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
python类c_ubyte()的实例源码
def simxReadForceSensor(clientID, forceSensorHandle, operationMode):
'''
Please have a look at the function description/documentation in the V-REP user manual
'''
state = ct.c_ubyte()
forceVector = (ct.c_float*3)()
torqueVector = (ct.c_float*3)()
ret = c_ReadForceSensor(clientID, forceSensorHandle, ct.byref(state), forceVector, torqueVector, operationMode)
arr1 = []
for i in range(3):
arr1.append(forceVector[i])
arr2 = []
for i in range(3):
arr2.append(torqueVector[i])
#if sys.version_info[0] == 3:
# state=state.value
#else:
# state=ord(state.value)
return ret, state.value, arr1, arr2
def simxReadProximitySensor(clientID, sensorHandle, operationMode):
'''
Please have a look at the function description/documentation in the V-REP user manual
'''
detectionState = ct.c_ubyte()
detectedObjectHandle = ct.c_int()
detectedPoint = (ct.c_float*3)()
detectedSurfaceNormalVector = (ct.c_float*3)()
ret = c_ReadProximitySensor(clientID, sensorHandle, ct.byref(detectionState), detectedPoint, ct.byref(detectedObjectHandle), detectedSurfaceNormalVector, operationMode)
arr1 = []
for i in range(3):
arr1.append(detectedPoint[i])
arr2 = []
for i in range(3):
arr2.append(detectedSurfaceNormalVector[i])
return ret, bool(detectionState.value!=0), arr1, detectedObjectHandle.value, arr2
def simxGetAndClearStringSignal(clientID, signalName, operationMode):
'''
Please have a look at the function description/documentation in the V-REP user manual
'''
signalLength = ct.c_int();
signalValue = ct.POINTER(ct.c_ubyte)()
if (sys.version_info[0] == 3) and (type(signalName) is str):
signalName=signalName.encode('utf-8')
ret = c_GetAndClearStringSignal(clientID, signalName, ct.byref(signalValue), ct.byref(signalLength), operationMode)
a = bytearray()
if ret == 0:
for i in range(signalLength.value):
a.append(signalValue[i])
if sys.version_info[0] != 3:
a=str(a)
return ret, a
def simxReadStringStream(clientID, signalName, operationMode):
'''
Please have a look at the function description/documentation in the V-REP user manual
'''
signalLength = ct.c_int();
signalValue = ct.POINTER(ct.c_ubyte)()
if (sys.version_info[0] == 3) and (type(signalName) is str):
signalName=signalName.encode('utf-8')
ret = c_ReadStringStream(clientID, signalName, ct.byref(signalValue), ct.byref(signalLength), operationMode)
a = bytearray()
if ret == 0:
for i in range(signalLength.value):
a.append(signalValue[i])
if sys.version_info[0] != 3:
a=str(a)
return ret, a
def simxSetStringSignal(clientID, signalName, signalValue, operationMode):
'''
Please have a look at the function description/documentation in the V-REP user manual
'''
sigV=signalValue
if sys.version_info[0] == 3:
if type(signalName) is str:
signalName=signalName.encode('utf-8')
if type(signalValue) is bytearray:
sigV = (ct.c_ubyte*len(signalValue))(*signalValue)
if type(signalValue) is str:
signalValue=signalValue.encode('utf-8')
sigV = (ct.c_ubyte*len(signalValue))(*signalValue)
else:
if type(signalValue) is bytearray:
sigV = (ct.c_ubyte*len(signalValue))(*signalValue)
if type(signalValue) is str:
signalValue=bytearray(signalValue)
sigV = (ct.c_ubyte*len(signalValue))(*signalValue)
sigV=ct.cast(sigV,ct.POINTER(ct.c_ubyte)) # IronPython needs this
return c_SetStringSignal(clientID, signalName, sigV, len(signalValue), operationMode)
def simxAppendStringSignal(clientID, signalName, signalValue, operationMode):
'''
Please have a look at the function description/documentation in the V-REP user manual
'''
sigV=signalValue
if sys.version_info[0] == 3:
if type(signalName) is str:
signalName=signalName.encode('utf-8')
if type(signalValue) is bytearray:
sigV = (ct.c_ubyte*len(signalValue))(*signalValue)
if type(signalValue) is str:
signalValue=signalValue.encode('utf-8')
sigV = (ct.c_ubyte*len(signalValue))(*signalValue)
else:
if type(signalValue) is bytearray:
sigV = (ct.c_ubyte*len(signalValue))(*signalValue)
if type(signalValue) is str:
signalValue=bytearray(signalValue)
sigV = (ct.c_ubyte*len(signalValue))(*signalValue)
sigV=ct.cast(sigV,ct.POINTER(ct.c_ubyte)) # IronPython needs this
return c_AppendStringSignal(clientID, signalName, sigV, len(signalValue), operationMode)
def simxWriteStringStream(clientID, signalName, signalValue, operationMode):
'''
Please have a look at the function description/documentation in the V-REP user manual
'''
sigV=signalValue
if sys.version_info[0] == 3:
if type(signalName) is str:
signalName=signalName.encode('utf-8')
if type(signalValue) is bytearray:
sigV = (ct.c_ubyte*len(signalValue))(*signalValue)
if type(signalValue) is str:
signalValue=signalValue.encode('utf-8')
sigV = (ct.c_ubyte*len(signalValue))(*signalValue)
else:
if type(signalValue) is bytearray:
sigV = (ct.c_ubyte*len(signalValue))(*signalValue)
if type(signalValue) is str:
signalValue=bytearray(signalValue)
sigV = (ct.c_ubyte*len(signalValue))(*signalValue)
sigV=ct.cast(sigV,ct.POINTER(ct.c_ubyte)) # IronPython needs this
return c_WriteStringStream(clientID, signalName, sigV, len(signalValue), operationMode)
def simxReadForceSensor(clientID, forceSensorHandle, operationMode):
'''
Please have a look at the function description/documentation in the V-REP user manual
'''
state = ct.c_ubyte()
forceVector = (ct.c_float*3)()
torqueVector = (ct.c_float*3)()
ret = c_ReadForceSensor(clientID, forceSensorHandle, ct.byref(state), forceVector, torqueVector, operationMode)
arr1 = []
for i in range(3):
arr1.append(forceVector[i])
arr2 = []
for i in range(3):
arr2.append(torqueVector[i])
#if sys.version_info[0] == 3:
# state=state.value
#else:
# state=ord(state.value)
return ret, state.value, arr1, arr2
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
def simxReadProximitySensor(clientID, sensorHandle, operationMode):
'''
Please have a look at the function description/documentation in the V-REP user manual
'''
detectionState = ct.c_ubyte()
detectedObjectHandle = ct.c_int()
detectedPoint = (ct.c_float*3)()
detectedSurfaceNormalVector = (ct.c_float*3)()
ret = c_ReadProximitySensor(clientID, sensorHandle, ct.byref(detectionState), detectedPoint, ct.byref(detectedObjectHandle), detectedSurfaceNormalVector, operationMode)
arr1 = []
for i in range(3):
arr1.append(detectedPoint[i])
arr2 = []
for i in range(3):
arr2.append(detectedSurfaceNormalVector[i])
return ret, bool(detectionState.value!=0), arr1, detectedObjectHandle.value, arr2
def simxGetAndClearStringSignal(clientID, signalName, operationMode):
'''
Please have a look at the function description/documentation in the V-REP user manual
'''
signalLength = ct.c_int();
signalValue = ct.POINTER(ct.c_ubyte)()
if (sys.version_info[0] == 3) and (type(signalName) is str):
signalName=signalName.encode('utf-8')
ret = c_GetAndClearStringSignal(clientID, signalName, ct.byref(signalValue), ct.byref(signalLength), operationMode)
a = bytearray()
if ret == 0:
for i in range(signalLength.value):
a.append(signalValue[i])
if sys.version_info[0] != 3:
a=str(a)
return ret, a
def simxReadStringStream(clientID, signalName, operationMode):
'''
Please have a look at the function description/documentation in the V-REP user manual
'''
signalLength = ct.c_int();
signalValue = ct.POINTER(ct.c_ubyte)()
if (sys.version_info[0] == 3) and (type(signalName) is str):
signalName=signalName.encode('utf-8')
