def _get_signal(self, name, int_type=False):
s = self._com(remote_api.simxGetStringSignal, name, get=True)
if int_type:
data = remote_api.simxUnpackInts(s)
else:
data = remote_api.simxUnpackFloats(s)
return np.array(data)
cmdID = 1 # this command id means: 'display a text in a message box'
cmdCnt = 0
cmdData = b'Hello world!'
dataToSend = getCmdString(cmdID, cmdCnt, cmdData)
vrep.simxWriteStringStream(clientID, 'commandsFromRemoteApiClient',
dataToSend, vrep.simx_opmode_oneshot)
replyData = waitForCmdReply(cmdCnt)
if sys.version_info[0] == 3:
replyData = str(replyData, 'utf-8')
print('Return string: ', replyData
) # display the reply from V-REP (in this case, just a string)
# 2. Now create a dummy object at coordinate 0.1,0.2,0.3:
cmdID = 2 # this command id means: 'create a dummy at a specific coordinate with a specific name'
cmdCnt = cmdCnt + 1
cmdData = b'MyDummyName' + vrep.simxPackFloats([0.1, 0.2, 0.3])
dataToSend = getCmdString(cmdID, cmdCnt, cmdData)
vrep.simxWriteStringStream(clientID, 'commandsFromRemoteApiClient',
dataToSend, vrep.simx_opmode_oneshot)
replyData = waitForCmdReply(cmdCnt)
print(
'Dummy handle: ',
vrep.simxUnpackInts(replyData)[0]
) # display the reply from V-REP (in this case, the handle of the created dummy)
# Now close the connection to V-REP:
vrep.simxFinish(clientID)
else:
print('Failed connecting to remote API server')
print('Program ended')
#errorCode, signalValue = vrep.simxReadStringStream(clientID, 'dvsData', vrep.simx_opmode_streaming)
#time.sleep(5)
#errorCode, dvsSignal = vrep.simxReadStringStream(clientID, 'dvsData', vrep.simx_opmode_buffer)
#dvsSignalArray = vrep.simxUnpackInts(dvsSignal)
vrep.simxStartSimulation(clientID, vrep.simx_opmode_oneshot)
# Get events from DVS camera
errorCode, signalValue = vrep.simxReadStringStream(clientID, 'dvsData',
vrep.simx_opmode_streaming)
time.sleep(0.01)
# Synchronize and get DVS data
vrep.simxSynchronousTrigger(clientID)
errorCode, dvsSignal = vrep.simxReadStringStream(clientID, 'dvsData',
vrep.simx_opmode_buffer)
dvsSignalArray = vrep.simxUnpackInts(dvsSignal)
dvsEventsList = numpy.reshape(dvsSignalArray,
[int(len(dvsSignalArray) / 4), 4]).T
#Prepare figure to display the results
fig = plt.figure()
while (True):
print('Receiving DVS data ...\n')
errorCode, dvsSignal = vrep.simxReadStringStream(clientID, 'dvsData',
vrep.simx_opmode_buffer)
dvsSignalArray = vrep.simxUnpackInts(dvsSignal)
dvsEventsList = numpy.concatenate(
(dvsEventsList,
numpy.reshape(dvsSignalArray, [int(len(dvsSignalArray) / 4), 4]).T),
1)
