( SimOne_Data_WayPoints ) –

    由案例编辑生成的路径点

    Waypoints generated by case editing.

返回 :

执行结果：成功或失败

Execution outcome: success or failure.

返回类型 :

bool

SimOnePNCAPI. SoRegisterVehicleState ( mainVehicleId , data , size )

注册SimOne_Data_Gps包含的状态以外的主车状态信息

Register for receiving additional vehicle state information beyond what is included in SimOne_Data_Gps.

此函数用于注册获取来自车辆动力学的底盘信息

This function is used to register for obtaining chassis information from Vehicle Dynamics.

参数 :

  • mainVehicleId ( str ) –

    车辆ID

    Vehicle ID.

  • data ( list [ ESimOne_Data_Vehicle_State ] ) –

    需要注册的车辆状态信息的数组

    Array of the vehicle-state expected to be registered.

  • size ( int ) –

    需要注册的车辆状态数量

    Number of vehicle-states expected to register.

返回 :

执行结果：成功或失败

Execution outcome: success or failure.

返回类型 :

bool

SimOnePNCAPI. SoSetDrive ( mainVehicleId , driveControl )

主车控制

Drive the vehicle using throttle, steering, brake, etc.

此函数用于通过油门、方向盘、刹车等参数控制主车行驶

This function is used to control the main vehicle’s movement using parameters such as throttle, steering, and brake.

参数 :

  • mainVehicleId ( str ) –

    车辆ID

    Vehicle ID.

  • driveControl ( SimOne_Data_Control ) –

    用于车辆驾驶的参数

    Parameters for vehicle driving.

返回 :

执行结果：成功或失败

Execution outcome: success or failure.

返回类型 :

bool

SimOnePNCAPI. SoSetDriveMode ( mainVehicleId , driverMode )

设置主车控制模式

Set the driving mode of the vehicle dynamics.

此函数用于设置车辆动力学的驾驶模式

This function is used to set the driving mode of the vehicle dynamics.

模式包括：

Modes include: - ESimOne_Drive_Mode_API: 通过API控制模块驾驶

Driving by API controlling module.

  • ESimOne_Drive_Mode_Driver: 通过SimOneDriver控制模块驾驶

    Driving by SimOneDriver controlling module.

  • ESimOne_Drive_Mode_API_Lateral: 横向控制由API模块控制，纵向控制由SimOneDriver模块控制

    Lateral control under API module, longitudinal control under SimOneDriver module.

  • ESimOne_Drive_Mode_API_Longitudinal: 横向控制由SimOneDriver模块控制，纵向控制由API模块控制

    Lateral control under SimOneDriver module, longitudinal control under API module.

参数 :

  • mainVehicleId ( str ) –

    车辆ID

    Vehicle ID.

  • driverMode ( ESimOne_Drive_Mode ) –

    车辆驾驶控制模式

    Vehicle driving control mode.

返回 :

执行结果：成功或失败

Execution outcome: success or failure.

返回类型 :

bool

SimOnePNCAPI. SoSetDriveTrajectory ( mainVehicleId , controlTrajectory )

主车控制 - 按轨迹驾驶

Drive the vehicle following a specified trajectory.

此函数用于按照预定轨迹控制主车行驶

This function is used to control the main vehicle’s movement along a planned trajectory.

参数 :
返回 :

执行结果：成功或失败

Execution outcome: success or failure.

返回类型 :

bool

SimOnePNCAPI. SoSetDriverName ( mainVehicleId , driverName )

设置主车控制器的名字

Set the name of the vehicle’s controller.

此函数用于设置主车控制器的名字，最大长度为8个字符

This function is used to set the name of the vehicle’s controller, with a maximum length of 8 characters.

参数 :

  • mainVehicleId ( str ) –

    车辆ID

    Vehicle ID.

  • driverName ( str ) –

    要设置的驾驶员名字，最大长度为8个字符

    Driver name to be set, with a maximum length of 8 characters.

返回 :

执行结果：成功或失败

Execution outcome: success or failure.

返回类型 :

bool

SimOnePNCAPI. SoSetPose ( mainVehicleId , poseControl )

设置主车位置

Set the position of the main vehicle.

此函数用于设置主车的下一个位置

This function is used to set the next position of the main vehicle.

参数 :

  • mainVehicleId ( str ) –

    车辆ID

    Vehicle ID.

  • poseControl ( SimOne_Data_Pose_Control ) –

    要设置的下一个车辆位置

    The next vehicle position to be set.

返回 :

执行结果：成功或失败

Execution outcome: success or failure.

返回类型 :

bool

SimOnePNCAPI. SoSetSignalLights ( mainVehicleId , pSignalLight )

设置车辆信号灯状态

Set the state of the vehicle’s signal lights.

此函数用于设置车辆的灯光信号状态

This function is used to set the state of the vehicle’s light signals.

参数 :

  • mainVehicleId ( str ) –

    车辆ID

    Vehicle ID.

  • pSignalLight ( SimOne_Data_Signal_Lights ) –

    要设置的灯光信号

    Light signal to be set.

返回 :

执行结果：成功或失败

Execution outcome: success or failure.

返回类型 :

bool

SimOnePNCAPI. SoSetVehicleEvent ( mainVehicleId , vehicleEventInfo )

设置主车预警消息

Set warning messages for the main vehicle.

此函数用于设置主车在驾驶过程中生成的事件信号

This function is used to set event signals generated while the main vehicle is driving.

参数 :

  • mainVehicleId ( str ) –

    车辆ID

    Vehicle ID.

  • vehicleEventInfo ( SimOne_Data_Vehicle_EventInfo ) –

    驾驶过程中生成的事件信号

    Event signal generated while driving.

返回 :

执行结果：成功或失败

Execution outcome: success or failure.

返回类型 :

bool