def simxGetVisionSensorImage(clientID, sensorHandle, options, operationMode):
'''
Please have a look at the function description/documentation in the V-REP user manual
'''
resolution = (ct.c_int*2)()
c_image = ct.POINTER(ct.c_byte)()
bytesPerPixel = 3
if (options and 1) != 0:
bytesPerPixel = 1
ret = c_GetVisionSensorImage(clientID, sensorHandle, resolution, ct.byref(c_image), options, operationMode)
reso = []
image = []
if (ret == 0):
image = [None]*resolution[0]*resolution[1]*bytesPerPixel
for i in range(resolution[0] * resolution[1] * bytesPerPixel):
image[i] = c_image[i]
for i in range(2):
reso.append(resolution[i])
return ret, reso, image
python类c_byte()的实例源码
def simxGetVisionSensorImage(clientID, sensorHandle, options, operationMode):
'''
Please have a look at the function description/documentation in the V-REP user manual
'''
resolution = (ct.c_int*2)()
c_image = ct.POINTER(ct.c_byte)()
bytesPerPixel = 3
if (options and 1) != 0:
bytesPerPixel = 1
ret = c_GetVisionSensorImage(clientID, sensorHandle, resolution, ct.byref(c_image), options, operationMode)
reso = []
image = []
if (ret == 0):
image = [None]*resolution[0]*resolution[1]*bytesPerPixel
for i in range(resolution[0] * resolution[1] * bytesPerPixel):
image[i] = c_image[i]
for i in range(2):
reso.append(resolution[i])
return ret, reso, image
def simxGetVisionSensorImage(clientID, sensorHandle, options, operationMode):
'''
Please have a look at the function description/documentation in the V-REP user manual
'''
resolution = (ct.c_int*2)()
c_image = ct.POINTER(ct.c_byte)()
bytesPerPixel = 3
if (options and 1) != 0:
bytesPerPixel = 1
ret = c_GetVisionSensorImage(clientID, sensorHandle, resolution, ct.byref(c_image), options, operationMode)
reso = []
image = []
if (ret == 0):
image = [None]*resolution[0]*resolution[1]*bytesPerPixel
for i in range(resolution[0] * resolution[1] * bytesPerPixel):
image[i] = c_image[i]
for i in range(2):
reso.append(resolution[i])
return ret, reso, image
def win32_version():
import ctypes
class OSVERSIONINFOEXW(ctypes.Structure):
_fields_ = [('dwOSVersionInfoSize', ctypes.c_ulong),
('dwMajorVersion', ctypes.c_ulong),
('dwMinorVersion', ctypes.c_ulong),
('dwBuildNumber', ctypes.c_ulong),
('dwPlatformId', ctypes.c_ulong),
('szCSDVersion', ctypes.c_wchar*128),
('wServicePackMajor', ctypes.c_ushort),
('wServicePackMinor', ctypes.c_ushort),
('wSuiteMask', ctypes.c_ushort),
('wProductType', ctypes.c_byte),
('wReserved', ctypes.c_byte)]
"""
Get's the OS major and minor versions. Returns a tuple of
(OS_MAJOR, OS_MINOR).
"""
os_version = OSVERSIONINFOEXW()
os_version.dwOSVersionInfoSize = ctypes.sizeof(os_version)
retcode = ctypes.windll.Ntdll.RtlGetVersion(ctypes.byref(os_version))
if retcode != 0:
raise Exception("Failed to get OS version")
return os_version.dwMajorVersion
def win32_version():
import ctypes
class OSVERSIONINFOEXW(ctypes.Structure):
_fields_ = [('dwOSVersionInfoSize', ctypes.c_ulong),
('dwMajorVersion', ctypes.c_ulong),
('dwMinorVersion', ctypes.c_ulong),
('dwBuildNumber', ctypes.c_ulong),
('dwPlatformId', ctypes.c_ulong),
('szCSDVersion', ctypes.c_wchar*128),
('wServicePackMajor', ctypes.c_ushort),
('wServicePackMinor', ctypes.c_ushort),
('wSuiteMask', ctypes.c_ushort),
('wProductType', ctypes.c_byte),
('wReserved', ctypes.c_byte)]
"""
Get's the OS major and minor versions. Returns a tuple of
(OS_MAJOR, OS_MINOR).
