SimOneSensorAPI 源代码

from SimOneIOStruct import *

GpsCbFuncType = CFUNCTYPE(c_void_p, c_char_p, POINTER(SimOne_Data_Gps))
ImuCbFuncType = CFUNCTYPE(c_void_p, c_char_p, POINTER(SimOne_Data_IMU))
GroundTruthCbFuncType = CFUNCTYPE(c_void_p, c_char_p, POINTER(SimOne_Data_Obstacle))
SensorLaneInfoCbFuncType = CFUNCTYPE(c_void_p,c_char_p, c_char_p, POINTER(SimOne_Data_LaneInfo))
UltrasonicsCbFuncType = CFUNCTYPE(c_void_p, c_char_p, POINTER(SimOne_Data_UltrasonicRadars))
RadarDetectionCbFuncType = CFUNCTYPE(c_void_p, c_char_p, c_char_p,POINTER(SimOne_Data_RadarDetection))
SensorDetectionsCbFuncType = CFUNCTYPE(c_void_p, c_char_p, c_char_p,POINTER(SimOne_Data_SensorDetections))
SensorRoadMarkCbFuncType = CFUNCTYPE(c_void_p, c_char_p, c_char_p,POINTER(SimOne_Data_RoadMarkInfo))

SIMONEAPI_GPS_CB = None
SIMONEAPI_IMU_CB = None
SIMONEAPI_GROUNDTRUTH_CB = None
SIMONEAPI_SENSORLANEINFO_CB = None
SIMONEAPI_ULTRASONICS_CB = None
SIMONEAPI_RADARDETECTION_CB = None
SIMONEAPI_SENSOR_DETECTIONS_CB = None
SIMONEAPI_SENSOR_ROADMARK_CB = None

def _simoneapi_gps_cb(mainVehicleId, data):
	global SIMONEAPI_GPS_CB
	SIMONEAPI_GPS_CB(mainVehicleId, data)

def _simoneapi_imu_cb(mainVehicleId, data):
	global SIMONEAPI_IMU_CB
	SIMONEAPI_IMU_CB(mainVehicleId, data)

def _simoneapi_groundtruth_cb(mainVehicleId, data):
	global SIMONEAPI_GROUNDTRUTH_CB
	SIMONEAPI_GROUNDTRUTH_CB(mainVehicleId, data)

def _simoneapi_sensorlaneinfo_cb(mainVehicleId, sensorId, data):
	global SIMONEAPI_SENSORLANEINFO_CB
	SIMONEAPI_SENSORLANEINFO_CB(mainVehicleId, sensorId, data)

def _simoneapi_ultrasonics_cb(mainVehicleId, data):
	global SIMONEAPI_ULTRASONICS_CB
	SIMONEAPI_ULTRASONICS_CB(mainVehicleId, data)

def _simoneapi_radardetection_cb(mainVehicleId, sensorId, data):
	global SIMONEAPI_RADARDETECTION_CB
	SIMONEAPI_RADARDETECTION_CB(mainVehicleId, sensorId, data)

def _simoneapi_sensor_detections_cb(mainVehicleId, sensorId, data):
	global SIMONEAPI_SENSOR_DETECTIONS_CB
	SIMONEAPI_SENSOR_DETECTIONS_CB(mainVehicleId, sensorId, data)

def _simoneapi_sensor_roadmarkinfo_cb(mainVehicleId, sensorId, data):
	global SIMONEAPI_SENSOR_ROADMARK_CB
	SIMONEAPI_SENSOR_ROADMARK_CB(mainVehicleId, sensorId, data)

simoneapi_gps_cb_func = GpsCbFuncType(_simoneapi_gps_cb)
simoneapi_imu_cb_func = ImuCbFuncType(_simoneapi_imu_cb)
simoneapi_groundtruth_cb_func = GroundTruthCbFuncType(_simoneapi_groundtruth_cb)
simoneapi_sensorlaneinfo_cb_func = SensorLaneInfoCbFuncType(_simoneapi_sensorlaneinfo_cb)
simoneapi_ultrasonics_cb_func = UltrasonicsCbFuncType(_simoneapi_ultrasonics_cb)
simoneapi_radardetection_cb_func = RadarDetectionCbFuncType(_simoneapi_radardetection_cb)
simoneapi_sensor_detections_cb_func = SensorDetectionsCbFuncType(_simoneapi_sensor_detections_cb)
simoneapi_sensor_roadmarkinfo_cb_func = SensorRoadMarkCbFuncType(_simoneapi_sensor_roadmarkinfo_cb)


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def SoGetGps(mainVehicleId, gpsData):
	"""获取主车GPS信息\n
	Get vehicle GPS info

