import ctypes eye = ctypes.CDLL('../../lib/dynamic/libeyebot.so') eye.KEYGet.argtypes = (None) eye.KEYGetXY.argtypes = (ctypes.POINTER(ctypes.c_int),ctypes.POINTER(ctypes.c_int)) KEY1 = 1 KEY2 = 2 KEY3 = 4 KEY4 = 8 eye.VWDrive.argtypes = (ctypes.c_int, ctypes.c_int,ctypes.c_int) eye.VWCurve.argtypes = (ctypes.c_int, ctypes.c_int) eye.VWTurn.argtypes = (ctypes.c_int, ctypes.c_int) eye.VWStraight.argtypes = (ctypes.c_int, ctypes.c_int) eye.VWSetSpeed.argtypes = (ctypes.c_int, ctypes.c_int) eye.VWSetPosition.argtypes = (ctypes.c_int, ctypes.c_int,ctypes.c_int) eye.VWDone.argtypes = (None) eye.VWRemain.argtypes = (None) eye.VWWait.argtypes = (None) eye.VWStalled.argtypes = (None) eye.LCDClear.argtypes = (None) eye.LCDRefresh.argtypes = (None) eye.LCDSetPos.argtypes = (ctypes.c_int, ctypes.c_int) eye.LCDSetFont.argtypes = (ctypes.c_int, ctypes.c_int) eye.LCDPixelInvert.argtypes = (ctypes.c_int, ctypes.c_int) eye.LCDLineInvert.argtypes = (ctypes.c_int, ctypes.c_int,ctypes.c_int, ctypes.c_int) eye.LCDAreaInvert.argtypes = (ctypes.c_int, ctypes.c_int,ctypes.c_int, ctypes.c_int) eye.LCDCircleInvert.argtypes = (ctypes.c_int,ctypes.c_int,ctypes.c_int) eye.LCDImageStart.argtypes = (ctypes.c_int,ctypes.c_int,ctypes.c_int,ctypes.c_int) eye.LCDMenu.argtypes = (ctypes.c_char_p,ctypes.c_char_p,ctypes.c_char_p,ctypes.c_char_p) eye.LCDSetPrintf.argtypes = (ctypes.c_int,ctypes.c_int,ctypes.c_char_p) eye.PSDGet.restypes = ctypes.c_int eye.KEYGet.restypes = ctypes.c_int eye.LCDPrintf.argtypes = (ctypes.c_char_p,ctypes.c_char_p) def KEYRead(): global eye result = eye.KEYRead() return int(result) def PSDGet(psd): global eye result = eye.PSDGet(ctypes.c_int(psd)) return int(result) def CAMInit(res): global eye eye.CAMInit(ctypes.c_int(res)) def OSWait(n): global eye eye.OSWait(ctypes.c_int(n)) def CAMGet(buf): global eye pi = POINTER(ctypes.c_char) result = eye.CAMGet(pi) return BYTE * (result) def LCDMenu(st1,st2,st3,st4): global eye a = ctypes.c_char_p(st1) b = ctypes.c_char_p(st2) c = ctypes.c_char_p(st3) d = ctypes.c_char_p(st4) eye.LCDMenu(a,b,c,d) def LCDSetPrintf(row,column,fmt): global eye r = ctypes.c_int(row) c = ctypes.c_int(column) f = ctypes.c_char_p(fmt) eye.LCDSetPrintf(r,c,f) def LCDPrintf(a,b): global eye eye.LCDPrintf(ctypes.c_char_p(a),ctypes.c_char_p(b)) def KEYGet(): global eye eye.KEYGet(None) return int(result) def KEYRead(): global eye result = eye.KEYRead(None) return int(result) def KEYWait(key): global eye eye.KEYWait(ctypes.c_int(key)) def KEYGetXY(x,y): xp = POINTER(ctypes.c_int) yp = POINTER(ctypes.c_int) result = eye.KEYGetXY(xp,yp) return int(result) def VWDrive(dis,vel,spd): global eye eye.VWDrive(ctypes.c_int(dis),ctypes.c_int(vel),ctypes.c_int(spd)) def VWCurve(dist,angle,speed): global eye eye.VWCurve(ctypes.c_int(dist),ctypes.c_int(angle),ctypes.c_int(speed)) def VWTurn(ang, speed): global eye eye.VWTurn(ctypes.c_int(ang), ctypes.c_int(speed)) def VWStraight(dist, speed): global eye eye.VWStraight(ctypes.c_int(dist), ctypes.c_int(speed)) def VWSetSpeed(speed,angspeed): global eye eye.VWSetSpeed(ctypes.c_int(speed), ctypes.c_int(angspeed)) def VWSetPosition(x,y,phi): global eye eye.VWSetPosition(ctypes.c_int(x), ctypes.c_int(y),ctypes.c_int(phi)) def VWDone(): global eye result = eye.VWDone(None) return int(result) def VWRemain(): global eye result = eye.VWRemain(None) return int(result) def VWWait(): global eye eye.VWWait(None) def VWStalled(): global eye result = eye.VWStalled(None) return int(result) def LCDSetMode(mode): global eye eye.LCDSetMode(ctypes.c_int(mode)) def LCDClear(): global eye eye.LCDClear(None) def LCDRefresh(): global eye eye.LCDRefresh(None) def LCDSetPos(row, column): global eye eye.LCDSetPos(ctypes.c_int(row),ctypes.c_int(column)) def LCDSetFont(font, variation): global eye eye.LCDSetFont(ctypes.c_int(font),ctypes.c_int(variation)) def LCDPixelInvert(x,y): global eye eye.LCDPixelInvert(ctypes.c_int(x),ctypes.c_int(y)) def LCDLineInvert(x,y,xx,yy): global eye eye.LCDLineInvert(ctypes.c_int(x),ctypes.c_int(y),ctypes.c_int(xx),ctypes.c_int(yy)) def LCDAreaInvert(x,y,xx,yy): global eye eye.LCDAreaInvert(ctypes.c_int(x),ctypes.c_int(y),ctypes.c_int(xx),ctypes.c_int(yy)) def LCDCircleInvert(x,y,size): global eye eye.LCDCircleInvert(ctypes.c_int(x),ctypes.c_int(y),ctypes.c_int(size)) def LCDImageSize(x): global eye eye.LCDImageSize(ctypes.c_int(x)) def LCDImageStart(x,y,xs,ys): global eye eye.LCDImageSize(ctypes.c_int(x),ctypes.c_int(y),ctypes.c_int(xs),ctypes.c_int(ys))