vrep.py 文件源码

def simxReadVisionSensor(clientID, sensorHandle, operationMode):
    '''
    Please have a look at the function description/documentation in the V-REP user manual
    '''

    detectionState = ct.c_ubyte()
    auxValues      = ct.POINTER(ct.c_float)()
    auxValuesCount = ct.POINTER(ct.c_int)()
    ret = c_ReadVisionSensor(clientID, sensorHandle, ct.byref(detectionState), ct.byref(auxValues), ct.byref(auxValuesCount), operationMode)

    auxValues2 = []
    if ret == 0:
        s = 0
        for i in range(auxValuesCount[0]):
            auxValues2.append(auxValues[s:s+auxValuesCount[i+1]])
            s += auxValuesCount[i+1]

        #free C buffers
        c_ReleaseBuffer(auxValues)
        c_ReleaseBuffer(auxValuesCount)

    return ret, bool(detectionState.value!=0), auxValues2