pycrg

Unofficial Python bindings for the ASAM OpenCRG C API.

Features

• Full non-visual OpenCRG C API coverage in Python
• High-level DataSet, ContactPoint, and RoadSurface APIs
• Stable message callback support
• Experimental allocator callback support behind PYCRG_ENABLE_UNSAFE_CALLBACKS=1
• Demo scripts and smoke tests

Exposed functionality includes:

• dataset lifecycle and consistency checks
• dataset metadata printing and range/increment queries
• dataset modifier set/get/remove/apply/default operations
• contact point lifecycle and option set/get/remove/default/history operations
• evaluation and transforms: (u, v) <-> (x, y), (u, v) -> z, (x, y) -> z, (u, v)/(x, y) -> (phi, curv)
• global controls: OpenCRG release info, memory release, message level and limits

Public callback APIs:

• Stable/public:
  • set_message_callback
  • clear_message_callback
• Experimental/unsafe (pycrg.experimental):
  • set_calloc_callback
  • set_realloc_callback
  • set_free_callback
  • clear_unsafe_callbacks

Unsafe allocator callbacks are disabled by default and require PYCRG_ENABLE_UNSAFE_CALLBACKS=1.

Legal notice

pycrg is an unofficial community wrapper and is not affiliated with or endorsed by ASAM e.V.

ASAM OpenCRG® is a registered trademark of ASAM e.V.

This package redistributes parts of OpenCRG under Apache License 2.0 and includes required attribution files:

• LICENSE
• NOTICE
• vendored source license files under src/pycrg/vendor/opencrg/

Installation

pip install pycrg

Development

0) Install development dependencies

pip install -r requirements-dev.txt

1) Refresh vendor snapshot (before building wheel/sdist)

python tools/vendor_snapshot.py --source ../OpenCRG

--source may point to any local clone of OpenCRG.

2) Build

python -m build

3) Install locally

pip install dist/*.whl

Changelog

Release notes are maintained in CHANGELOG.md.

Minimal usage

from pycrg import ContactPoint, DataSet, RoadSurface

dataset = DataSet.open("tests/data/sample.crg")
cp: ContactPoint = dataset.create_contact_point()

print(dataset.u_range())
print(cp.uv_to_z(0.0, 0.0))
cp.close()
dataset.close()

road = RoadSurface.open("tests/data/sample.crg")
print(road.u_range())
print(road.v_range())
print(road.uv_to_z(0.0, 0.0))
road.close()

Example scripts

Run from project root after install/build.

• C demo ports (simple, eval_z, eval_xyuv, eval_options) are exception-safe: evaluation/conversion failures are handled as warnings and execution continues.
• This behavior is implemented via non-throwing try_* API methods on ContactPoint / RoadSurface.
• python examples/scripts/basic_roadsurface_demo.py
• python examples/scripts/dataset_contactpoint_demo.py
• python examples/scripts/message_callback_demo.py
• python examples/scripts/simple_demo.py
• python examples/scripts/reader_demo.py
• python examples/scripts/eval_z_demo.py
• python examples/scripts/eval_xyuv_demo.py
• python examples/scripts/eval_options_demo.py
• python examples/scripts/curvature_demo.py
• PYCRG_ENABLE_UNSAFE_CALLBACKS=1 python examples/scripts/unsafe_allocator_callbacks_demo.py
• PYCRG_ENABLE_UNSAFE_CALLBACKS=1 python examples/scripts/experimental_allocator_api_demo.py