API Function Reference

This document mainly introduces the specific content of API function support.

• API Call Examples Reference Call Examples（[SimOne Installation Directory]\SimOne\SimOneAPI ）

API Type	API Interface	Function
1. Service API Mainly provides functions for vehicle selection, simulation working mode settings, and hotspot data retrieval.	ServiceAPI	Select Vehicle: Select a specific target vehicle for control and subscribe to its status updates Set Simulation Working Mode: Choose frame-synchronized (ensuring real-time performance and stability) or non-frame-synchronized (improving operational efficiency) mode as needed Get Hotspot Data: Obtain real-time data of the vehicle and its surrounding environment through active API calls or automatic callback functions
2. Sensor API Provides developers with the ability to obtain various sensor data from the SimOne simulation environment.	SensorAPI	Get Object-Level or Physical-Level Information: Includes image information, LiDAR point clouds, millimeter-wave radar and ultrasonic radar object-level information, etc. Get Sensor Ground Truth Data: Meets both perception algorithm integration testing needs and open-loop testing needs that skip perception and directly connect from the decision algorithm Environmental Information Configuration and Management: Involves obtaining and setting information related to the simulation environment (such as weather, lighting, and ground conditions), which is critical for creating specific test scenarios.
	StreamingAPI	Get Physical-Level Sensor Streaming: Real-time acquisition and automatic callback of image and point cloud data, supporting multiple formats.
	V2XAPI	V2X Message Processing: Obtain UPER-encoded V2X messages for specific vehicles and update notifications.
3. Control Communication API Drives the vehicle under test through control signal input to simulate complex traffic scenarios.	PNCAPI	Vehicle Status and Initialization: Covers operations for selecting test vehicles, initializing status information, setting starting positions, and resetting vehicle status. Warning Information and Control Strategy: Includes the necessary interfaces for setting and receiving warning information, controlling vehicle actions, and planning control outputs, ensuring the test vehicle responds dynamically according to the algorithm.
4. HD Map Runtime API Provides centimeter-level high-precision map information for decision algorithms, including road network and traffic elements, supporting various API calls including path planning and localization.	HDMapAPI	Map and Lane Analysis: Provides HD map loading and detailed lane information queries, enhancing localization and routing capabilities. Environment Recognition and Judgment: Integrates recognition of environmental elements such as traffic lights, signs, and parking spaces, assisting in decision-making and judgment.
5. Evaluation Algorithm API Obtains the basic simulation data required for user-defined evaluation functions and the relevant internal signals of user planning and control algorithms needed for evaluation.	EvaluationAPI	Store and Retrieve Evaluation Data: Store and retrieve data required for user-defined evaluation functions, used for user-defined evaluation algorithms.