ret = c_ReadStringStream(clientID, signalName, ct.byref(signalValue), ct.byref(signalLength), operationMode)
a = bytearray()
if ret == 0:
for i in range(signalLength.value):
a.append(signalValue[i])
if sys.version_info[0] != 3:
a=str(a)
return ret, a
def simxSetStringSignal(clientID, signalName, signalValue, operationMode):
'''
Please have a look at the function description/documentation in the V-REP user manual
'''
sigV=signalValue
if sys.version_info[0] == 3:
if type(signalName) is str:
signalName=signalName.encode('utf-8')
if type(signalValue) is bytearray:
sigV = (ct.c_ubyte*len(signalValue))(*signalValue)
if type(signalValue) is str:
signalValue=signalValue.encode('utf-8')
sigV = (ct.c_ubyte*len(signalValue))(*signalValue)
else:
if type(signalValue) is bytearray:
sigV = (ct.c_ubyte*len(signalValue))(*signalValue)
if type(signalValue) is str:
signalValue=bytearray(signalValue)
sigV = (ct.c_ubyte*len(signalValue))(*signalValue)
sigV=ct.cast(sigV,ct.POINTER(ct.c_ubyte)) # IronPython needs this
return c_SetStringSignal(clientID, signalName, sigV, len(signalValue), operationMode)
def simxAppendStringSignal(clientID, signalName, signalValue, operationMode):
'''
Please have a look at the function description/documentation in the V-REP user manual
'''
sigV=signalValue
if sys.version_info[0] == 3:
if type(signalName) is str:
signalName=signalName.encode('utf-8')
if type(signalValue) is bytearray:
sigV = (ct.c_ubyte*len(signalValue))(*signalValue)
if type(signalValue) is str:
signalValue=signalValue.encode('utf-8')
sigV = (ct.c_ubyte*len(signalValue))(*signalValue)
else:
if type(signalValue) is bytearray:
sigV = (ct.c_ubyte*len(signalValue))(*signalValue)
if type(signalValue) is str:
signalValue=bytearray(signalValue)
sigV = (ct.c_ubyte*len(signalValue))(*signalValue)
sigV=ct.cast(sigV,ct.POINTER(ct.c_ubyte)) # IronPython needs this
return c_AppendStringSignal(clientID, signalName, sigV, len(signalValue), operationMode)
def simxWriteStringStream(clientID, signalName, signalValue, operationMode):
'''
Please have a look at the function description/documentation in the V-REP user manual
'''
sigV=signalValue
if sys.version_info[0] == 3:
if type(signalName) is str:
signalName=signalName.encode('utf-8')
if type(signalValue) is bytearray:
sigV = (ct.c_ubyte*len(signalValue))(*signalValue)
if type(signalValue) is str:
signalValue=signalValue.encode('utf-8')
sigV = (ct.c_ubyte*len(signalValue))(*signalValue)
else:
if type(signalValue) is bytearray:
sigV = (ct.c_ubyte*len(signalValue))(*signalValue)
if type(signalValue) is str:
signalValue=bytearray(signalValue)
sigV = (ct.c_ubyte*len(signalValue))(*signalValue)
sigV=ct.cast(sigV,ct.POINTER(ct.c_ubyte)) # IronPython needs this
return c_WriteStringStream(clientID, signalName, sigV, len(signalValue), operationMode)
def symlink_ms(source, linkname):
"""Python 2 doesn't have os.symlink on windows so we do it ourselfs
:param source: sourceFile
:type source: str
:param linkname: symlink path
:type linkname: str
:raises: WindowsError, raises when it fails to create the symlink if the user permissions
are incorrect
"""
import ctypes
csl = ctypes.windll.kernel32.CreateSymbolicLinkW
csl.argtypes = (ctypes.c_wchar_p, ctypes.c_wchar_p, ctypes.c_uint32)
csl.restype = ctypes.c_ubyte
flags = 1 if os.path.isdir(source) else 0
try:
if csl(linkname, source.replace('/', '\\'), flags) == 0:
raise ctypes.WinError()
except WindowsError:
raise WindowsError("Failed to create symbolicLink due to user permissions")
def simxReadForceSensor(clientID, forceSensorHandle, operationMode):
'''
Please have a look at the function description/documentation in the V-REP user manual
'''
state = ct.c_ubyte()
forceVector = (ct.c_float*3)()
torqueVector = (ct.c_float*3)()