	:param mainVehicleId: vehicle id
	:type mainVehicleId: string
	:param gpsData: vehicle gps including basic chassis info
	:type gpsData: SimOne_Data_Gps
	:return: executive outcome: success/faile
	:rtype: bool
	"""	
	SimoneAPI.GetGps.restype = c_bool
	_mainVehicleId = create_string_buffer(mainVehicleId.encode(), 256)
	return SimoneAPI.GetGps(_mainVehicleId, pointer(gpsData))



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def SoApiSetGpsUpdateCB(cb):
	"""主车GPS更新回调\n
	Register the callback func applying for GPS info	

	:param cb: (cb)(mainVehicleId, Data_Gps)
	:type cb: GPS callback function
		mainVehicleId (str): vehicle id
		Data_Gps (SimOne_Data_Gps): gps info
	"""	
	global SIMONEAPI_GPS_CB
	SimoneAPI.SetGpsUpdateCB(simoneapi_gps_cb_func)
	SIMONEAPI_GPS_CB = cb



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def SoGetGroundTruth(mainVehicleId, obstacleData):
	"""获取仿真场景中障碍物真值\n
	Get Ground Truth Data of Objects(Obstacles) from simulation scene

	:param mainVehicleId: vehicle id
	:type mainVehicleId: string
	:param obstacleData: obstacle(s) ground truth info
	:type obstacleData: SimOne_Data_Obstacle
	:return: executive outcome: success/faile
	:rtype: bool
	"""	
	SimoneAPI.GetGroundTruth.restype = c_bool
	_mainVehicleId = create_string_buffer(mainVehicleId.encode(), 256)
	ret = SimoneAPI.GetGroundTruth(_mainVehicleId, pointer(obstacleData))
	return ret



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def SoApiSetGroundTruthUpdateCB(cb):
	"""获取仿真场景中障碍物真值更新回调\n
	Register the callback func applying for obstacle info

	:param cb: cb(mainVehicleId, Data_Obstacle)
	:type cb: ground truth callback function
		mainVehicleId (str): vehicle id
		Data_Obstacle (SimOne_Data_Obstacle): ground true info
	"""	
	global SIMONEAPI_GROUNDTRUTH_CB
	SimoneAPI.SetGroundTruthUpdateCB(simoneapi_groundtruth_cb_func)
	SIMONEAPI_GROUNDTRUTH_CB = cb



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def SoGetRadarDetections(mainVehicleId, sensorId, detectionData):
	"""获取毫米波雷达目标信息\n
	Get millimeter wave radar detections

	:param mainVehicleId: vehicle id
	:type mainVehicleId: string
	:param sensorId: sensor Id 
	:type sensorId: string
	:param detectionData: radar detected obstacle(s) info
	:type detectionData: SimOne_Data_RadarDetection
	:return: executive outcome: success/faile
	:rtype: bool
	"""	
	SimoneAPI.GetRadarDetections.restype = c_bool
	_mainVehicleId = create_string_buffer(mainVehicleId.encode(), 256)
	_sensorId = create_string_buffer(sensorId.encode(), 256)
	return SimoneAPI.GetRadarDetections(_mainVehicleId, _sensorId, pointer(detectionData))



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def SoApiSetRadarDetectionsUpdateCB(cb):
	"""毫米波雷达目标信息回调\n
	Register the callback func applying for Millimeter wave radar detections

	:param cb: cb(mainVehicleId, sensorId, Data_Detections)
	:type cb: radar detection callback function
		mainVehicleId (str): vehicle id
		sensorId(str): radar sensor id
		Data_Detections(SimOne_Data_RadarDetection): radar detected obstacle(s) info
	"""	
	global SIMONEAPI_RADARDETECTION_CB
	SimoneAPI.SetRadarDetectionsUpdateCB(simoneapi_radardetection_cb_func)
	SIMONEAPI_RADARDETECTION_CB = cb



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def SoGetUltrasonicRadar(mainVehicleId, sensorId, ultrasonic):
	"""获取一个超声波雷达信息\n
	Get UltrasonicRadar imformations

	:param mainVehicleId: vehicle id
	:type mainVehicleId: string
	:param sensorId: ultrasonic radar sensor Id
	:type sensorId: string
	:param ultrasonic: ultrasonic radar detected obstacle(s) dist info 
	:type ultrasonic: SimOne_Data_UltrasonicRadar
	:return: executive outcome: success/faile
	:rtype: bool
	"""	
	SimoneAPI.GetUltrasonicRadar.restype = c_bool
	_mainVehicleId = create_string_buffer(mainVehicleId.encode(), 256)
	_sensorId = create_string_buffer(sensorId.encode(), 256)
	return SimoneAPI.GetUltrasonicRadar(_mainVehicleId, _sensorId, pointer(ultrasonic))



