C++/Python Interface Language Support¶
This document lists all C++/Python bilingual interfaces of the SimOne platform, enabling developers to quickly look up API names and their correspondences. For complete parameter descriptions and usage instructions, please refer to the respective API documentation; for algorithm integration procedures, please refer to the algorithm integration tutorials.
Note
For algorithm integration tutorials, please refer to C++ Algorithm Access and Python Algorithm Access.
1. Related References¶
- API Call Reference Examples: API Call Reference Examples
2. API Summary¶
| Category | Interface | Function | C++ API | Python API | |
|---|---|---|---|---|---|
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ServiceAPI
20 items |
Get Node Info | Node communication data send API | SendRouteMessage | |
| Node communication data receive API | ReceiveRouteMessageCB | ||||
| Select Vehicle and Initialize | Initialize SimOne API | InitSimOneAPI | SoInitSimOneAPI | ||
| Multi-vehicle version - Initialize SimOne API | InitSimOneAPIEx | SoInitSimOneAPIEx | |||
| Initialize SimOne API with timeout | InitSimOneAPIWithTimeOut | SoInitSimOneAPIWithTimeOut | |||
| Multi-vehicle version - Initialize SimOne API with timeout | InitSimOneAPIExWithTimeOut | SoInitSimOneAPIExWithTimeOut | |||
| Set Log Format | Log settings interface | SetLogOut | SoSetLogOut | ||
| Get Ego Vehicle Status | Get Ego Vehicle status information | GetMainVehicleStatus | SoGetMainVehicleStatus | ||
| Get Ego Vehicle status information update callback | SetMainVehicleStatusUpdateCB | SoAPISetMainVehicleStatusUpdateCB | |||
| Get Use Case Information | Get the current library version number | GetVersion | SoAPIGetVersion | ||
| Get Use Case details | GetCaseInfo | SoAPIGetCaseInfo | |||
| Get Use Case run status | GetCaseRunStatus | SoGetCaseRunStatus | |||
| Get Ego Vehicle info list | GetMainVehicleList | SoGetMainVehicleList | |||
| Get HD Map metadata information | GetHDMapData | SoGetHDMapData | |||
| Use Case Control | Wait and get the current frame value | Wait | SoAPIWait | ||
| Proceed to the next frame | NextFrame | SoAPINextFrame | |||
| Pause, for non-frame-sync debugging | Pause | SoAPIPause | |||
| Continue, for non-frame-sync debugging | Continue | SoAPIContinue | |||
| Auto Frame Data Callback | Callback function for each frame in the simulation scenario | SetFrameCB | SoAPISetFrameCB | ||
| Exit | Exit API Node | TerminateSimOneAPI | SoTerminateSimOneAPI | ||
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SensorAPI
19 items |
GPS | Get Ego Vehicle GPS information | GetGps | SoGetGps |
| Ego Vehicle GPS update callback | SetGpsUpdateCB | SoApiSetGpsUpdateCB | |||
| Ground Truth | Get object ground truth information in the simulation scenario | GetGroundTruth | SoGetGroundTruth | ||
| Get object ground truth information update callback in the simulation scenario | SetGroundTruthUpdateCB | SoApiSetGroundTruthUpdateCB | |||
| Millimeter-wave Radar | Get millimeter-wave radar target information | GetRadarDetections | SoGetRadarDetections | ||
| Millimeter-wave radar target information update callback | SetRadarDetectionsUpdateCB | SoApiSetRadarDetectionsUpdateCB | |||
| Ultrasonic Radar | Get a single ultrasonic radar information | GetUltrasonicRadar | SoGetUltrasonicRadar | ||
| Get all ultrasonic radar information | GetUltrasonicRadars | SoGetUltrasonicRadars | |||
| Ultrasonic radar ground truth information update callback | SetUltrasonicRadarsCB | SoApiSetUltrasonicRadarsCB | |||
| Object-level Sensor | Get the corresponding ground truth of objects detected by the sensor (supported sensors include object-level camera / object-level LiDAR / perfect sensor) | GetSensorDetections | SoGetSensorDetections | ||
| Sensor ground truth information update callback (supported sensors include object-level camera / object-level LiDAR / perfect sensor) | SetSensorDetectionsUpdateCB | SoApiSetSensorDetectionsUpdateCB | |||
| Get traffic light ground truth in the simulation scenario | GetTrafficLight | SoGetTrafficLights | |||
| Get lane and lane line data detected by sensor (only supported by object-level camera and fusion sensor) | GetSensorLaneInfo | SoGetSensorLaneInfo | |||
