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
python类c_ubyte()的实例源码
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 SetCustomBatteryProfile(self, profile):
d = [0x00] * 14
try:
c = profile['capacity']
d[0] = c&0xFF
d[1] = (c >> 8)&0xFF
d[2] = int(round((profile['chargeCurrent'] - 550) / 75))
d[3] = int(round((profile['terminationCurrent'] - 50) / 50))
d[4] = int(round((profile['regulationVoltage'] - 3500) / 20))
d[5] = int(round(profile['cutoffVoltage'] / 20))
d[6] = ctypes.c_ubyte(profile['tempCold']).value
d[7] = ctypes.c_ubyte(profile['tempCool']).value
d[8] = ctypes.c_ubyte(profile['tempWarm']).value
d[9] = ctypes.c_ubyte(profile['tempHot']).value
B = profile['ntcB']
d[10] = B&0xFF
d[11] = (B >> 8)&0xFF
R = profile['ntcResistance'] / 10
d[12] = R&0xFF
d[13] = (R >> 8)&0xFF
except:
return {'error':'BAD_ARGUMENT'}
print d
return self.interface.WriteDataVerify(self.BATTERY_PROFILE_CMD, d, 0.2)
def SetCustomBatteryProfile(self, profile):
d = [0x00] * 14
try:
c = profile['capacity']
d[0] = c&0xFF
d[1] = (c >> 8)&0xFF
d[2] = int(round((profile['chargeCurrent'] - 550) / 75))
d[3] = int(round((profile['terminationCurrent'] - 50) / 50))
d[4] = int(round((profile['regulationVoltage'] - 3500) / 20))
d[5] = int(round(profile['cutoffVoltage'] / 20))
d[6] = ctypes.c_ubyte(profile['tempCold']).value
d[7] = ctypes.c_ubyte(profile['tempCool']).value
d[8] = ctypes.c_ubyte(profile['tempWarm']).value
d[9] = ctypes.c_ubyte(profile['tempHot']).value
B = profile['ntcB']
d[10] = B&0xFF
d[11] = (B >> 8)&0xFF
R = profile['ntcResistance'] / 10
d[12] = R&0xFF
d[13] = (R >> 8)&0xFF
except:
return {'error':'BAD_ARGUMENT'}
print d
return self.interface.WriteDataVerify(self.BATTERY_PROFILE_CMD, d, 0.2)
def SetCustomBatteryProfile(self, profile):
d = [0x00] * 14
try:
c = profile['capacity']
d[0] = c&0xFF
d[1] = (c >> 8)&0xFF
d[2] = int(round((profile['chargeCurrent'] - 550) / 75))
d[3] = int(round((profile['terminationCurrent'] - 50) / 50))
d[4] = int(round((profile['regulationVoltage'] - 3500) / 20))
d[5] = int(round(profile['cutoffVoltage'] / 20))
d[6] = ctypes.c_ubyte(profile['tempCold']).value
d[7] = ctypes.c_ubyte(profile['tempCool']).value
d[8] = ctypes.c_ubyte(profile['tempWarm']).value
d[9] = ctypes.c_ubyte(profile['tempHot']).value
B = profile['ntcB']
d[10] = B&0xFF
d[11] = (B >> 8)&0xFF
R = profile['ntcResistance'] / 10
d[12] = R&0xFF
d[13] = (R >> 8)&0xFF
except:
return {'error':'BAD_ARGUMENT'}
print d
return self.interface.WriteDataVerify(self.BATTERY_PROFILE_CMD, d, 0.2)
def SetCustomBatteryProfile(self, profile):
d = [0x00] * 14
try:
c = profile['capacity']
d[0] = c&0xFF
d[1] = (c >> 8)&0xFF
d[2] = int(round((profile['chargeCurrent'] - 550) / 75))
d[3] = int(round((profile['terminationCurrent'] - 50) / 50))
d[4] = int(round((profile['regulationVoltage'] - 3500) / 20))
d[5] = int(round(profile['cutoffVoltage'] / 20))
d[6] = ctypes.c_ubyte(profile['tempCold']).value
d[7] = ctypes.c_ubyte(profile['tempCool']).value
