pycluon
A python wrapper around libcluon. pycluon aims to follow the API of libcluon as closely as possible to avoid surprises.
So far, pycluon wraps the following concepts from libcluon:
- Envelope
- OD4Session
- UDPSender
- UDPReceiver
- TCPConnection
- TCPServer
- SharedMemory
It also bundles the following command-line applications:
- protoc
- cluon-msc
- cluon-OD4toStdout
- cluon-OD4toJSON
- cluon-LCMtoJSON
- cluon-filter
- cluon-livefeed
- cluon-rec2csv
- cluon-replay
Versioning
pycluon version |
libcluon version |
python versions |
|---|---|---|
| 0.1.0 | 0.0.140 | 3.7, 3.8, 3.9, 3.10 |
| 0.1.1 | 0.0.140 | 3.7, 3.8, 3.9, 3.10 |
| 0.1.2 | 0.0.140 | 3.7, 3.8, 3.9, 3.10 |
| 0.1.3 | 0.0.140 | 3.7, 3.8, 3.9, 3.10 |
| 0.2.0 | 0.0.140 | 3.7, 3.8, 3.9, 3.10 |
| 0.2.1 | 0.0.140 | 3.7, 3.8, 3.9, 3.10, 3.11 |
| 0.2.2 | 0.0.145 | 3.7, 3.8, 3.9, 3.10, 3.11 |
Installation
pycluon is available on PyPI:
pip install pycluon
Examples
Import an odvd specification into a python module
from pycluon.importer import import_odvd
my_module = import_odvd("/path/to/my/odvd/specification.odvd")
Send an envelope
import time
from pycluon import OD4Session, Envelope
session = OD4Session(111)
message = my_module.MyMessage()
envelope = Envelope()
envelope.sent = envelope.sampled = time.time()
envelope.serialized_data = message.SerializeToString()
envelope.data_type = 13
envelope.sender_stamp = 13
session.send(envelope)
Receive an envelope
import time
from pycluon import OD4Session
session = OD4Session(111)
def callback(envelope):
message = my_module.MyMessage()
message.ParseFromString(envelope.serialized_data)
print(f"Received at {envelope.received} seconds since epoch")
session.add_data_trigger(13, callback)
while session.is_running():
time.sleep(0.01)
Write to a shared memory area
from datetime import datetime
from pycluon import SharedMemory
sm = SharedMemory("frame.argb", 640*480)
sm.lock()
sm.timestamp = datetime.now()
sm.data = b"<bytes>"
sm.unlock()
sm.notify_all()
Read from an existing shared memory area
from pycluon import SharedMemory
sm = SharedMemory("frame.argb")
sm.wait() # Wait for notification from writing process
sm.lock()
print(sm.timestamp)
print(sm.data)
sm.unlock()
See the tests for usage of UDPSender, UDPReceiver, TCPConnection and TCPServer.
Metadata
Release files for pycluon 0.2.3
For a detailed explanation of source distributions (sdists) and built distributions (wheels), please see the package formats documentation.