"""
os_version = OSVERSIONINFOEXW()
os_version.dwOSVersionInfoSize = ctypes.sizeof(os_version)
retcode = ctypes.windll.Ntdll.RtlGetVersion(ctypes.byref(os_version))
if retcode != 0:
raise Exception("Failed to get OS version")
return os_version.dwMajorVersion
def simxGetVisionSensorImage(clientID, sensorHandle, options, operationMode):
'''
Please have a look at the function description/documentation in the V-REP user manual
'''
resolution = (ct.c_int*2)()
c_image = ct.POINTER(ct.c_byte)()
bytesPerPixel = 3
if (options and 1) != 0:
bytesPerPixel = 1
ret = c_GetVisionSensorImage(clientID, sensorHandle, resolution, ct.byref(c_image), options, operationMode)
reso = []
image = []
if (ret == 0):
image = [None]*resolution[0]*resolution[1]*bytesPerPixel
for i in range(resolution[0] * resolution[1] * bytesPerPixel):
image[i] = c_image[i]
for i in range(2):
reso.append(resolution[i])
return ret, reso, image
def GetBatteryProfile(self):
ret = self.interface.ReadData(self.BATTERY_PROFILE_CMD, 14)
if ret['error'] != 'NO_ERROR':
return ret
else:
d = ret['data']
if all(v == 0 for v in d):
return {'data':'INVALID', 'error':'NO_ERROR'}
profile = {}
profile['capacity'] = (d[1] << 8) | d[0]
profile['chargeCurrent'] = d[2] * 75 + 550
profile['terminationCurrent'] = d[3] * 50 + 50
profile['regulationVoltage'] = d[4] * 20 + 3500
profile['cutoffVoltage'] = d[5] * 20
profile['tempCold'] = ctypes.c_byte(d[6]).value
profile['tempCool'] = ctypes.c_byte(d[7]).value
profile['tempWarm'] = ctypes.c_byte(d[8]).value
profile['tempHot'] = ctypes.c_byte(d[9]).value
profile['ntcB'] = (d[11] << 8) | d[10]
profile['ntcResistance'] = ((d[13] << 8) | d[12]) * 10
return {'data':profile, 'error':'NO_ERROR'}
def GetBatteryProfile(self):
ret = self.interface.ReadData(self.BATTERY_PROFILE_CMD, 14)
if ret['error'] != 'NO_ERROR':
return ret
else:
d = ret['data']
if all(v == 0 for v in d):
return {'data':'INVALID', 'error':'NO_ERROR'}
profile = {}
profile['capacity'] = (d[1] << 8) | d[0]
profile['chargeCurrent'] = d[2] * 75 + 550
profile['terminationCurrent'] = d[3] * 50 + 50
profile['regulationVoltage'] = d[4] * 20 + 3500
profile['cutoffVoltage'] = d[5] * 20
profile['tempCold'] = ctypes.c_byte(d[6]).value
profile['tempCool'] = ctypes.c_byte(d[7]).value
profile['tempWarm'] = ctypes.c_byte(d[8]).value
profile['tempHot'] = ctypes.c_byte(d[9]).value
profile['ntcB'] = (d[11] << 8) | d[10]
profile['ntcResistance'] = ((d[13] << 8) | d[12]) * 10
return {'data':profile, 'error':'NO_ERROR'}
def GetBatteryProfile(self):
ret = self.interface.ReadData(self.BATTERY_PROFILE_CMD, 14)
if ret['error'] != 'NO_ERROR':
return ret
else:
d = ret['data']
if all(v == 0 for v in d):
return {'data':'INVALID', 'error':'NO_ERROR'}
