def stepSimulation():
if client.runInSynchronousMode:
currentStep = client.stepCounter
sim.simxSynchronousTrigger(client.id)
while client.stepCounter == currentStep:
retCode, s = sim.simxGetIntegerSignal(
client.id, client.intSignalName,
sim.simx_opmode_buffer)
if retCode == sim.simx_return_ok:
client.stepCounter = s
retCode, res, img = sim.simxGetVisionSensorImage(
client.id, client.visionSensorHandle, 0,
sim.simx_opmode_buffer)
client.lastImageAcquisitionTime = sim.simxGetLastCmdTime(
client.id)
if retCode == sim.simx_return_ok:
sim.simxSetVisionSensorImage(
client.id, client.passiveVisionSensorHandle, img, 0,
sim.simx_opmode_oneshot)
else:
retCode, res, img = sim.simxGetVisionSensorImage(
client.id, client.visionSensorHandle, 0,
sim.simx_opmode_buffer)
if retCode == sim.simx_return_ok:
imageSimTime = sim.simxGetLastCmdTime(client.id)
if client.lastImageAcquisitionTime != imageSimTime:
client.lastImageAcquisitionTime = imageSimTime
sim.simxSetVisionSensorImage(
client.id, client.passiveVisionSensorHandle, img,
0, sim.simx_opmode_oneshot)
#Use to Test
else:
speed(player_x_handle, 0)
speed(player_y_handle, 0)
pass
else:
if not ret_green:
print('Not Found Green Object')
if not ret_red:
print('Not Found Red Object')
if not ret_blue:
print('Not Found Blue Object')
# vs2 display
img2 = img2.ravel()
sim.simxSetVisionSensorImage(clientID, v1, img2, 0,
sim.simx_opmode_oneshot)
end = time.time()
dt = end - start
print('Frame took:', dt * 1000.0, 'ms')
elif err == sim.simx_return_novalue_flag:
print("no image yet")
pass
else:
print(err)
if len(ball_positionX) > (data_number - 1):
del ball_positionX[0]
if len(ball_positionY) > (data_number - 1):
del ball_positionY[0]
else:
print("Failed to connect to remote API Server")
sim.simxFinish(clientID)