A library for the MAVLink protocol
Project description
Libmav Python
Native python bindings for the libmav library. libmav-python is a runtime defined low-level MAVLink library.
In comparison to other python MAVLink libaries, it has certain advantages:
- Runtime defined message set. No need to recompile on message set change or custom messages
- Implemented in C++. Much faster than pure python
- Simple, pythonic API. No need to learn a new API or asyncio, just use python
Installation
pip install libmav
Example usage
import libmav
# Create a message set from a mavlink xml file
message_set = libmav.MessageSet('<PATH TO common.xml>')
# You can also add additional messages here with inline xml
message_set.add_from_xml_string('''
<mavlink>
<messages>
<message>
...
</message>
</messages>
</mavlink>''')
# Create a message from the message set
message = message_set.create('MY_PROTOCOL_MESSAGE')
# Set fields of the message individually
message['my_numeric_field'] = 1
message['my_char_array_field'] = 'Hello world'
message['my_float_array_field'] = [1.0, 2.0, 3.0]
message['my_int_array_field'] = [4, 5, 6]
# Get fields individually
my_num = message['my_numeric_field']
my_string = message['my_char_array_field']
my_float_array_field = message['my_float_array_field']
# You can also use pythonic things like list comprehensions
# This creates a list of all the values in my_float_array_field multiplied by 2
my_float_array_field = [x * 2 for x in message['my_float_array_field']]
# Set fields from a dict
message.set_from_dict({
'my_numeric_field': 1,
'my_char_array_field': 'Hello world',
'my_float_array_field': [1.0, 2.0, 3.0],
'my_int_array_field': [4, 5, 6]
})
# Get fields as python dict
message_dict = message.to_dict()
# Connect to a TCP server
conn_physical = libmav.TCPClient('192.168.1.12', 14550)
conn_runtime = libmav.NetworkRuntime(self.message_set, heartbeat, conn_physical)
connection = conn_runtime.await_connection(2000)
# Check if connection is still alive
if not connection.alive():
print('Connection lost, waiting for reconnect...')
connection = conn_runtime.await_connection(2000)
# Send a message
connection.send(message)
# Receive a message, timeout 1s
received_message = connection.receive("HEARTBEAT", 1000)
# Receive a message, no timeout
received_message = connection.receive("HEARTBEAT")
# Receive a message as the result of a message we send
# This avoids the race condition between us sending and then waiting for reception
expectation = connection.expect("PARAM_VALUE")
connection.send(our_param_request_message)
received_message = connection.receive(expectation, 1000)
# Connect to a Serial port
conn_physical = libmav.Serial('/dev/ttyUSB0')
conn_runtime = libmav.NetworkRuntime(self.message_set, heartbeat, conn_physical)
⚠️ Note: The network runtime object and the physical interface object must be kept scope for the duration of the connection. Otherwise, the connection will not have a valid underlying network and will crash.
Install from source
Prerequisites
- A compiler with C++11 support
- Pip 10+ or CMake >= 3.4 (or 3.14+ on Windows, which was the first version to support VS 2019)
- Ninja or Pip 10+
Just clone this repository and pip install. Note the --recursive
option which is
needed for the pybind11 submodule:
git clone --recursive https://github.com/Auterion/libmav-python.git
pip install ./libmav-python
With the setup.py
file included in this project, the pip install
command will
invoke CMake and build the pybind11 module as specified in CMakeLists.txt
.
Project details
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Download the file for your platform. If you're not sure which to choose, learn more about installing packages.
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MD5 | 279ab1f583c7af07ed331918ddd24f5c |
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BLAKE2b-256 | 0ec8f7e64973fe8e92b86b81b16ac139e4c53045eceaa1c84153e3449119c9ef |
Hashes for libmav-0.0.6-cp37-cp37m-musllinux_1_1_x86_64.whl
Algorithm | Hash digest | |
---|---|---|
SHA256 | 12a7184b4be8596bc97ee728667400679ccb2eecbc2549fd1233b2dd6f537df4 |
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MD5 | 7814de850f2d17625ac0017915fd5fb6 |
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BLAKE2b-256 | 14ad08a9ba0e30c87e19f7eba0ae7adc54cf36b0d4d618ec74c3aeec431edc7a |
Hashes for libmav-0.0.6-cp37-cp37m-musllinux_1_1_i686.whl
Algorithm | Hash digest | |
---|---|---|
SHA256 | 1d66cd86188a329a147bc8eb14e2e93366a5b331f3f398bce0a20c80a3c2f4c2 |
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MD5 | b4d808b7f8195fc7bf2123763729f269 |
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BLAKE2b-256 | 7a81f7cc6b0ce5761a06e72869f27cb5ec3c83853e2c6c4c83a9e81ca9d775ee |
Hashes for libmav-0.0.6-cp37-cp37m-musllinux_1_1_aarch64.whl
Algorithm | Hash digest | |
---|---|---|
SHA256 | 6b97a6c997317086c34f29e4be3c2a13dd9e4fd1e15d3b227d03b901f49ca4a9 |
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MD5 | a7f9038ccaf41fd872294a52d1aecbb9 |
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BLAKE2b-256 | 41e6761fa7d08dda7b989066c0ef8d138f236a6fd1c9ad675113305beebbdf5d |
Hashes for libmav-0.0.6-cp37-cp37m-manylinux_2_17_x86_64.manylinux2014_x86_64.whl
Algorithm | Hash digest | |
---|---|---|
SHA256 | 35a075c9bfff02aa59156ef88fc8c13212cde91329c8bef24bf2f258f494ccc8 |
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MD5 | ab32ce8803a9ba1a629a4136eccddc15 |
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BLAKE2b-256 | 3a9d5039ace3c034f9ed87a63e29c2ad1655ada61f0d7f53b912fb0ff7b41539 |
Hashes for libmav-0.0.6-cp37-cp37m-manylinux_2_17_i686.manylinux2014_i686.whl
Algorithm | Hash digest | |
---|---|---|
SHA256 | e0c178b4838a90224458ff79d731753406c764c7fc957535a2aa3fafbe58a7e8 |
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MD5 | 9752096b064687568d2d06facbf50f78 |
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BLAKE2b-256 | 4b54bc3eb04ffa66f9649d9026ac5849d89e6c5e459823923ea14d57ba931213 |
Hashes for libmav-0.0.6-cp37-cp37m-manylinux_2_17_aarch64.manylinux2014_aarch64.whl
Algorithm | Hash digest | |
---|---|---|
SHA256 | c6490fb08031d78236c41939d9649c8f8377426721f1741cb6c71471ebfe2d24 |
|
MD5 | 38bafa23d807e7f1a76c7fcd5bd89dbb |
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BLAKE2b-256 | 8cb43124bc24a836157858ff23803097d7a9ec04e7df4f05b260d741911a898b |