profile = {}
profile['capacity'] = (d[1] << 8) | d[0]
profile['chargeCurrent'] = d[2] * 75 + 550
profile['terminationCurrent'] = d[3] * 50 + 50
profile['regulationVoltage'] = d[4] * 20 + 3500
profile['cutoffVoltage'] = d[5] * 20
profile['tempCold'] = ctypes.c_byte(d[6]).value
profile['tempCool'] = ctypes.c_byte(d[7]).value
profile['tempWarm'] = ctypes.c_byte(d[8]).value
profile['tempHot'] = ctypes.c_byte(d[9]).value
profile['ntcB'] = (d[11] << 8) | d[10]
profile['ntcResistance'] = ((d[13] << 8) | d[12]) * 10
return {'data':profile, 'error':'NO_ERROR'}
def GetBatteryProfile(self):
ret = self.interface.ReadData(self.BATTERY_PROFILE_CMD, 14)
if ret['error'] != 'NO_ERROR':
return ret
else:
d = ret['data']
if all(v == 0 for v in d):
return {'data':'INVALID', 'error':'NO_ERROR'}
profile = {}
profile['capacity'] = (d[1] << 8) | d[0]
profile['chargeCurrent'] = d[2] * 75 + 550
profile['terminationCurrent'] = d[3] * 50 + 50
profile['regulationVoltage'] = d[4] * 20 + 3500
profile['cutoffVoltage'] = d[5] * 20
profile['tempCold'] = ctypes.c_byte(d[6]).value
profile['tempCool'] = ctypes.c_byte(d[7]).value
profile['tempWarm'] = ctypes.c_byte(d[8]).value
profile['tempHot'] = ctypes.c_byte(d[9]).value
profile['ntcB'] = (d[11] << 8) | d[10]
profile['ntcResistance'] = ((d[13] << 8) | d[12]) * 10
return {'data':profile, 'error':'NO_ERROR'}
def GetBatteryProfile(self):
ret = self.interface.ReadData(self.BATTERY_PROFILE_CMD, 14)
if ret['error'] != 'NO_ERROR':
return ret
else:
d = ret['data']
if all(v == 0 for v in d):
return {'data':'INVALID', 'error':'NO_ERROR'}
profile = {}
profile['capacity'] = (d[1] << 8) | d[0]
profile['chargeCurrent'] = d[2] * 75 + 550
profile['terminationCurrent'] = d[3] * 50 + 50
profile['regulationVoltage'] = d[4] * 20 + 3500
profile['cutoffVoltage'] = d[5] * 20
profile['tempCold'] = ctypes.c_byte(d[6]).value
profile['tempCool'] = ctypes.c_byte(d[7]).value
profile['tempWarm'] = ctypes.c_byte(d[8]).value
profile['tempHot'] = ctypes.c_byte(d[9]).value
profile['ntcB'] = (d[11] << 8) | d[10]
profile['ntcResistance'] = ((d[13] << 8) | d[12]) * 10
return {'data':profile, 'error':'NO_ERROR'}
def win32_version():
import ctypes
class OSVERSIONINFOEXW(ctypes.Structure):
_fields_ = [('dwOSVersionInfoSize', ctypes.c_ulong),
('dwMajorVersion', ctypes.c_ulong),
('dwMinorVersion', ctypes.c_ulong),
('dwBuildNumber', ctypes.c_ulong),
('dwPlatformId', ctypes.c_ulong),
('szCSDVersion', ctypes.c_wchar*128),
('wServicePackMajor', ctypes.c_ushort),
('wServicePackMinor', ctypes.c_ushort),
('wSuiteMask', ctypes.c_ushort),
('wProductType', ctypes.c_byte),
('wReserved', ctypes.c_byte)]
"""
Get's the OS major and minor versions. Returns a tuple of
(OS_MAJOR, OS_MINOR).
