lcmutils 0.1.0

Python utility library for Lightweight Communications and Marshalling (LCM).

lcmutils

Python utility library for Lightweight Communications and Marshalling (LCM).

Installation

pip install lcmutils

Usage

Typing

lcmutils defines the LCMType protocol for LCM type classes generated via lcm-gen. You can use this protocol to type hint LCM type classes in your Python code.

from lcmutils import LCMType

def publish_lcm_message(lcm: LCM, message: LCMType) -> None:
    lcm.publish("channel", message.encode())

LCM Daemon

For many applications, it's desirable to run LCM handling in a background thread. lcmutils provides a LCMDaemon class that wraps an LCM instance and repeatedly calls its the handle method in a background thread.

from lcmutils import LCMDaemon

lcm = LCMDaemon()

@lcm.subscribe("channel1", "channel2")
def handle_message(channel: str, data: bytes) -> None:
    print(f"Received message {data} on channel {channel}")

lcm.start()
...
lcm.stop()  # will stop when the next message is handled

By default, the LCMDaemon instance will use the blocking LCM.handle method. If you want to use the LCM.handle_timeout method instead, you can pass a timeout_millis argument to the constructor. You can also pass a start argument to automatically start the daemon.

from lcmutils import LCMDaemon

# Use LCM.handle_timeout with a 100ms timeout and start the daemon
lcm = LCMDaemon(timeout_millis=100, start=True)
...
lcm.stop()  # will stop within 100ms

LCMDaemon can be passed an existing LCM instance to wrap, or it will create a new LCM instance if none is provided.

from lcm import LCM
from lcmutils import LCMDaemon

lcm = LCM("udpm://239.255.76.67:7667?ttl=1")  # create an LCM instance with ttl=1
lcm_daemon = LCMDaemon(lcm, start=True)
...
lcm_daemon.stop()

Type Registry

lcmutils provides an LCMTypeRegistry class that can be used to register and lookup LCM type classes by fingerprint.

from lcmutils import LCMTypeRegistry
from my_lcm_types import MyLCMType

registry = LCMTypeRegistry(MyLCMType)
# or:
#   registry = LCMTypeRegistry()
#   registry.register(MyLCMType)

msg = MyLCMType()
msg_encoded = msg.encode()

print(registry.detect(msg_encoded))         # MyLCMType
print(registry.decode(msg_encoded) == msg)  # True