add adapi_driver_camera_python.

src/api/adapi_driver_camera_python/PyModuleCommModule.py

@@ -0,0 +1,91 @@
+
+import threading  
+import time  
+
+import modulecommpython
+import numpy as np  
+
+
+modulelock = threading.Lock()  
+nThread = 0
+  
+class PyModuleComm:  
+    def __init__(self,strname):  
+        # 初始化代码...  
+        print("name: ",strname)
+        self.strmemname = strname
+        self.mbRegister = False
+        global nThread
+        nThread = nThread+1
+        self.mnMode = 0
+        print("nThread = ",nThread)
+        self.obj = modulecommpython.get_ca_object()
+        pass  
+
+    def RegisterRecv(self,call):
+        if self.mbRegister:
+            print(" Have register, can't register other.")
+            return
+        print("Register: ",self.strmemname)
+        self.mpcall = call
+        self.mbRegister = True
+        self.mbRun = True
+        self.mpthread = threading.Thread(target=self.threadrecvdata, args=(self.strmemname,))  
+        self.mpthread.start()
+        print("complete create thread.")
+        self.mnMode = 1
+        self.obj.RegisterRecv(self.strmemname)
+
+    def RegiseterSend(self,nSize,nPacCount):
+        if self.mbRegister:
+            print(" Have register, can't register other.")
+            return
+        print("Register: ",self.strmemname)
+        self.mnsize = nSize
+        self.mnPacCount = nPacCount
+        self.mbRegister = True
+        self.mnMode = 2
+        self.obj.RegisterSend(self.strmemname,nSize,nPacCount)
+    
+    def SendData(self,arr,nsendsize):      
+    #    nrealsize = np.zeros(1, dtype=np.int32)  
+        nrtn = self.obj.SendData(arr,nsendsize)
+  
+    def threadrecvdata(self, arg):  
+        # 这个函数将被线程执行  
+ #       print(f"线程开始执行，参数是 {arg}")  
+        nBuffSize = int(1000)
+        arr = np.zeros(nBuffSize,dtype=np.int8)
+        recvtime = np.zeros(1,dtype=np.int64)
+        nrealsize = np.zeros(1,dtype=np.int32)
+        while 1:
+            nrtn = self.obj.RecvData(arr,nBuffSize,nrealsize,recvtime)
+            if nrtn > 0:
+                self.mpcall(arr,nrtn,recvtime)
+            else:
+                pass
+            if nrtn < 0:
+                nBuffSize = int(nrealsize[0] * 2)
+                arr = np.zeros(nBuffSize,dtype=np.int8)
+            else:
+                time.sleep(0.001)
+            
+        print("threadrecvdata complete.")
+
+    def stop_thread(self):
+        self.mbRun = False
+        self.mpthread.join()
+  
+    def start_thread(self, arg):  
+        # 创建线程对象，target参数指向要在线程中运行的函数  
+        self.mbRun = True
+        self.mpthread = threading.Thread(target=self.my_function, args=(arg,))  
+          
+        # 启动线程  
+        self.mpthread.start()  
+          
+        # 可以在这里添加其他代码，主线程会继续执行  
+        print("主线程继续执行...")  
+  
+        # 如果需要等待线程结束，可以调用 join() 方法  
+        # thread.join()  

src/api/adapi_driver_camera_python/pythoncamera.py

@@ -0,0 +1,37 @@
+import modulecommpython
+import numpy as np  
+import time
+import sys  
+import rawpic_pb2
+
+from PyModuleCommModule import PyModuleComm
+
+time_image = 0
+msg_image = rawpic_pb2.rawpic()
+
+def image_callback(arr : np,nsize,time):  
+    global msg_image
+    global time_image
+    sub_arr = arr[0:nsize]
+    databytes = sub_arr.tobytes()
+    msg = rawpic_pb2.rawpic()
+    msg.ParseFromString(databytes)
+    msg_gpsimu = msg
+    time_gpsimu = time
+
+def main():  
+    # 初始化一个变量  
+    count = 0
+
+    mc = PyModuleComm("image00")
+    mc.RegisterRecv(image_callback)
+
+    # 使用while循环，只要count小于10，就继续循环  
+    while count < 10:
+        time.sleep(0.05)
+
+    print("循环结束！")  
+  
+# 调用main函数  
+if __name__ == "__main__":  
+    main()

src/api/adapi_driver_camera_python/rawpic.proto

@@ -0,0 +1,16 @@
+syntax = "proto2";
+
+package iv.vision;
+
+
+message rawpic
+{
+  optional int64 time = 1; // number of milliseconds since 1970-01-01T00:00:00 Universal Coordinated Time
+  optional int32 index = 2;
+  optional int32 type = 3; //类型, 1 mat 2 jpg
+  optional int32 width = 4;
+  optional int32 height = 5;
+  optional int32 elemsize = 6;
+  optional int32 mattype = 7;
+  optional bytes picdata = 8;
+};