"""
os_version = OSVERSIONINFOEXW()
os_version.dwOSVersionInfoSize = ctypes.sizeof(os_version)
retcode = ctypes.windll.Ntdll.RtlGetVersion(ctypes.byref(os_version))
if retcode != 0:
raise Exception("Failed to get OS version")
return os_version.dwMajorVersion
def extract_plane_r36compat(frame: VideoFrame, planeno: int, *, compat: bool=False) -> Image.Image:
"""
Extracts the plane using the old VapourSynth API for reading a frame.
Since we are doing raw memory operations using ctypes, this function has proven to be prone
to SIGSEGV while developing.
This code will subseqently be dropped from this codebase when VapourSynth r36 is officially dropped
with the official release of R39.
:param frame: The frame
:param planeno: The plane number
:param compat: Are we dealing with a compat format.
:return: The extracted image.
"""
width, height = calculate_size(frame, planeno)
stride = frame.get_stride(planeno)
s_plane = height * stride
buf = (ctypes.c_byte*s_plane).from_address(frame.get_read_ptr(planeno).value)
if not compat:
return Image.frombuffer('L', (width, height), buf, "raw", "L", stride, -1)
else:
return Image.frombuffer('RGB', (width, height), buf, "raw", "BGRX", stride, -1)
def simxGetVisionSensorImage(clientID, sensorHandle, options, operationMode):
'''
Please have a look at the function description/documentation in the V-REP user manual
'''
resolution = (ct.c_int*2)()
c_image = ct.POINTER(ct.c_byte)()
bytesPerPixel = 3
if (options and 1) != 0:
bytesPerPixel = 1
ret = c_GetVisionSensorImage(clientID, sensorHandle, resolution, ct.byref(c_image), options, operationMode)
reso = []
image = []
if (ret == 0):
image = [None]*resolution[0]*resolution[1]*bytesPerPixel
for i in range(resolution[0] * resolution[1] * bytesPerPixel):
image[i] = c_image[i]
for i in range(2):
reso.append(resolution[i])
return ret, reso, image
def simxGetVisionSensorImage(clientID, sensorHandle, options, operationMode):
'''
Please have a look at the function description/documentation in the V-REP user manual
'''
resolution = (ct.c_int*2)()
c_image = ct.POINTER(ct.c_byte)()
bytesPerPixel = 3
if (options and 1) != 0:
bytesPerPixel = 1
ret = c_GetVisionSensorImage(clientID, sensorHandle, resolution, ct.byref(c_image), options, operationMode)
reso = []
image = []
if (ret == 0):
image = [None]*resolution[0]*resolution[1]*bytesPerPixel
for i in range(resolution[0] * resolution[1] * bytesPerPixel):
image[i] = c_image[i]
for i in range(2):
reso.append(resolution[i])
return ret, reso, image
def simxGetVisionSensorImage(clientID, sensorHandle, options, operationMode):
'''
Please have a look at the function description/documentation in the V-REP user manual
'''
resolution = (ct.c_int*2)()
c_image = ct.POINTER(ct.c_byte)()
bytesPerPixel = 3
if (options and 1) != 0:
bytesPerPixel = 1
ret = c_GetVisionSensorImage(clientID, sensorHandle, resolution, ct.byref(c_image), options, operationMode)
reso = []
image = []
if (ret == 0):
image = [None]*resolution[0]*resolution[1]*bytesPerPixel
for i in range(resolution[0] * resolution[1] * bytesPerPixel):
image[i] = c_image[i]
for i in range(2):
reso.append(resolution[i])
return ret, reso, image
def win32_version():
import ctypes
class OSVERSIONINFOEXW(ctypes.Structure):
_fields_ = [('dwOSVersionInfoSize', ctypes.c_ulong),
('dwMajorVersion', ctypes.c_ulong),
('dwMinorVersion', ctypes.c_ulong),
('dwBuildNumber', ctypes.c_ulong),
('dwPlatformId', ctypes.c_ulong),
('szCSDVersion', ctypes.c_wchar*128),
('wServicePackMajor', ctypes.c_ushort),
('wServicePackMinor', ctypes.c_ushort),
('wSuiteMask', ctypes.c_ushort),
('wProductType', ctypes.c_byte),
('wReserved', ctypes.c_byte)]
"""
Get's the OS major and minor versions. Returns a tuple of
(OS_MAJOR, OS_MINOR).
