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)