from SimOneIOStruct import *
SimOne_ScenarioEventCBType = CFUNCTYPE(c_void_p, c_char_p, c_char_p, c_char_p, c_char_p)
G_API_ScenarioEvent_CB = None
def _api_scenarioEvent_cb(source, target, type, content):
global G_API_ScenarioEvent_CB
if G_API_ScenarioEvent_CB is None:
return
G_API_ScenarioEvent_CB(source, target, type, content)
api_scenarioEvent_cb = SimOne_ScenarioEventCBType(_api_scenarioEvent_cb)
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def SoRegisterVehicleState(mainVehicleId: str, data: list, size: int) -> bool:
"""注册主车状态信息（超出SimOne_Data_Gps范围）
Register additional vehicle state information beyond what is included in SimOne_Data_Gps.
:param mainVehicleId: 车辆ID / Vehicle ID
:param data: 需要注册的车辆状态信息数组 / Array of states to register
:type data: list[ESimOne_Data_Vehicle_State]
:param size: 状态数量 / Number of states
:return: 执行结果：成功或失败 / Success or failure
:rtype: bool
Example:
.. code-block:: python
states = [ESimOne_Data_Vehicle_State.SPEED]
SoRegisterVehicleState("MainVehicle", states, len(states))
"""
SimoneAPI.RegisterVehicleState.restype = c_bool
_mainVehicleId = create_string_buffer(mainVehicleId.encode(), 256)
return SimoneAPI.RegisterVehicleState(_mainVehicleId, pointer(data), size)
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def SoGetVehicleState(mainVehicleId: str, data: SimOne_Data_Vehicle_Extra) -> bool:
"""获取通过SoRegisterVehicleState注册的主车状态信息
Retrieve vehicle states registered with SoRegisterVehicleState.
:param mainVehicleId: 车辆ID / Vehicle ID
:param data: 主车动态状态信息 / Vehicle state information
:type data: SimOne_Data_Vehicle_Extra
:return: 执行结果：成功或失败 / Success or failure
:rtype: bool
Example:
.. code-block:: python
extra_state = SimOne_Data_Vehicle_Extra()
SoGetVehicleState("MainVehicle", extra_state)
"""
SimoneAPI.GetVehicleState.restype = c_bool
_mainVehicleId = create_string_buffer(mainVehicleId.encode(), 256)
return SimoneAPI.GetVehicleState(_mainVehicleId, pointer(data))
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def SoSetPose(mainVehicleId: str, poseControl: SimOne_Data_Pose_Control) -> bool:
"""设置主车位置
Set the next position of the main vehicle.
:param mainVehicleId: 车辆ID / Vehicle ID
:param poseControl: 下一个车辆位置 / Next vehicle position
:type poseControl: SimOne_Data_Pose_Control
:return: 执行结果：成功或失败 / Success or failure
:rtype: bool
Example:
.. code-block:: python
pose = SimOne_Data_Pose_Control()
pose.position.x = 10.0
pose.position.y = 20.0
SoSetPose("MainVehicle", pose)
"""
SimoneAPI.SetPose.restype = c_bool
_mainVehicleId = create_string_buffer(mainVehicleId.encode(), 256)
return SimoneAPI.SetPose(_mainVehicleId, pointer(poseControl))
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def SoSetDrive(mainVehicleId: str, driveControl: SimOne_Data_Control) -> bool:
"""主车控制
Control the main vehicle using throttle, steering, and brake.
:param mainVehicleId: 车辆ID / Vehicle ID
:param driveControl: 车辆驾驶参数 / Driving parameters
:type driveControl: SimOne_Data_Control
:return: 执行结果：成功或失败 / Success or failure
:rtype: bool
Example:
.. code-block:: python
control = SimOne_Data_Control()
control.throttle = 0.5
control.steering = 0.1
SoSetDrive("MainVehicle", control)
"""
SimoneAPI.SetDrive.restype = c_bool
_mainVehicleId = create_string_buffer(mainVehicleId.encode(), 256)
return SimoneAPI.SetDrive(_mainVehicleId, pointer(driveControl))
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def SoSetDriveTrajectory(mainVehicleId: str, controlTrajectory: SimOne_Data_Control_Trajectory) -> bool:
"""主车控制 - 按轨迹驾驶
Drive the vehicle along a planned trajectory.
:param mainVehicleId: 车辆ID / Vehicle ID
:param controlTrajectory: 规划轨迹 / Planned trajectory
:type controlTrajectory: SimOne_Data_Control_Trajectory
:return: 执行结果：成功或失败 / Success or failure
:rtype: bool
"""
SimoneAPI.SetDriveTrajectory.restype = c_bool
_mainVehicleId = create_string_buffer(mainVehicleId.encode(), 256)
return SimoneAPI.SetDriveTrajectory(_mainVehicleId, pointer(controlTrajectory))
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def SoSetDriverName(mainVehicleId: str, driverName: str) -> bool:
"""设置主车控制器的名字
Set the name of the vehicle controller (max length 8 chars).
