rtipc

A Python binding for https://gitlab.com/etherlab.org/rtipc

Note: importing rtipc raises ImportError if librtipc.so is not available. Users should handle the exception.

Example

import numpy
import ctypes
try:
    import rtipc
except ImportError:
    rtipc = None

rtipcObj = rtipc.RtIPC('simulator')
rtipcGroup = rtipcObj.CreateGroup(1.0)
receiveMemory = numpy.zeros(16, numpy.uint8)
sendMemory = numpy.zeros(16, numpy.uint8)
connected = ctypes.c_uint8(0)
rtipcGroup.AddReceivePdo(b'receive', rtipc.DataType.uint8_T, receiveMemory.ctypes.data_as(ctypes.POINTER(ctypes.c_uint8)), 16, ctypes.byref(connected))
rtipcGroup.AddSendPdo(b'send', rtipc.DataType.uint8_T, sendMemory.ctypes.data_as(ctypes.POINTER(ctypes.c_uint8)), 16)

with rtipcObj:
    rtipcGroup.Receive()
    rtipcGroup.Send()

Retaining Memory

While rtipc.RtIPC is running, please retain receiveMemory, sendMemory and connected; otherwise rtipcGroup.Receive/Send will cause SEGV. Especially be careful about connected.

If you are an experienced C++ programmer, you can imagine like AddReceivePdo/AddSendPdo is passing shared_ptr<char[]>::get() (and without retaining variables the shared_ptr is gone).

License Note (also for contributors)

Licensed under LGPL/MIT so that if etherlab rtipc license is changed to more permissive one this binding can follow the change.

As long as etherlab rtipc is licensed under LGPL, the USER of this binding should consider it as LGPL-only.

(On the otherhand, if they unfortunately move to GPL, I will stop supporting this binding.)