d[8] = ctypes.c_ubyte(profile['tempWarm']).value
d[9] = ctypes.c_ubyte(profile['tempHot']).value
B = profile['ntcB']
d[10] = B&0xFF
d[11] = (B >> 8)&0xFF
R = profile['ntcResistance'] / 10
d[12] = R&0xFF
d[13] = (R >> 8)&0xFF
except:
return {'error':'BAD_ARGUMENT'}
print d
return self.interface.WriteDataVerify(self.BATTERY_PROFILE_CMD, d, 0.2)
def SetCustomBatteryProfile(self, profile):
d = [0x00] * 14
try:
c = profile['capacity']
d[0] = c&0xFF
d[1] = (c >> 8)&0xFF
d[2] = int(round((profile['chargeCurrent'] - 550) / 75))
d[3] = int(round((profile['terminationCurrent'] - 50) / 50))
d[4] = int(round((profile['regulationVoltage'] - 3500) / 20))
d[5] = int(round(profile['cutoffVoltage'] / 20))
d[6] = ctypes.c_ubyte(profile['tempCold']).value
d[7] = ctypes.c_ubyte(profile['tempCool']).value
d[8] = ctypes.c_ubyte(profile['tempWarm']).value
d[9] = ctypes.c_ubyte(profile['tempHot']).value
B = profile['ntcB']
d[10] = B&0xFF
d[11] = (B >> 8)&0xFF
R = profile['ntcResistance'] / 10
d[12] = R&0xFF
d[13] = (R >> 8)&0xFF
except:
return {'error':'BAD_ARGUMENT'}
print d
return self.interface.WriteDataVerify(self.BATTERY_PROFILE_CMD, d, 0.2)
def _generate_data(self, num_bytes, offset):
if self._bytes_per_sample == 1:
start = offset
samples = num_bytes
bias = 127
amplitude = 127
data = (ctypes.c_ubyte * samples)()
else:
start = offset >> 1
samples = num_bytes >> 1
bias = 0
amplitude = 32767
data = (ctypes.c_short * samples)()
step = self.frequency * (math.pi * 2) / self.audio_format.sample_rate
envelope = self._envelope_array
env_offset = offset // self._bytes_per_sample
for i in range(samples):
data[i] = int(math.sin(step * (i + start)) *
amplitude * envelope[i+env_offset] + bias)
return data
def _generate_data(self, num_bytes, offset):
# XXX TODO consider offset
if self._bytes_per_sample == 1:
samples = num_bytes
value = 127
maximum = 255
minimum = 0
data = (ctypes.c_ubyte * samples)()
else:
samples = num_bytes >> 1
value = 0
maximum = 32767
minimum = -32768
data = (ctypes.c_short * samples)()
step = (maximum - minimum) * self.frequency / self._sample_rate
envelope = self._envelope_array
env_offset = offset // self._bytes_per_sample
for i in range(samples):
value += step
if value > maximum:
value = minimum + (value % maximum)
data[i] = int(value * envelope[i+env_offset])
return data
def _generate_data(self, num_bytes, offset):
if self._bytes_per_sample == 1:
start = offset
samples = num_bytes
bias = 127
amplitude = 127
data = (ctypes.c_ubyte * samples)()
else:
start = offset >> 1
samples = num_bytes >> 1
bias = 0
amplitude = 32767
data = (ctypes.c_short * samples)()
self._advance(start)
ring_buffer = self.ring_buffer
decay = self.decay
for i in range(samples):
data[i] = int(ring_buffer[0] * amplitude + bias)
ring_buffer.append(decay * (ring_buffer[0] + ring_buffer[1]) / 2)
return data
def decode_bitfields(bits, r_mask, g_mask, b_mask,
width, height, pitch, pitch_sign):
r_shift1, r_shift2 = get_shift(r_mask)