ret = c_ReadForceSensor(clientID, forceSensorHandle, ct.byref(state), forceVector, torqueVector, operationMode)
arr1 = []
for i in range(3):
arr1.append(forceVector[i])
arr2 = []
for i in range(3):
arr2.append(torqueVector[i])
#if sys.version_info[0] == 3:
# state=state.value
#else:
# state=ord(state.value)
return ret, state.value, arr1, arr2
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
def simxReadProximitySensor(clientID, sensorHandle, operationMode):
'''
Please have a look at the function description/documentation in the V-REP user manual
'''
detectionState = ct.c_ubyte()
detectedObjectHandle = ct.c_int()
detectedPoint = (ct.c_float*3)()
detectedSurfaceNormalVector = (ct.c_float*3)()
ret = c_ReadProximitySensor(clientID, sensorHandle, ct.byref(detectionState), detectedPoint, ct.byref(detectedObjectHandle), detectedSurfaceNormalVector, operationMode)
arr1 = []
for i in range(3):
arr1.append(detectedPoint[i])
arr2 = []
for i in range(3):
arr2.append(detectedSurfaceNormalVector[i])
return ret, bool(detectionState.value!=0), arr1, detectedObjectHandle.value, arr2
def simxGetAndClearStringSignal(clientID, signalName, operationMode):
'''
Please have a look at the function description/documentation in the V-REP user manual
'''
signalLength = ct.c_int();
signalValue = ct.POINTER(ct.c_ubyte)()
if (sys.version_info[0] == 3) and (type(signalName) is str):
signalName=signalName.encode('utf-8')
ret = c_GetAndClearStringSignal(clientID, signalName, ct.byref(signalValue), ct.byref(signalLength), operationMode)
a = bytearray()
if ret == 0:
for i in range(signalLength.value):
a.append(signalValue[i])
if sys.version_info[0] != 3:
a=str(a)
return ret, a
def simxReadStringStream(clientID, signalName, operationMode):
'''
Please have a look at the function description/documentation in the V-REP user manual
'''
signalLength = ct.c_int();
signalValue = ct.POINTER(ct.c_ubyte)()
if (sys.version_info[0] == 3) and (type(signalName) is str):
signalName=signalName.encode('utf-8')
ret = c_ReadStringStream(clientID, signalName, ct.byref(signalValue), ct.byref(signalLength), operationMode)
a = bytearray()
if ret == 0:
for i in range(signalLength.value):
a.append(signalValue[i])
if sys.version_info[0] != 3:
a=str(a)
return ret, a
def simxSetStringSignal(clientID, signalName, signalValue, operationMode):
'''
Please have a look at the function description/documentation in the V-REP user manual
'''
sigV=signalValue
if sys.version_info[0] == 3:
if type(signalName) is str:
signalName=signalName.encode('utf-8')
if type(signalValue) is bytearray:
sigV = (ct.c_ubyte*len(signalValue))(*signalValue)
if type(signalValue) is str:
signalValue=signalValue.encode('utf-8')
sigV = (ct.c_ubyte*len(signalValue))(*signalValue)
else:
if type(signalValue) is bytearray:
sigV = (ct.c_ubyte*len(signalValue))(*signalValue)
if type(signalValue) is str:
signalValue=bytearray(signalValue)
sigV = (ct.c_ubyte*len(signalValue))(*signalValue)
sigV=ct.cast(sigV,ct.POINTER(ct.c_ubyte)) # IronPython needs this
return c_SetStringSignal(clientID, signalName, sigV, len(signalValue), operationMode)
def simxAppendStringSignal(clientID, signalName, signalValue, operationMode):
'''
Please have a look at the function description/documentation in the V-REP user manual
'''
sigV=signalValue
if sys.version_info[0] == 3:
if type(signalName) is str:
signalName=signalName.encode('utf-8')
if type(signalValue) is bytearray:
sigV = (ct.c_ubyte*len(signalValue))(*signalValue)
if type(signalValue) is str:
signalValue=signalValue.encode('utf-8')
sigV = (ct.c_ubyte*len(signalValue))(*signalValue)
else:
if type(signalValue) is bytearray:
sigV = (ct.c_ubyte*len(signalValue))(*signalValue)
