SimOneStreamingAPI 源代码

from SimOneIOStruct import *

StreamingImageCbFuncType = CFUNCTYPE(c_void_p,POINTER(SimOne_Data_Image))
StreamingPointCloudCbFuncType = CFUNCTYPE(c_void_p,POINTER(SimOne_Data_Point_Cloud))

SIMONEAPI_StreamingPOINTCLOUD_CB = None
SIMONEAPI_StreamingIMAGE_CB = None

def _simoneapi_streamingpointcloud_cb(data):
	global SIMONEAPI_StreamingPOINTCLOUD_CB
	SIMONEAPI_StreamingPOINTCLOUD_CB(data)
	
def _simoneapi_streamingimage_cb(data):
	global SIMONEAPI_StreamingIMAGE_CB
	SIMONEAPI_StreamingIMAGE_CB(data)

simoneapi_streamingpointcloud_cb_func = StreamingPointCloudCbFuncType(_simoneapi_streamingpointcloud_cb)
simoneapi_streamingimage_cb_func = StreamingImageCbFuncType(_simoneapi_streamingimage_cb)



def SoGetStreamingImage(ip, port, imageData):
	"""获取图像数据\n
	Get image streaming data

	:param ip: UDP ip, the machine which SimOneAPI running on
	:type ip: string
	:param port: UDP port
	:type port: int
	:param imageData: image streaming data
	:type imageData: streaming
	:return: executive outcome: success/faile
	:rtype: bool
	"""	
	_input = create_string_buffer(ip.encode(), 256)
	SimoneStreamingAPI.GetStreamingImage.restype = c_bool
	return SimoneStreamingAPI.GetStreamingImage(_input, port, pointer(imageData))




def SoApiSetStreamingImageUpdateCB(ip, port, cb):
	"""获取图像数据回调\n
	Register the callback func for applying image streaming data

	:param ip: UDP ip, the machine which SimOneAPI running on
	:type ip: string
	:param port: UDP port
	:type port: int
	:param cb: callback func for applying image streaming data: cb(imageData)
	:type cb: function
	:return: executive outcome: success/faile
	:rtype: bool
	"""	
	global SIMONEAPI_StreamingIMAGE_CB
	_input = create_string_buffer(ip.encode(), 256)
	SimoneStreamingAPI.SetStreamingImageUpdateCB(_input, port, simoneapi_streamingimage_cb_func)
	SIMONEAPI_StreamingIMAGE_CB = cb




def SoGetStreamingPointCloud(ip, port,infoPort, pointCloudData):
	"""获取点云数据\n
	Get point cloud streaming data

	:param ip: UDP ip, the machine which SimOneAPI running on
	:type ip: string
	:param port: UDP port 
	:type port: int
	:param infoPort: UDP info port
	:type infoPort: int
	:param pointCloudData: point cloud streaming data 
	:type pointCloudData: streaming
	:return: executive outcome: success/faile
	:rtype: bool
	"""	
	_input = create_string_buffer(ip.encode(), 256)
	SimoneStreamingAPI.GetStreamingPointCloud.restype = c_bool
	return SimoneStreamingAPI.GetStreamingPointCloud(_input, port, infoPort,pointer(pointCloudData))




def SoApiSetStreamingPointCloudUpdateCB(ip, port,infoPort, cb):
	"""获取点云数据回调\n
	Register the callback func for applying point cloud streaming data

	:param ip: UDP ip, the machine which SimOneAPI running on
	:type ip: string
	:param port: UDP port
	:type port: int
	:param infoPort: UDP info port
	:type infoPort: int
	:param cb: callback func for applying point cloud streaming data: cb(point_cloudData)
	:type cb: function
	:return: executive outcome: success/faile
	:rtype: bool
	"""	
	global SIMONEAPI_StreamingPOINTCLOUD_CB
	_input = create_string_buffer(ip.encode(), 256)
	SimoneStreamingAPI.SetStreamingPointCloudUpdateCB(_input, port,infoPort, simoneapi_streamingpointcloud_cb_func)
	SIMONEAPI_StreamingPOINTCLOUD_CB = cb




def SoApiGetStreamingRadar4DPointCloud(ip, port, pointCloudData):
    """获取4D激光雷达点云数据\n
	Get point cloud streaming data

	:param ip: UDP ip, the machine which SimOneAPI running on
	:type ip: string
	:param port: UDP port 
	:type port: int
	:param infoPort: UDP info port
	:type infoPort: int
	:param pointCloudData: point cloud streaming data 
	:type pointCloudData: streaming
	:return: executive outcome: success/faile
	:rtype: bool
	"""	
    _input = create_string_buffer(ip.encode(), 256)
    SimoneStreamingAPI.GetStreamingRadar4DPointCloud.restype = c_bool
    return SimoneStreamingAPI.GetStreamingRadar4DPointCloud(_input, port, pointer(pointCloudData))




def SoApiSetStreamingRadar4DPointCloudUpdateCB(ip, port, cb):
	"""获取4D激光雷达点云数据回调\n
	Register the callback func for applying point cloud streaming data

	:param ip: UDP ip, the machine which SimOneAPI running on
	:type ip: string
	:param port: UDP port
	:type port: int
	:param infoPort: UDP info port
	:type infoPort: int
	:param cb: callback func for applying point cloud streaming data: cb(point_cloudData)
	:type cb: function
	:return: executive outcome: success/faile
	:rtype: bool
	"""		
	global SIMONEAPI_StreamingPOINTCLOUD_CB
	_input = create_string_buffer(ip.encode(), 256)
	SimoneStreamingAPI.SetStreamingRadar4DPointCloudUpdateCB(_input, port, simoneapi_streamingpointcloud_cb_func)
	SIMONEAPI_StreamingPOINTCLOUD_CB = cb