"""
os_version = OSVERSIONINFOEXW()
os_version.dwOSVersionInfoSize = ctypes.sizeof(os_version)
retcode = ctypes.windll.Ntdll.RtlGetVersion(ctypes.byref(os_version))
if retcode != 0:
raise Exception("Failed to get OS version")
return os_version.dwMajorVersion
def simxGetVisionSensorImage(clientID, sensorHandle, options, operationMode):
'''
Please have a look at the function description/documentation in the V-REP user manual
'''
resolution = (ct.c_int*2)()
c_image = ct.POINTER(ct.c_byte)()
bytesPerPixel = 3
if (options and 1) != 0:
bytesPerPixel = 1
ret = c_GetVisionSensorImage(clientID, sensorHandle, resolution, ct.byref(c_image), options, operationMode)
reso = []
image = []
if (ret == 0):
image = [None]*resolution[0]*resolution[1]*bytesPerPixel
for i in range(resolution[0] * resolution[1] * bytesPerPixel):
image[i] = c_image[i]
for i in range(2):
reso.append(resolution[i])
return ret, reso, image
def simxSetVisionSensorImage(clientID, sensorHandle, image, options, operationMode):
'''
Please have a look at the function description/documentation in the V-REP user manual
'''
size = len(image)
image_bytes = (ct.c_byte*size)(*image)
return c_SetVisionSensorImage(clientID, sensorHandle, image_bytes, size, options, operationMode)
def simxSetVisionSensorImage(clientID, sensorHandle, image, options, operationMode):
'''
Please have a look at the function description/documentation in the V-REP user manual
'''
size = len(image)
image_bytes = (ct.c_byte*size)(*image)
return c_SetVisionSensorImage(clientID, sensorHandle, image_bytes, size, options, operationMode)
def simxSetVisionSensorImage(clientID, sensorHandle, image, options, operationMode):
'''
Please have a look at the function description/documentation in the V-REP user manual
'''
size = len(image)
image_bytes = (ct.c_byte*size)(*image)
return c_SetVisionSensorImage(clientID, sensorHandle, image_bytes, size, options, operationMode)
def __init__(self, *, slot_bytes, slot_count):
"""Initializer.
Args:
slot_bytes: How big each buffer in the array should be.
slot_count: How many buffers should be in the array.
"""
self.slot_bytes = slot_bytes
self.slot_count = slot_count
self.length_bytes = 4
slot_type = ctypes.c_byte * (slot_bytes + self.length_bytes)
self.array = multiprocessing.RawArray(slot_type, slot_count)
def write_to_buffer(buffer, data, offset=0):
if isinstance(buffer, ctypes.POINTER(ctypes.c_byte)):
ctypes.memmove(buffer, data, len(data))
return
if offset == 0:
buffer.value = data
else:
buffer.value = buffer.raw[0:offset] + data
def byte_array(byte_string):
return (ctypes.c_byte * len(byte_string))(*bytes_to_list(byte_string))
def ref(value, offset=0):
return ctypes.cast(ctypes.addressof(value) + offset, ctypes.POINTER(ctypes.c_byte))
def native(type_, value):
if isinstance(value, type_):
return value
if sys.version_info < (3,) and type_ == int and isinstance(value, int_types):
return value
if isinstance(value, ctypes.Array) and value._type_ == ctypes.c_byte:
return ctypes.string_at(ctypes.addressof(value), value._length_)
return type_(value.value)
def win32_version_string():
import ctypes
class OSVERSIONINFOEXW(ctypes.Structure):
_fields_ = [('dwOSVersionInfoSize', ctypes.c_ulong),
('dwMajorVersion', ctypes.c_ulong),
('dwMinorVersion', ctypes.c_ulong),
('dwBuildNumber', ctypes.c_ulong),
('dwPlatformId', ctypes.c_ulong),
('szCSDVersion', ctypes.c_wchar*128),
('wServicePackMajor', ctypes.c_ushort),
('wServicePackMinor', ctypes.c_ushort),
('wSuiteMask', ctypes.c_ushort),
('wProductType', ctypes.c_byte),
('wReserved', ctypes.c_byte)]
"""
Get's the OS major and minor versions. Returns a tuple of
(OS_MAJOR, OS_MINOR).