Built distributions (wheels)
Total release size: 76.0 MB
Release files / pycluon-0.2.3-cp312-cp312-win_amd64.whl
| Download URL | pycluon-0.2.3-cp312-cp312-win_amd64.whl |
|---|---|
| Size | 1.3 MB |
| Tags | CPython 3.12 Windows x86-64 |
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Release files / pycluon-0.2.3-cp312-cp312-win32.whl
| Download URL | pycluon-0.2.3-cp312-cp312-win32.whl |
|---|---|
| Size | 1.1 MB |
| Tags | CPython 3.12 Windows x86-32 |
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Release files / pycluon-0.2.3-cp312-cp312-musllinux_1_1_x86_64.whl
| Download URL | pycluon-0.2.3-cp312-cp312-musllinux_1_1_x86_64.whl |
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| Size | 2.2 MB |
| Tags | CPython 3.12 Linux musl 1.1+ x86-64 |
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Release files / pycluon-0.2.3-cp312-cp312-musllinux_1_1_i686.whl
| Download URL | pycluon-0.2.3-cp312-cp312-musllinux_1_1_i686.whl |
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| Size | 2.4 MB |
| Tags | CPython 3.12 Linux musl 1.1+ x86-32 |
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Release files / pycluon-0.2.3-cp312-cp312-manylinux_2_17_x86_64.manylinux2014_x86_64.whl
| Download URL | pycluon-0.2.3-cp312-cp312-manylinux_2_17_x86_64.manylinux2014_x86_64.whl |
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| Size | 1.9 MB |
| Tags | CPython 3.12 Linux glibc 2.17+ x86-64 |
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Release files / pycluon-0.2.3-cp312-cp312-manylinux_2_17_i686.manylinux2014_i686.whl
| Download URL | pycluon-0.2.3-cp312-cp312-manylinux_2_17_i686.manylinux2014_i686.whl |
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| Tags | CPython 3.12 Linux glibc 2.17+ x86-32 |
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Release files / pycluon-0.2.3-cp312-cp312-macosx_10_9_x86_64.whl
| Download URL | pycluon-0.2.3-cp312-cp312-macosx_10_9_x86_64.whl |
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| Size | 1.7 MB |
| Tags | CPython 3.12 macOS 10.9+ x86-64 |
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Release files / pycluon-0.2.3-cp311-cp311-win_amd64.whl
| Download URL | pycluon-0.2.3-cp311-cp311-win_amd64.whl |
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| Size | 1.3 MB |
| Tags | CPython 3.11 Windows x86-64 |
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| Download URL | pycluon-0.2.3-cp311-cp311-win32.whl |
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| Download URL | pycluon-0.2.3-cp311-cp311-musllinux_1_1_x86_64.whl |
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| Tags | CPython 3.11 Linux musl 1.1+ x86-64 |
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| Download URL | pycluon-0.2.3-cp311-cp311-musllinux_1_1_i686.whl |
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| Tags | CPython 3.11 Linux musl 1.1+ x86-32 |
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| Download URL | pycluon-0.2.3-cp311-cp311-manylinux_2_17_x86_64.manylinux2014_x86_64.whl |
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| Tags | CPython 3.11 Linux glibc 2.17+ x86-64 |
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| Download URL | pycluon-0.2.3-cp311-cp311-manylinux_2_17_i686.manylinux2014_i686.whl |
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| Tags | CPython 3.11 Linux glibc 2.17+ x86-32 |
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| Download URL | pycluon-0.2.3-cp311-cp311-macosx_10_9_x86_64.whl |
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| Size | 1.7 MB |
| Tags | CPython 3.11 macOS 10.9+ x86-64 |
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Release files / pycluon-0.2.3-cp310-cp310-win_amd64.whl
| Download URL | pycluon-0.2.3-cp310-cp310-win_amd64.whl |
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| Size | 1.3 MB |
| Tags | CPython 3.10 Windows x86-64 |
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| Download URL | pycluon-0.2.3-cp310-cp310-win32.whl |
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| Tags | CPython 3.10 Windows x86-32 |
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| Download URL | pycluon-0.2.3-cp310-cp310-musllinux_1_1_x86_64.whl |
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| Download URL | pycluon-0.2.3-cp310-cp310-musllinux_1_1_i686.whl |
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| Download URL | pycluon-0.2.3-cp310-cp310-manylinux_2_17_x86_64.manylinux2014_x86_64.whl |
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| Tags | CPython 3.10 Linux glibc 2.17+ x86-64 |
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| Download URL | pycluon-0.2.3-cp310-cp310-manylinux_2_17_i686.manylinux2014_i686.whl |
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| Download URL | pycluon-0.2.3-cp310-cp310-macosx_10_9_x86_64.whl |
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| Download URL | pycluon-0.2.3-cp39-cp39-win_amd64.whl |
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| Size | 1.3 MB |
| Tags | CPython 3.9 Windows x86-64 |
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| Download URL | pycluon-0.2.3-cp39-cp39-win32.whl |
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| Size | 1.1 MB |
| Tags | CPython 3.9 Windows x86-32 |
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| Download URL | pycluon-0.2.3-cp39-cp39-musllinux_1_1_x86_64.whl |
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| Size | 2.2 MB |
| Tags | CPython 3.9 Linux musl 1.1+ x86-64 |
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| Download URL | pycluon-0.2.3-cp39-cp39-musllinux_1_1_i686.whl |
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| Size | 2.4 MB |
| Tags | CPython 3.9 Linux musl 1.1+ x86-32 |
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