pymoos2

Pure-Python MOOS-IvP application framework. Write MOOS apps in Python with full AppCasting, wire protocol, and pAntler integration.

Install

pip install pymoos2

Quick Start

Generate a new app:

cd moos-ivp-myproject/src
python3 -m pymoos2 --GenAppCastingMOOSApp MyApp p "Your Name"

This creates pMyApp/ with a ready-to-edit Python MOOS app that:

• Connects to MOOSDB over the native wire protocol
• Supports AppCasting (shows up in uMAC/pMarineViewer)
• Reads ProcessConfig from .moos files
• Installs to bin/ via CMake alongside C++ apps
• Responds to ktm shutdown signals
• Handles time warp correctly

Example Mission

Generate a complete working example with two apps and a mission:

cd moos-ivp-myproject
python3 -m pymoos2 --example

Writing an App

from pymoos2 import AppCastingMOOSApp, ACTable

class MyApp(AppCastingMOOSApp):

    def on_startup(self):
        self.radius = self.config("radius", default=50.0, type=float)
        self.register("NAV_X")
        self.register("NAV_Y")

    def on_new_mail(self, mail):
        for msg in mail:
            if msg.name == "NAV_X":
                self.nav_x = msg.double()

    def iterate(self):
        self.notify("MY_OUTPUT", self.nav_x * 2.0)

    def build_report(self):
        tab = ACTable(["Variable", "Value"])
        tab.add("NAV_X", f"{self.nav_x:.2f}")
        self.report(tab)
        return True

Features

• Pure Python — no C++ compilation, no pybind11
• Full MOOS wire protocol (binary TCP, same as C++ clients)
• AppCasting and RealmCasting support
• Time warp support (MOOSTimeWarp)
• ktm (kill the moos) UDP multicast listener
• Mission file parsing (ProcessConfig blocks, global params)
• Geometry DTOs for all VIEW_* types (XYPoint, XYPolygon, XYCircle, etc.)
• NodeRecord parsing
• py_compile syntax checking at build time
• Works with pAntler — shebang'd scripts in bin/

Requirements

• Python >= 3.8
• MOOSDB running (from moos-ivp)
• No other dependencies for core functionality
• flask for web-based viewer apps (optional)