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def SoGetUltrasonicRadars(mainVehicleId, ultrasonics):
	"""获取所有超声波雷达信息\n
	Get all UltrasonicRadar(s) info

	:param mainVehicleId: vehicle id
	:type mainVehicleId: string
	:param ultrasonics: all ultrasonic radar(s) detected obstacle(s) dist info 
	:type ultrasonics: SimOne_Data_UltrasonicRadars
	:return: executive outcome: success/faile
	:rtype: bool
	"""	
	SimoneAPI.GetUltrasonicRadar.restype = c_bool
	_mainVehicleId = create_string_buffer(mainVehicleId.encode(), 256)
	return SimoneAPI.GetUltrasonicRadars(_mainVehicleId, pointer(ultrasonics))



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def SoApiSetUltrasonicRadarsCB(cb):
	"""超生波雷达真值信息更新回调\n
	Register the callback func applying for ultrasonics radar detections

	:param cb: cb(mainVehicleId, Data_Ultrasonics)
	:type cb: ultrasonic radar(s) callback function
		mainVehicleId (str): vehicle id
		Data_Detections(SimOne_Data_UltrasonicRadars): all ultrasonic radars(s) detected obstacle(s) info
	"""	
	global SIMONEAPI_ULTRASONICS_CB
	SimoneAPI.SetUltrasonicRadarsCB(simoneapi_ultrasonics_cb_func)
	SIMONEAPI_ULTRASONICS_CB = cb



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def SoGetSensorDetections(mainVehicleId, sensorId, sensorDetections):
	"""获取传感器检测的障碍物真值\n
	Get ground truth objects info by sensor(s) camera/lidar/perfect perception sensors

	:param mainVehicleId: vehicle id
	:type mainVehicleId: string
	:param sensorId: sensor Id
	:type sensorId: string
	:param sensorDetections: sensor detected obstacles(s) info
	:type sensorDetections: SimOne_Data_SensorDetections
	:return: executive outcome: success/faile
	:rtype: bool
	"""	
	_mainVehicleId = create_string_buffer(mainVehicleId.encode(), 256)
	_sensorId = create_string_buffer(sensorId.encode(), 256)
	SimoneAPI.GetSensorDetections.restype = c_bool
	return SimoneAPI.GetSensorDetections(_mainVehicleId, _sensorId, pointer(sensorDetections))



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def SoApiSetSensorDetectionsUpdateCB(cb):
	"""传感器真值信息更新回调\n
	Register the callback func applying for ground truth info by sensor(s) camera/lidar/perfect perception sensors

	:param cb: cb(mainVehicleId, sensorId, Data_Groundtruth)
	:type cb: sensor detections callback function
		mainVehicleId (str): vehicle id
		sensorId(str): sensor id
		Data_Groundtruth(SimOne_Data_SensorDetections): sensor detected obstacle(s) info
	"""	
	global SIMONEAPI_SENSOR_DETECTIONS_CB
	SimoneAPI.SetSensorDetectionsUpdateCB(simoneapi_sensor_detections_cb_func)
	SIMONEAPI_SENSOR_DETECTIONS_CB = cb



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def SoGetSensorConfigurations(mainVehicleId, sensorConfigurations):
	"""获取所有传感器的配置信息: Id/类型/频率/位置/朝向\n
	Get sensor(s) config infor

	:param mainVehicleId: vehicle id
	:type mainVehicleId: string
	:param sensorConfigurations: all sensor(s) config info
	:type sensorConfigurations: SimOne_Data_SensorConfigurations
	:return: executive outcome: success/faile
	:rtype: bool
	"""	
	SimoneAPI.GetSensorConfigurations.restype = c_bool
	_mainVehicleId = create_string_buffer(mainVehicleId.encode(), 256)
	return SimoneAPI.GetSensorConfigurations(_mainVehicleId, pointer(sensorConfigurations))



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def SoGetEnvironment(pEnvironment):
	"""获取当前环境相关信息: 天气/光照/地面\n
	Get current environment info

	:param pEnvironment: curent environment info
	:type pEnvironment: SimOne_Data_Environment
	:return: executive outcome: success/faile
	:rtype: bool
	"""	
	SimoneAPI.GetEnvironment.restype = c_bool
	return SimoneAPI.GetEnvironment(pointer(pEnvironment))



