update master branch

.gitignore

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+#忽略gitignore文件  
+#.gitignore  
+#忽略idea setting files
+.idea
+# python cash files
+*.pyc 
+__pycash__
+# mac default files
+.DS_Store

ADCPlatform/__init__.py

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+"""
+Simulation Platform Library
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+platform is an HTTP library, written in Python.
+usage:
+
+    >>> import ADCPlatform
+    >>> ADCPlatform.start('20190812', '123456')
+    >>> print ADCPlatform.get_control_data()
+    >>> ADCPlatform.stop()
+
+
+:copyright: (c) 2019 by Junyu Mei.
+:license: CATARC Tianjin.
+"""
+
+
+from . import __version__
+from .api import start, stop, get_image, get_control_data, get_data, get_sensors, start_task,\
+    control,brake
+from .type_node import DataType, ImageType, SignBoard
+#from .tools import convert_image_to_numpy_ndarray, ThreadWithExc
+
+
+"""A client to operation ADCPlatform function
+ Some operation like controller vehicle, get Image and Data from vehicle sensor.
+ """
+
+
+def __init__(self, proxy=None, __cookie=None):
+    self.proxy = proxy
+    self.__cookie = __cookie
+
+
+
+
+

ADCPlatform/__version__.py

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+#!/usr/bin/env python
+#
+# 版本说明文件
+# 当前版本1.0.0
+# 更新历史记录
+# 无
+# 功能：
+# 实现对接模拟仿真平台
+
+__title__ = 'ADCPlatform'
+__description__ = 'Python SDK form Simulation Platform'
+__version__ = '1.0.0'
+__author__ = 'Junyu Mei'
+__author_email__ = '[email protected]'

ADCPlatform/api.py

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+from . import business
+from .type_node import DataType, ImageType, SignBoard
+
+
+# 开启
+def start(url, username, password):
+    business.__server_url = url
+    result = business.__login(username, password)
+    if result['RespCode'] == 6 and business.__get_task():
+        return True
+    else:
+        stop()
+        return False
+
+
+# 关闭
+def stop():
+    business.__logout()
+
+
+# 获取当前车辆安装传感器数据
+def get_sensors():
+    return business.__getSensors()
+
+
+# 启动场景
+def start_task():
+    return business.__start_task()
+
+
+# 获取图片
+def get_image(sensorId):
+    return business.__get_image(sensorId)
+
+# 获取Data数据
+def get_data(sensorId):
+    return business.__get_data(sensorId)
+
+
+# 第一题发送标志牌信息
+def submit_sign_board(sign_board1: SignBoard, sign_board2: SignBoard, sign_board3: SignBoard):
+    return business.__send_command('Sign', str(sign_board1.value + 1) + '/' + str(sign_board2.value + 1) + '/'
+                                   + str(sign_board3.value + 1))
+
+
+# 获取控制数据
+def get_control_data():
+    return business.__get_data(business.simtask['Sences']['Vehicles'][0]['ID'])
+
+
+# 控制车辆
+def control(throttle, steering, brake, gear):
+    # business.__send_command('Throttle', '1')
+    business.__send_command('control', str(throttle) + '/' + str(steering) + '/' + str(brake) + '/' + str(gear))
+
+
+# 刹车
+def brake(brake):
+    # business.__send_command('Throttle', '1')
+    business.__send_command('brake', str(brake))
+
+
+
+

ADCPlatform/business.py

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+from . import request_basic
+from . import request_node
+from . import type_node
+from io import BytesIO
+
+# 存储服务器地址
+__server_url = ''
+
+# 协议头
+__protocol = 'https://'
+
+# 存储当前的TaskInfo信息
+simtask = None
+
+
+# 登录接口，返回登录信息
+def __login(username, password):
+    data = {"account": username,
+            "password": password}
+    result = request_basic.__post(__server_url + "/sys/Login", data)
+    request_basic.__APNToken = result.json()['Data']['token']
+    return result.json()
+
+
+# 登出接口，Bool型返回值， 成功返回True，否则返回Flase
+def __logout():
+    request_basic.__get_with_json(__server_url + "/sys/LogOut", None)
+    request_basic.__cookies = None
+    request_basic.__APNToken = None
+
+
+# 发送命令接口，Bool型返回值， 成功返回True，否则返回Flase
+def __send_command(command, value):
+    global simtask
+    if not simtask:
+        return False
+    vehicle_id = simtask['Sences']['Vehicles'][0]['ID']
+    result = request_node.__get("/Command/" + command + "/" + value, None)
+    if result.status_code == 200:
+        return True
+    else:
+        return False
+
+
+# 获取当前正在执行的任务数据
+def __get_task():
+    result = request_basic.__get_token(__server_url + "Question/GetUserRunningSimTask", None)
+    task = result.json()
+    if task['RespCode'] == 1:
+        # 设置当前任务Token
+        request_node.__APNToken = task['Data']['Sences']['Token']
+        # 设置当前任务APN
+        request_node.__NodeAPN = __protocol + task['Data']['Sences']['APN'] + ":" + str(task['Data']['Sences']['HttpPort'])
+        global simtask
+        simtask = task['Data']
+        return True
+    else:
+        return False
+
+
+# 获取车辆安装传感器数据
+def __getSensors():
+    if not simtask:
+        return None
+    sensors = []
+    for s in simtask['Sences']['Vehicles'][0]['Sensors']:
+        sensor = type_node.SensorInfo(s['ID'],s['Name'])
+        sensors.append(sensor)
+    return sensors
+
+
+# 发送开始测试指令
+def __start_task():
+    result = request_node.__get("/Command/start/1", None)
+    if result.status_code == 200:
+        return True
+    return False
+
+
+# 获取图片接口，返回ImagePackage
+def __get_image(objectId):
+    result = request_node.__get("/widc/data/" + str(objectId), None)
+    if result==None or len(result.content) == 0:
+        return None
+    image_package = type_node.ImagePackage()
+    image_package.timestamp = result.headers['TimeStamp']
+    image_package.byte = BytesIO(result.content)
+    return image_package
+
+
+# 获取数据接口，返回DataPackage
+def __get_data(objectId):
+    result = request_node.__get("/widc/data/" + str(objectId), None)
+    if result==None or len(result.content) == 0:
+        return None
+    data_package = type_node.DataPackage()
+    data_package.timestamp = result.headers['TimeStamp']
+    data_package.json = result.json()
+    return data_package
+
+
+# 错误处理接口
+def __error(result):
+    return result['respMsg']

