pycluon 0.1.0

A python wrapper around libcluon

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

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
0.1.0	0.0.140

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)

See the tests for usage of UDPSender, UDPReceiver, TCPConnection and TCPServer.