def shutdown(self, msg="Shutting down for unknown reason", res=0):
# Only run this once
if self.shutdown_begun:
return
self.shutdown_begun = True
if res:
rospy.logerr("hal_mgr: %s" % msg)
else:
rospy.loginfo("hal_mgr: %s" % msg)
self._pub.publish(False)
launcher.end_session()
rospy.signal_shutdown(msg)
sys.exit(res)
def hal_config():
from machinekit import launcher
launcher.cleanup_session()
comp_path = os.path.join(
os.path.dirname(os.path.realpath(__file__)),
'../components/absolute_joint.icomp',
)
launcher.install_comp(comp_path)
launcher.start_realtime()
rt.init_RTAPI()
config = HalConfig(thread=THREAD)
rt.newthread(config.thread.name, config.thread.period_ns, fp=True)
hal.start_threads()
yield config
hal.stop_threads()
launcher.end_session()
help='Starts the video server',
action='store_true')
args = parser.parse_args()
try:
launcher.check_installation()
launcher.cleanup_session()
launcher.register_exit_handler() # needs to executed after HAL files
launcher.install_comp('thermistor_check.comp')
launcher.install_comp('reset.comp')
nc_path = os.path.expanduser('~/nc_files')
if not os.path.exists(nc_path):
os.mkdir(nc_path)
if not check_mklaucher(
): # start mklauncher if not running to make things easier
launcher.start_process('mklauncher .')
launcher.start_process("configserver -n Prusa-i3 ~/Machineface ")
if args.video:
launcher.start_process('videoserver --ini video.ini Webcam1')
launcher.start_process('linuxcnc Prusa-i3.ini')
while True:
launcher.check_processes()
time.sleep(1)
except subprocess.CalledProcessError:
launcher.end_session()
sys.exit(1)
sys.exit(0)
import subprocess
import importlib
from machinekit import launcher
from time import *
launcher.register_exit_handler()
launcher.set_debug_level(5)
os.chdir(os.path.dirname(os.path.realpath(__file__)))
try:
launcher.check_installation() # make sure the Machinekit installation is sane
launcher.cleanup_session() # cleanup a previous session
# Uncomment and modify the following line if you create a configuration for the BeagleBone Black
#launcher.load_bbio_file('cape-universal')
launcher.load_bbio_file('cramps_cape.bbio') # load a BeagleBone Black universal overlay file
# Uncomment and modify the following line of you have custom HAL components
# launcher.install_comp('gantry.comp') # install a comp HAL component if not already installed
launcher.start_process("configserver ~/Machineface") # start the configserver with Machineface an Cetus user interfaces
launcher.start_process('machinekit -k ~/machinekit/configs/ARM.BeagleBone.CRAMPS/CRAMPS.ini') # start linuxcnc
except subprocess.CalledProcessError:
launcher.end_session()
sys.exit(1)
# loop until script receives exit signal
# or one of the started applications exited incorrectly
# cleanup is done automatically
while True:
sleep(1)
launcher.check_processes()