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def SoSetEnvironment(pEnvironment):
	"""设置当前环境相关信息: 天气/光照/地面\n
	Set current environment info
	
	:param pEnvironment: environment info to be set
	:type pEnvironment: SimOne_Data_Environment
	:return: executive outcome: success/faile
	:rtype: bool
	"""	
	SimoneAPI.SetEnvironment.restype = c_bool
	return SimoneAPI.SetEnvironment(pointer(pEnvironment))



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def SoGetTrafficLights(mainVehicleId, opendriveLightId, trafficLight):
	"""获取仿真场景中的交通灯真值\n
	Get traffic light(s) info from simulation scene

	:param mainVehicleId: vehicle id
	:type mainVehicleId: string
	:param opendriveLightId: traffic light opendrive-id
	:type opendriveLightId: int
	:param trafficLight: traffic lights(s) info
	:type trafficLight: SimOne_Data_TrafficLight
	:return: executive outcome: success/faile
	:rtype: bool
	"""	
	SimoneAPI.GetTrafficLight.restype = c_bool
	_mainVehicleId = create_string_buffer(mainVehicleId.encode(), 256)
	return SimoneAPI.GetTrafficLight(_mainVehicleId, opendriveLightId, pointer(trafficLight))



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def SoGetSensorLaneInfo(mainVehicleId, sensorId,pLaneInfo):
	"""获取传感器探测车道数据\n
	Get lane info by sensor: objectbased-camera/fusion-sensor

	:param mainVehicleId: vehicle id
	:type mainVehicleId: string
	:param sensorId: sensor id
	:type sensorId: string
	:param pLaneInfo: lane info
	:type pLaneInfo: SimOne_Data_LaneInfo
	:return: executive outcome: success/faile
	:rtype: bool
	"""	
	SimoneAPI.GetSensorLaneInfo.restype = c_bool
	_mainVehicleId = create_string_buffer(mainVehicleId.encode(), 256)
	_sensorId = create_string_buffer(sensorId.encode(), 256)
	return SimoneAPI.GetSensorLaneInfo(_mainVehicleId, _sensorId, pointer(pLaneInfo))



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def SoApiSetSensorLaneInfoCB(cb):
	"""获取传感器探测车道消息数据回调\n
	Register the callback func for applying lane info by sensor: objectbased-camera/fusion-sensors

	:param cb: cb(mainVehicleId, sensorId, Data_LaneInfo)
	:type cb: sensor detected lane info callback function
		mainVehicleId (str): vehicle id
		sensorId(str): sensor id
		Data_LaneInfo(SimOne_Data_LaneInfo): sensor detected lane info
	"""	
	global SIMONEAPI_SENSORLANEINFO_CB
	SimoneAPI.SetSensorLaneInfoCB(simoneapi_sensorlaneinfo_cb_func)
	SIMONEAPI_SENSORLANEINFO_CB = cb


	

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def SoGetSensorRoadMarkInfo(mainVehicleId, sensorId, pRoadMarkInfo):
	"""获取传感器检测地面喷漆信息: 车道停止线/地面箭头/人行横道线\n
	Get road mark info by objectbased-camera sensor

	:param mainVehicleId: vehicle id
	:type mainVehicleId: string
	:param sensorId: sensor id
	:type sensorId: string
	:param pRoadMarkInfo: road mark info
	:type pRoadMarkInfo: SimOne_Data_RoadMarkInfo
	:return: executive outcome: success/faile
	:rtype: bool
	"""	
	SimoneAPI.GetSensorRoadMarkInfo.restype = c_bool
	_mainVehicleId = create_string_buffer(mainVehicleId.encode(), 256)
	_sensorId = create_string_buffer(sensorId.encode(), 256)
	return SimoneAPI.GetSensorRoadMarkInfo(_mainVehicleId, _sensorId, pointer(pRoadMarkInfo))




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def SoApiSetSensorRoadMarkInfoCB(cb):
	"""获取传感器检测地面喷漆信息回调: 车道停止线/地面箭头/人行横道线\n
	Register the callback func for applying road mark by objectbased-camera sensor

	:param cb: cb(mainVehicleId, sensorId, Data_RoadMarkInfo)
	:type cb: sensor detected road mark callback function
		mainVehicleId (str): vehicle id
		sensorId(str): sensor id
		Data_RoadMarkInfo(SimOne_Data_RoadMarkInfo): sensor detected lane info
	"""	
	global SIMONEAPI_SENSOR_ROADMARK_CB
	SimoneAPI.SetSensorRoadMarkInfoCB(simoneapi_sensor_roadmarkinfo_cb_func)
	SIMONEAPI_SENSOR_ROADMARK_CB = cb