Python wrapper around PdCom5

The Base Wrapper

Most of the PdCom5 C++ classes are also available as Python classes. The translation is done with the help of pybind11.

Module methods

Methods directly available on module level

has_sasl

Returns true when PdCom5 was built with SASL support.

full_version

Returns the full version code of the C++ library, including the hash of the commit and a trailing plus sign in case of uncommitted changes during the build. Example: "5.1.0.8.gea62937+".

Class overview

The following classes are available in the pdcom5.PdComWrapper module:

• Process
• Variable
• Subscription
• Subscriber
• Transmission

The following exceptions (from the pdcom5.PdComWrapper module) can be raised:

• Exception (aka PdCom::Exception from C++), base class for all derived exceptions
• InternalError
• InvalidArgument
• InvalidSubscription
• NotConnected
• ProcessGoneAway
• ProtocolError

To catch them, you'll have to import them (from pdcom5.PdComWrapper import Exception as PdComException).

Virtual Functions

Many callbacks from the PdCom5 C++ library are implemented as virtual functions. So, some classes need to be derived from. This also applies to the python classes from the pdcom5.PdComWrapper module. Please note that the signature of the overridden virtual functions must be an exact match, so please don't do things like **kwargs. Raising an Exception is allowed and encouraged.

Process class

class MyProcess(Process):
    def write(self, b: memoryview) -> None:
        pass
    def read(self, b: memoryview) -> int:
        pass
    def applicationName(self) -> str:
        pass
    def connected(self) -> None:
        pass
    def listReply(self, vars: list, directiores: list) -> None:
        pass
    def findReply(self, var: Optional[Variable]) -> None:
        # var can be Variable if found or None if not found.
        pass
    def pingReply(self) -> None:
        pass
    def alive(self) -> None:
        pass
    def broadcastReply(self, message: str, attr: str, time: datetime.timedelta) -> None:
        pass
 
    def clientStatisticsReply(self, statistics: list[ClientStatistics]) -> None:
        pass

Subscriber class

class MySubscriber(Subscriber):
    def __init__(self, transmission: Transmission):
        super().__init__(transmission)
 
    def stateChanged(self, s: Subscription) -> None:
        pass
 
    def newValues(self, time: datetime.timedelta) -> None:
        pass

Member functions

The following member functions are available to the library user:

Process class

class Process:
    def asyncData(self):
        pass
    def callPendingCallbacks(self) -> None:
        pass
    def list(self, path: str = "") -> bool:
        pass
    def find(self, path: str) -> bool:
        pass
    def broadcast(self, message: str, attr: str = "text") -> None:
        pass

In addition, the properties name and version are available.

Variable class

class Variable:
    def setValue(self, value: numpy.ndarray, offset: int = 0) -> SetValueFuture:
        pass
 
    def poll(self) -> PollFuture:
        pass
 
class SetValueFuture:
    def then(self, callback: Callable[[], None]) -> None:
        pass
 
    def handle_exception(self, callback: Callable[[Exception], None]) -> None:
        pass
 
class PollFuture:
    def then(self, callback: Callable[[VariablePollResult, timedelta], None]) -> None:
        pass
 
    def handle_exception(self, callback: Callable[[Exception], None]) -> None:
        pass

Both member functions of Variable return a Future. The Future can take two callbacks, which receive the result resp. an exception. The first parameter of the PollFuture callback, of type VariablePollResult, has a value attribute.

Properties (readonly):

• empty
• path
• name
• shape

Transmission class

A datetime.timedelta instance can be converted to a Transmission. For event and poll mode, please use the static properties event_mode and poll_mode.

Subscriber class

The Subscriber class needs to be derived from, as shown above. Its constructor takes a Transmission instance as parameter. This transmission instance is later available as property.

Subscription class

The Subscription class has three overloaded constructors:

• a default ctor (no arguments)
• a Subscriber instance and a Variable instance
• a Subscriber instance, a Process instance and a path (a str)

Furthermore, it has a cancel() member and the following properties:

• variable (can be None)
• value (NumPy Array)
• state (See the State enum)

The State static class member is an enum with the following values:

• Pending
• Active
• Invalid

ClientStatistics class

Properties:

• name
• application_name
• received_bytes
• sent_bytes
• connected_time (datetime.timedelta instance)

FAQ

Error: Unable to cast Python instance to C++ type (compile in debug mode for details)

Make sure that the function signature of the python class is right (especially the return type).