| Get lane and lane line data detected by sensor callback | SetSensorLaneInfoCB | SoApiSetSensorLaneInfoCB | |||
| Get road marking information detected by sensor (including lane stop lines / ground arrows / crosswalk lines) | GetSensorRoadMarkInfo | SoGetSensorRoadMarkInfo | |||
| Get road marking information detected by sensor callback (including lane stop lines / ground arrows / crosswalk lines) | SetSensorRoadMarkInfoCB | SoApiSetSensorRoadMarkInfoCB | |||
| Configuration Information | Get configuration information of all sensors (Id / type / frequency / position and orientation, etc.) | GetSensorConfigurations | SoGetSensorConfigurations | ||
| Environment | Get current environment information (weather / lighting / ground, etc.) | GetEnvironment | SoGetEnvironment | ||
| Set current environment information (weather / lighting / ground, etc.) | SetEnvironment | SoSetEnvironment | |||
| StreamingAPI
4 items |
Physical-level Sensor Streaming | Get image data in real time (image formats include RGB / JPEG / Segmentation / H.265, etc.) | GetStreamingImage | SoGetStreamingImage | |
| Set real-time image data update callback (image formats include RGB / JPEG / Segmentation / H.265, etc.) | SetStreamingImageUpdateCB | SoApiSetStreamingImageUpdateCB | |||
| Get SimOne_Streaming_Point_Cloud format point cloud data in real time | GetStreamingPointCloud | SoGetStreamingPointCloud | |||
| Set point cloud data update callback | SetStreamingPointCloudUpdateCB | SoApiSetStreamingPointCloudUpdateCB | |||
| V2XAPI
2 items |
V2X | Get the UPER-encoded V2X messages for the corresponding vehicle ID | GetV2XInfo | SoGetV2XInfo | |
| Get the UPER-encoded V2X messages update callback for the corresponding vehicle ID | SetV2XInfoUpdateCB | SoApiSetV2XInfoUpdateCB | |||
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PNCAPI
15 items |
Select Vehicle and Initialize | Register Ego Vehicle state information beyond what is included in SimOne_Data_Gps | RegisterVehicleState | SoRegisterVehicleState |
| Set the name of the Ego Vehicle Controller | SetDriverName | SoSetDriverName | |||
| Vehicle Position and Status | Set Ego Vehicle position | SetPose | SoSetPose | ||
| Reset Ego Vehicle state | SetVehicleToInitState | SoSetVehicleToInitState | |||
| Vehicle Control | Ego Vehicle control | SetDrive | SoSetDrive | ||
| Ego Vehicle control mode | SetDriveMode | SoSetDriveMode | |||
| Trajectory and Planning Control | Set Predicted Trajectory | SetTrajectory | |||
| Ego Vehicle control (via planned trajectory) | SetDriveTrajectory | SoSetDriveTrajectory | |||
| Get Status | Get the Ego Vehicle state information registered via RegisterVehicleState | GetVehicleState | SoGetVehicleState | ||
| Get vehicle control mode | GetControlMode | SoGetControlMode | |||
| Get SimOneDriver control signal | GetDriverControl | SoGetDriverControl | |||
| Get Use Case Ego Vehicle waypoints | GetWayPoints | SoGetWayPoints | |||
| Events and Information Settings | Set Ego Vehicle warning messages | SetVehicleEvent | SoSetVehicleEvent | ||
| Set vehicle signal light status | SetSignalLights | SoSetSignalLights | |||
| Scenario event callback | SetScenarioEventCB | SoAPISetScenarioEventCB | |||
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HDMapAPI
50 items No Python API available |
Load | Mark HD Map as initialized | setHdmapLoad | |
| Load HD Map | LoadHDMap | ||||
| Get Lane-related Information | Get the nearest lane to the input point, prioritizing the lane the vehicle is in | GetNearMostLane | Lane Detection | ||
| Get the list of nearby lanes | GetNearLanes | ||||
| Get all lanes within field of view | GetNearLanesWithAngle | ||||
| Get the distance to the left and right boundaries of the nearest lane | GetDistanceToLaneBoundary | Lane Info Retrieval | |||
| Get lane information (including lane ID, left and right boundaries, virtual center line) | GetLaneSample | ||||
| Get lane connection information | GetLaneLink | ||||
| Get lane type | GetLaneType | ||||
| Get lane width | GetLaneWidth | ||||
| Get the projection of the input point onto the specified lane center line and the tangent direction | GetLaneMiddlePoint | ||||