"""
os_version = OSVERSIONINFOEXW()
os_version.dwOSVersionInfoSize = ctypes.sizeof(os_version)
retcode = ctypes.windll.Ntdll.RtlGetVersion(ctypes.byref(os_version))
if retcode != 0:
raise Exception("Failed to get OS version")
version_string = "Version:%d-%d; Build:%d; Platform:%d; CSD:%s; ServicePack:%d-%d; Suite:%d; ProductType:%d" % (
os_version.dwMajorVersion, os_version.dwMinorVersion,
os_version.dwBuildNumber,
os_version.dwPlatformId,
os_version.szCSDVersion,
os_version.wServicePackMajor, os_version.wServicePackMinor,
os_version.wSuiteMask,
os_version.wReserved
)
return version_string
def read(self, whence='earliest', guarantee=True):
with ReadSequence(self, which=whence, guarantee=guarantee) as cur_seq:
while True:
yield cur_seq
cur_seq.increment()
#def _data(self):
# data_ptr = _get(self.lib.bfRingLockedGetData, self.obj)
# #data_ptr = c_void_p()
# #self._check( self.lib.bfRingLockedGetData(self.obj, pointer(data_ptr)) )
# #data_ptr = data_ptr.value
# #data_ptr = self.lib.bfRingLockedGetData(self.obj)
# if self.space == 'cuda':
# # TODO: See if can wrap this in something like PyCUDA's GPUArray
# # Ideally actual GPUArray, but it doesn't appear to support wrapping pointers
# return data_ptr
# span = self._total_span()
# stride = self._stride()
# nringlet = self._nringlet()
# #print "******", span, stride, nringlet
# BufferType = c_byte*(nringlet*stride)
# data_buffer_ptr = cast(data_ptr, POINTER(BufferType))
# data_buffer = data_buffer_ptr.contents
# data_array = np.ndarray(shape=(nringlet, span),
# strides=(stride, 1) if nringlet > 1 else None,
# buffer=data_buffer, dtype=np.uint8)
# return data_array
#def _contiguous_span(self):
# return self._get(BFsize, self.lib.bfRingLockedGetContiguousSpan, self.obj)
#def _total_span(self):
# return self._get(BFsize, self.lib.bfRingLockedGetTotalSpan, self.obj)
#def _nringlet(self):
# return self._get(BFsize, self.lib.bfRingLockedGetNRinglet, self.obj)
#def _stride(self):
# return self._get(BFsize, self.lib.bfRingLockedGetStride, self.obj)
def readinto(self, buf):
with self.lock:
assert(len(buf) % self.frame_nbyte == 0)
nframe = len(buf) // self.frame_nbyte
# Note: This allows buf to be a buffer/memoryview object
# E.g., numpy.ndarray.data
buf_view = (ctypes.c_byte * len(buf)).from_buffer(buf)
# TODO: This returns PaInputOverflowed if input data were dropped
# by PortAudio since the last call (equivalent to dropping
# packets).
_check(_lib.Pa_ReadStream(self.stream, buf_view, nframe))
return buf
def write(self, buf):
with self.lock:
assert(len(buf) % self.frame_nbyte == 0)
nframe = len(buf) // self.frame_nbyte
buf_view = (ctypes.c_byte * len(buf)).from_buffer(buf)
_check(_lib.Pa_WriteStream(self.stream, buf_view, nframe))
return buf