ADCPlatform/request_basic.py

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+import requests
+
+# 设置的代理
+__proxy = None
+# 设置的Cookies
+__cookies = None
+# 设置请求头
+__APNToken = None
+
+# requests.packages.urllib3.disable_warnings()
+
+
+# post请求
+def __post(url, json_data):
+    return requests.post(url, None, json_data, proxies=__proxy, cookies=__cookies)
+
+
+# get请求带cookies
+def __get(url, params):
+    return requests.get(url, params, proxies=__proxy, cookies=__cookies)
+
+
+# post请求返回json
+def __post_with_json(url, json_data):
+    return requests.post(url, None, json_data, proxies=__proxy, cookies=__cookies).json()
+
+
+# get请求返回json
+def __get_with_json(url, params):
+    return requests.get(url, params, proxies=__proxy, cookies=__cookies).json()
+
+
+# get请求带token
+def __get_token(url, params):
+    __headers = {
+        'token': __APNToken
+    }
+    return requests.get(url, params, proxies=__proxy, headers=__headers)

ADCPlatform/request_node.py

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+import requests
+
+# 存储node节点连接ip
+__NodeAPN = None
+
+# 设置的代理
+__proxy = None
+
+# 设置请求头
+__APNToken = None
+# 会话
+__session = requests.Session()
+
+requests.packages.urllib3.disable_warnings()
+
+
+# get请求
+def __get(url, params):
+    __headers = {
+        'APNToken': __APNToken
+    }
+
+    return __session.get(__NodeAPN + url, params=params, headers=__headers, verify=False)
+
+
+# get请求返回json
+def __get_with_json(url, params):
+    __headers = {
+        'APNToken': __APNToken
+    }
+    return __session.get(__NodeAPN + url, params=params, headers=__headers, verify=False).json()

ADCPlatform/task_info.py

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+# {'RespMsg': None, 'Data': {'TaskInfo': {'ID': 10226}, 'Sences': {'Vehicles': [{'Type': 5, 'Sensors': [{'Type': 1, 'Name': 'Lidar-1', 'ID': 10101, 'APN': '10.10.10.8', 'Token': '/7C7VNxYUPBjFq6AOVLg4w=='}, {'Type': 2, 'Name': 'Radar-1', 'ID': 10102, 'APN': '10.10.10.8', 'Token': '/7C7VNxYUPBjFq6AOVLg4w=='}, {'Type': 3, 'Name': 'Camera-1', 'ID': 10103, 'APN': '10.10.10.8', 'Token': '/7C7VNxYUPBjFq6AOVLg4w=='}, {'Type': 5, 'Name': 'Camera-2', 'ID': 10104, 'APN': '10.10.10.8', 'Token': '/7C7VNxYUPBjFq6AOVLg4w=='}], 'ID': 101, 'APN': '10.10.10.8', 'Token': '/7C7VNxYUPBjFq6AOVLg4w=='}], 'ID': 1, 'APN': '10.10.10.8', 'Token': '/7C7VNxYUPBjFq6AOVLg4w=='}}, 'OK': True, 'RespCode': 1}
+

ADCPlatform/tools.py

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+#coding=utf-8
+from PIL import Image
+import numpy
+import threading
+import ctypes
+from time import sleep
+
+def convert_image_to_numpy_ndarray(imageframe_byte):
+	#image2 = Image.fromarray(array) # image2 is a PIL image,array is a numpy
+	#array
+   return numpy.array(Image.open(imageframe_byte))
+
+def _async_raise(tid, exctype:'exctype'):
+    res = ctypes.pythonapi.PyThreadState_SetAsyncExc(ctypes.c_long(tid),
+                                                     ctypes.py_object(exctype))
+    if res == 0:
+        raise ValueError("invalid thread id")
+    elif res != 1:
+        # "if it returns a number greater than one, you're in trouble,
+        # and you should call it again with exc=NULL to revert the effect"
+        ctypes.pythonapi.PyThreadState_SetAsyncExc(ctypes.c_long(tid), None)
+        raise SystemError("PyThreadState_SetAsyncExc failed")
+
+class ThreadWithExc(threading.Thread):
+
+	def _get_my_tid(self):
+		if not self.isAlive():
+			raise threading.ThreadError("the thread is not active")
+
+		# do we have it cached?
+		if hasattr(self, "_thread_id"):
+			return self._thread_id
+
+		# no, look for it in the _active dict
+		for tid, tobj in threading._active.items():
+			if tobj is self:
+				self._thread_id = tid
+				return tid
+		raise AssertionError("could not determine the thread's id")
+
+	def raise_exc(self,excobj):
+		if self.isAlive():
+			_async_raise(self._get_my_tid(),excobj)
+
+
+	def stop(self):
+		self.raise_exc(SystemExit)
+		while self.isAlive():
+			sleep( 0.1 )
+			self.raise_exc(SystemExit)
+
+
+