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libplayerc_py [Client Libraries] Python bindings for libplayerc are generated automatically using SWIG. The bindings are object-oriented, using standard Python classes (for those familiar with SWIG, these are standard SWIG shadow classes). General usage libplayerc is based on a device proxy model, in which the client maintains a local proxy for each of the devices on the remote server. Thus, for example, one can create local proxies for the position and laser devices. There is also a special client proxy, used to control the Player server itself. Programs using the libplayerc Python bindings will generally have the following structure: # Desc: A simply joystick controller # Author: Andrew Howard import math from playerc import * def main(host, port): # Connect to the server client = playerc_client(None, host, port) if client.connect() != 0: raise playerc_error_str() # Open a joystick device joystick = playerc_joystick(client, 0) if joystick.subscribe(PLAYERC_READ_MODE) != 0: raise playerc_error_str() # Open a position device position = playerc_position(client, 0) if position.subscribe(PLAYER_ALL_MODE) != 0: raise playerc_error_str() # Enable the motors position.enable(1) while 1: # Read data from the server pid = client.read() # Print out current position if pid == position.info.id: print '%+.3f %+.3f' % (position.px, position.py) # Send velocity commands to the robot if pid == client.id: vel_x = -joystick.py * 0.50 vel_yaw = -joystick.px * math.pi / 4 position.set_cmd_vel(vel_x, 0, vel_yaw, 1) return if __name__ == '__main__': main('localhost', 6665) The steps in this program mirror those described for standard C clients. The key syntactical difference between the C-version and the Python version is the use of Python's object-oriented features. Proxy reference Generally speaking, the Python bindings are one-to-one mappings to the libplayerc API. Thus, the C documentation can be used as a guide, so long as one makes some minor mental translations; e.g.: proxy = playerc_position_create(...); -> proxy = playerc_position(...) playerc_position_set_speed(proxy, ...); -> proxy.set_speed(...) Detailed information for each C proxy can be found in the Reference section.