| Get lane information at the current vehicle position | GetLaneSampleByLocation | ||||
| Get all lane information within a certain forward distance (including lane ID, left and right boundaries, virtual center line) | GetForwardLaneSample | ||||
| Get forward lane information | GetForwardLaneInfo | ||||
| Get lane marking information on both sides of the input point based on the specified lane ID and local coordinates | GetRoadMark | Lane Line Retrieval | |||
| Get the list of all lane line information | GetLaneData | ||||
| Get all lane line IDs in the section where the specified lane line is located | GetSectionLaneList | ||||
| Get the elevation list at a specified coordinate in the road network | GetHeights | Map Data Retrieval | |||
| Get road length | GetRoadLength | ||||
| Get lane length | GetLaneLength | ||||
| Get the list of all lane line information | GetLaneLineInfo | ||||
| Get section list | GetSectionList | ||||
| Get lane signal list by type | GetSignalListOnLaneByType | Navigation Data Retrieval | |||
| Get the lane name list for the specified road ID | GetLaneList | ||||
| Get Intersection-related Information | Get the list of all intersection IDs | GetJunctionList | |||
| Get detailed information for a specified intersection | GetJunction | ||||
| Get topology information | GetTopoGraph | ||||
| Get Traffic Sign-related Information | Get traffic light list in the map | GetTrafficLightList | Traffic Lights | ||
| Get the traffic light list bound to the specified lane | GetSpecifiedLaneTrafficLightList | ||||
| Get traffic sign list in the map | GetTrafficSignList | Traffic Signs | |||
| Get the associated traffic sign list for the specified lane | GetSpecifiedLaneTrafficSignalList | ||||
| Get the cross hatch list on the road where the specified lane is located | GetCrossHatchList | Cross Hatch Info Retrieval | |||
| Get the associated stop line list for the given traffic light active lanes | GetStoplineList | Stop Lines | |||
| Get the associated stop line list for the given lane | GetSpecifiedLaneStoplineList | ||||
| Get the associated crosswalk list for the given traffic light active lanes | GetCrosswalkList | Crosswalks | |||
| Get the associated crosswalk list for the given lane | GetSpecifiedLaneCrosswalkList | ||||
| Get the parking space list in the map | GetParkingSpaceList | Parking Space Info Retrieval | |||
| Get the parking space list ahead of a specified point in the map | GetParkingSpaceIds | ||||
| Check Element Existence | Query whether the specified lane exists in the map | ContainsLane | |||
| Determine whether the position overlaps with a lane line | IsOverlapLaneLine | ||||
| Determine whether the specified road is a bidirectional road | IsTwoSideRoad | ||||
| Determine whether the lane is a driving lane | IsDriving | ||||
| Determine whether the lane is within an intersection | IsInJunction | ||||
| Determine whether a coordinate point is inside a lane | IsInsideLane | ||||
| Localization | Get ST coordinates relative to the lane virtual center line | GetLaneST | |||
| Get ST coordinates relative to the road reference line | GetRoadST | ||||
| Get local coordinates from lane ST coordinates | GetInertialFromLaneST | ||||
| Routing | Get road network route planning | GenerateRoute | |||
| Get detailed road network route planning | GenerateRoute_V2 | ||||
| Get the list of road IDs along the planned route | Navigate | ||||
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EvaluationAPI
6 items |
Store Data | Initialize evaluation service | InitEvaluationService | SoInitEvaluationService |
| Initialize evaluation service with local data storage | InitEvaluationServiceWithLocalData | SoInitEvaluationServiceWithLocalData | |||
| Save various information required by the evaluation algorithm (JSON format) | SaveEvaluationRecord | SoSaveEvaluationRecord | |||
| Add Signal | Add various information required by the evaluation algorithm (JSON format) | AddEvaluationRecord | SoAddEvaluationRecord | ||
| Judgment | Scenario judgment event callback | SetJudgeEventCB | SoSetJudgeEventCB | ||
| Send scenario judgment event | AddJudgeEvent | SoAddJudgeEvent | |||