g_shift1, g_shift2 = get_shift(g_mask)
b_shift1, b_shift2 = get_shift(b_mask)
rgb_pitch = 3 * len(bits[0])
buffer = (ctypes.c_ubyte * (height * rgb_pitch))()
i = 0
for row in bits:
for packed in row:
buffer[i] = (packed & r_mask) >> r_shift1 << r_shift2
buffer[i+1] = (packed & g_mask) >> g_shift1 << g_shift2
buffer[i+2] = (packed & b_mask) >> b_shift1 << b_shift2
i += 3
return ImageData(width, height, 'RGB', buffer, pitch_sign * rgb_pitch)
def _generate_data(self, bytes, offset):
if self._bytes_per_sample == 1:
start = offset
samples = bytes
bias = 127
amplitude = 127
data = (ctypes.c_ubyte * samples)()
else:
start = offset >> 1
samples = bytes >> 1
bias = 0
amplitude = 32767
data = (ctypes.c_short * samples)()
step = self.frequency * (math.pi * 2) / self.audio_format.sample_rate
for i in range(samples):
data[i] = future_round(math.sin(step * (i + start)) * amplitude + bias)
return data
def _generate_data(self, bytes, offset):
# XXX TODO consider offset
if self._bytes_per_sample == 1:
samples = bytes
value = 127
max = 255
min = 0
data = (ctypes.c_ubyte * samples)()
else:
samples = bytes >> 1
value = 0
max = 32767
min = -32768
data = (ctypes.c_short * samples)()
step = (max - min) * 2 * self.frequency / self.audio_format.sample_rate
for i in range(samples):
value += step
if value > max:
value = max - (value - max)
step = -step
if value < min:
value = min - (value - min)
step = -step
data[i] = future_round(value)
return data
def _generate_data(self, bytes, offset):
# XXX TODO consider offset
if self._bytes_per_sample == 1:
samples = bytes
value = 0
amplitude = 255
data = (ctypes.c_ubyte * samples)()
else:
samples = bytes >> 1
value = -32768
amplitude = 65535
data = (ctypes.c_short * samples)()
period = self.audio_format.sample_rate / self.frequency / 2
count = 0
for i in range(samples):
count += 1
if count == period:
value = amplitude - value
count = 0
data[i] = future_round(value)
return data
def decode_bitfields(bits, r_mask, g_mask, b_mask,
width, height, pitch, pitch_sign):
r_shift1, r_shift2 = get_shift(r_mask)
g_shift1, g_shift2 = get_shift(g_mask)
b_shift1, b_shift2 = get_shift(b_mask)
rgb_pitch = 3 * len(bits[0])
buffer = (ctypes.c_ubyte * (height * rgb_pitch))()
i = 0
for row in bits:
for packed in row:
buffer[i] = (packed & r_mask) >> r_shift1 << r_shift2
buffer[i+1] = (packed & g_mask) >> g_shift1 << g_shift2
buffer[i+2] = (packed & b_mask) >> b_shift1 << b_shift2
i += 3
return ImageData(width, height, 'RGB', buffer, pitch_sign * rgb_pitch)
def marshal(self) :
"serializes this Message into the wire protocol format and returns a bytes object."
buf = ct.POINTER(ct.c_ubyte)()
nr_bytes = ct.c_int()
if not dbus.dbus_message_marshal(self._dbobj, ct.byref(buf), ct.byref(nr_bytes)) :
raise CallFailed("dbus_message_marshal")
#end if
result = bytearray(nr_bytes.value)
ct.memmove \
(
ct.addressof((ct.c_ubyte * nr_bytes.value).from_buffer(result)),
buf,
nr_bytes.value
)
dbus.dbus_free(buf)
return \
result
#end marshal