if type(signalValue) is str:
signalValue=bytearray(signalValue)
sigV = (ct.c_ubyte*len(signalValue))(*signalValue)
sigV=ct.cast(sigV,ct.POINTER(ct.c_ubyte)) # IronPython needs this
return c_AppendStringSignal(clientID, signalName, sigV, len(signalValue), operationMode)
def simxWriteStringStream(clientID, signalName, signalValue, operationMode):
'''
Please have a look at the function description/documentation in the V-REP user manual
'''
sigV=signalValue
if sys.version_info[0] == 3:
if type(signalName) is str:
signalName=signalName.encode('utf-8')
if type(signalValue) is bytearray:
sigV = (ct.c_ubyte*len(signalValue))(*signalValue)
if type(signalValue) is str:
signalValue=signalValue.encode('utf-8')
sigV = (ct.c_ubyte*len(signalValue))(*signalValue)
else:
if type(signalValue) is bytearray:
sigV = (ct.c_ubyte*len(signalValue))(*signalValue)
if type(signalValue) is str:
signalValue=bytearray(signalValue)
sigV = (ct.c_ubyte*len(signalValue))(*signalValue)
sigV=ct.cast(sigV,ct.POINTER(ct.c_ubyte)) # IronPython needs this
return c_WriteStringStream(clientID, signalName, sigV, len(signalValue), operationMode)
def decrypt_ige(cipher_text, key, iv):
"""
Decrypts the given text in 16-bytes blocks by using the
given key and 32-bytes initialization vector.
"""
aeskey = AES_KEY()
ckey = (ctypes.c_ubyte * len(key))(*key)
cklen = ctypes.c_int(len(key)*8)
cin = (ctypes.c_ubyte * len(cipher_text))(*cipher_text)
ctlen = ctypes.c_size_t(len(cipher_text))
cout = (ctypes.c_ubyte * len(cipher_text))()
civ = (ctypes.c_ubyte * len(iv))(*iv)
_libssl.AES_set_decrypt_key(ckey, cklen, ctypes.byref(aeskey))
_libssl.AES_ige_encrypt(
ctypes.byref(cin),
ctypes.byref(cout),
ctlen,
ctypes.byref(aeskey),
ctypes.byref(civ),
AES_DECRYPT
)
return bytes(cout)
def writer(ring, start, count):
for i in range(start, start + count):
data = os.urandom(random.randint(1, 1000))
time_micros = int(time.time() * 10**6)
record = Record(
write_number=i,
timestamp_microseconds=time_micros,
length=len(data))
# Note: You can't pass 'data' to the constructor without doing an
# additional copy to convert the bytes type to a c_ubyte * 1000. So
# instead, the constructor will initialize the 'data' field's bytes
# to zero, and then this assignment overwrites the data-sized part.
record.data[:len(data)] = data
try:
ring.try_write(record)
except ringbuffer.WaitingForReaderError:
print('Reader is too slow, dropping %d' % i)
continue
if i and i % 100 == 0:
print('Wrote %d so far' % i)
ring.writer_done()
print('Writer is done')
def make_array(shape=(1,), dtype=np.float32, shared=False, fill_val=None):
np_type_to_ctype = {np.float32: ctypes.c_float,
np.float64: ctypes.c_double,
np.bool: ctypes.c_bool,
np.uint8: ctypes.c_ubyte,
np.uint64: ctypes.c_ulonglong}
if not shared:
np_arr = np.empty(shape, dtype=dtype)
else:
numel = np.prod(shape)
arr_ctypes = sharedctypes.RawArray(np_type_to_ctype[dtype], numel)
np_arr = np.frombuffer(arr_ctypes, dtype=dtype, count=numel)
np_arr.shape = shape
if not fill_val is None:
np_arr[...] = fill_val
return np_arr
def simxReadForceSensor(clientID, forceSensorHandle, operationMode):
'''
Please have a look at the function description/documentation in the V-REP user manual
'''
state = ct.c_ubyte()
forceVector = (ct.c_float*3)()
torqueVector = (ct.c_float*3)()
ret = c_ReadForceSensor(clientID, forceSensorHandle, ct.byref(state), forceVector, torqueVector, operationMode)
arr1 = []
for i in range(3):
arr1.append(forceVector[i])
arr2 = []
for i in range(3):
arr2.append(torqueVector[i])
if sys.version_info[0] == 3:
state=state.value
else:
state=state.value
return ret, state, arr1, arr2
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