:param mainVehicleId: 车辆ID / Vehicle ID
:param driverName: 驾驶员名字（最多8个字符）/ Driver name (max 8 chars)
:return: 执行结果：成功或失败 / Success or failure
:rtype: bool
"""
SimoneAPI.SetDriverName.restype = c_bool
_driverName = create_string_buffer(driverName.encode(), 256)
_mainVehicleId = create_string_buffer(mainVehicleId.encode(), 256)
return SimoneAPI.SetDriverName(_mainVehicleId, _driverName)
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def SoSetDriveMode(mainVehicleId: str, driverMode: ESimOne_Drive_Mode) -> bool:
"""设置主车控制模式
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
- ESimOne_Drive_Mode_Driver: 通过SimOneDriver控制驾驶 / Driving by SimOneDriver
- ESimOne_Drive_Mode_API_Lateral: 横向API，纵向Driver / Lateral by API, longitudinal by Driver
- ESimOne_Drive_Mode_API_Longitudinal: 横向Driver，纵向API / Lateral by Driver, longitudinal by API
:param mainVehicleId: 车辆ID / Vehicle ID
:param driverMode: 驾驶模式 / Driving mode
:type driverMode: ESimOne_Drive_Mode
:return: 执行结果：成功或失败 / Success or failure
:rtype: bool
"""
SimoneAPI.SetDriveMode.restype = c_bool
_mainVehicleId = create_string_buffer(mainVehicleId.encode(), 256)
return SimoneAPI.SetDriveMode(_mainVehicleId, driverMode)
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def SoSetVehicleEvent(mainVehicleId: str, vehicleEventInfo: SimOne_Data_Vehicle_EventInfo) -> bool:
"""设置主车预警消息
Set warning messages for the main vehicle.
:param mainVehicleId: 车辆ID / Vehicle ID
:param vehicleEventInfo: 驾驶过程中生成的事件信号 / Event signal during driving
:type vehicleEventInfo: SimOne_Data_Vehicle_EventInfo
:return: 执行结果：成功或失败 / Success or failure
:rtype: bool
"""
SimoneAPI.SetVehicleEvent.restype = c_bool
_mainVehicleId = create_string_buffer(mainVehicleId.encode(), 256)
return SimoneAPI.SetVehicleEvent(_mainVehicleId, pointer(vehicleEventInfo))
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def SoSetSignalLights(mainVehicleId: str, pSignalLight: SimOne_Data_Signal_Lights) -> bool:
"""设置车辆信号灯状态
Set the state of the vehicle's signal lights.
:param mainVehicleId: 车辆ID / Vehicle ID
:param pSignalLight: 灯光信号 / Light signal
:type pSignalLight: SimOne_Data_Signal_Lights
:return: 执行结果：成功或失败 / Success or failure
:rtype: bool
"""
SimoneAPI.SetSignalLights.restype = c_bool
_mainVehicleId = create_string_buffer(mainVehicleId.encode(), 256)
return SimoneAPI.SetSignalLights(_mainVehicleId, pointer(pSignalLight))
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def SoGetDriverControl(mainVehicleId: str, driverControlData: SimOne_Data_Control) -> bool:
"""获取SimOneDriver控制信号
Get control signals from SimOneDriver.
:param mainVehicleId: 车辆ID / Vehicle ID
:param driverControlData: 驾驶控制信息 / Driver control data
:type driverControlData: SimOne_Data_Control
:return: 执行结果：成功或失败 / Success or failure
:rtype: bool
"""
SimoneAPI.GetDriverControl.restype = c_bool
_mainVehicleId = create_string_buffer(mainVehicleId.encode(), 256)
return SimoneAPI.GetDriverControl(_mainVehicleId, pointer(driverControlData))
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def SoGetControlMode(mainVehicleId: str, controlModeData: SimOne_Data_Control_Mode) -> bool:
"""获取车辆控制模式
Retrieve the current vehicle control mode.
:param mainVehicleId: 车辆ID / Vehicle ID
:param controlModeData: 当前控制模式 / Current control mode
:type controlModeData: SimOne_Data_Control_Mode
:return: 执行结果：成功或失败 / Success or failure
:rtype: bool
"""
SimoneAPI.GetControlMode.restype = c_bool
_mainVehicleId = create_string_buffer(mainVehicleId.encode(), 256)
return SimoneAPI.GetControlMode(_mainVehicleId, pointer(controlModeData))
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def SoGetWayPoints(mainVehicleId: str, wayPointsData: SimOne_Data_WayPoints) -> bool:
"""获取案例主车路径点
Retrieve the waypoints of the main vehicle from scenario editing.
:param mainVehicleId: 车辆ID / Vehicle ID
:param wayPointsData: 路径点数据 / Waypoints data
:type wayPointsData: SimOne_Data_WayPoints
:return: 执行结果：成功或失败 / Success or failure
:rtype: bool
"""
SimoneAPI.GetWayPoints.restype = c_bool
_mainVehicleId = create_string_buffer(mainVehicleId.encode(), 256)
return SimoneAPI.GetWayPoints(_mainVehicleId, pointer(wayPointsData))
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def SoAPISetScenarioEventCB(cb: callable) -> bool:
"""场景事件回调
Register a callback function for scenario events.
:param cb: 场景事件的回调函数 / Callback for scenario events
:type cb: callable
:callback signature:
.. code-block:: python
def callback(source: str, target: str, type: str, content: str) -> None
Callback parameters:
- source (str): 发送消息的车辆ID / Vehicle ID sending the message
- target (str): 接收方ID / Target ID
- type (str): 消息类型（"Command"或"Event"）/ Message type
- content (str): 消息内容 / Message content
:return: 执行结果：成功或失败 / Success or failure
:rtype: bool
"""
if cb == 0:
cb = None
global G_API_ScenarioEvent_CB
G_API_ScenarioEvent_CB = cb
SimoneAPI.SetScenarioEventCB.restype = c_bool
ret = SimoneAPI.SetScenarioEventCB(api_scenarioEvent_cb)
return ret
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def SoSetVehicleToInitState(mainVehicleId: str) -> bool:
"""重置主车状态
Reset the main vehicle to its initial state.
:param mainVehicleId: 主车ID / Vehicle ID
:return: 执行结果：成功或失败 / Success or failure
:rtype: bool
"""
SimoneAPI.SetVehicleToInitState.restype = c_bool
_mainVehicleId = create_string_buffer(mainVehicleId.encode(), 256)
return SimoneAPI.SetVehicleToInitState(_mainVehicleId)