def start(self):
# Find the hal_hw_interface comp's directory in
# LD_LIBRARY_PATH and put it into $COMP_DIR
for path in os.environ.get("LD_LIBRARY_PATH", "").split(":"):
rospy.loginfo(f"Checking for hal_hw_interface.so in {path}")
if os.path.exists(os.path.join(path, "hal_hw_interface.so")):
comp_dir = path
break
else:
comp_dir = ""
os.environ["COMP_DIR"] = comp_dir
rospy.loginfo("hal_mgr: COMP_DIR set to '%s'" % comp_dir)
# Get parameters
if not rospy.has_param(self.NAME):
self.shutdown("No parameters set for '%s'" % self.NAME, 1)
try:
hal_mgr_config = rospy.get_param(self.NAME)
except KeyError:
self.shutdown("No keys defined at %s" % self.NAME, 1)
return
if "hal_files" not in hal_mgr_config:
self.shutdown("%s has no 'hal_files' key" % self.NAME, 1)
if "hal_file_dir" not in hal_mgr_config:
self.shutdown("%s has no 'hal_file_dir' key" % self.NAME, 1)
# Set up HAL
launcher.cleanup_session() # kill any running Machinekit instances
launcher.start_realtime()
rospy.loginfo("hal_mgr: Started realtime")
# Load rtapi module and set up signal handlers
if not getattr(rtapi, "__rtapicmd"):
rtapi.init_RTAPI()
def shutdown_graceful(signum, frame):
self.shutdown("Gracefully shutting down after interrupt signal")
signal.signal(signal.SIGINT, shutdown_graceful)
signal.signal(signal.SIGTERM, shutdown_graceful)
# Load HAL configuration
for fname in hal_mgr_config["hal_files"]:
fpath = os.path.join(hal_mgr_config["hal_file_dir"], fname)
if not os.path.exists(fpath):
self.shutdown(
"No file '%s' in directory '%s'" %
(fname, hal_mgr_config["hal_file_dir"]),
res=1,
)
rospy.loginfo("hal_mgr: Loading hal file '%s'" % fname)
launcher.load_hal_file(fpath)
rospy.loginfo("hal_mgr: Loading hal file '%s' complete" % fpath)
# Spin until ROS shutdown event
rospy.loginfo("ROS node and HAL started successfully")
self._pub.publish(True)
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()
#parser = argparse.ArgumentParser(description='Chip Hello World')
def check_mklaucher():
try:
subprocess.check_output(['pgrep', 'mklauncher'])
return True
except subprocess.CalledProcessError:
return False
try:
launcher.check_installation()
launcher.cleanup_session()
launcher.start_realtime()
launcher.load_hal_file('chip.py')
launcher.register_exit_handler() # needs to executed after HAL files
# if not check_mklaucher(): # start mklauncher if not running to make things easier
# launcher.start_process('mklauncher .')
while True:
launcher.check_processes()
time.sleep(1)
except subprocess.CalledProcessError:
launcher.end_session()
sys.exit(1)
sys.exit(0)
#!/usr/bin/env python
# -*- coding: utf-8 -*-
# very small helper script for short-cutting
# input and output pins when passing data
# thru HAL shared memory setup
import sys
import time
import subprocess
from machinekit import launcher
from machinekit import hal
try:
launcher.check_installation()
launcher.cleanup_session() # kill any running Machinekit instances
launcher.start_realtime() # start Machinekit realtime environment
while 'ul_iface_component.joint_6.pos-cmd' not in hal.pins:
time.sleep(0.5)
print('found HAL pin, connecting')
# create 6 signals between pos-cmd and pos-fb pins
# when machinekit_ros_control has started with
# parameter machinekit_interface: 0
for i in range(1, 7):
hal.Pin('ul_iface_component.joint_%s.pos-cmd' % i).link(
'ul_iface_component.joint_%s.pos-fb' % i)
launcher.register_exit_handler(
) # enable on ctrl-C, needs to executed after HAL files
# override default $MACHINEKIT_INI with a version which was REMOTE=1
launcher.set_machinekit_ini('/etc/linuxcnc/machinekit.ini')
try:
launcher.check_installation()
launcher.cleanup_session()
launcher.load_bbio_file('led-demo.bbio')
if args.config:
# the point-of-contact for QtQUickVCP
launcher.start_process('configserver -n Motorctrl-Demo .')
if args.webtalk:
# the Websockets/JSON bridge into Machinetalk
launcher.start_process('webtalk --ini led-demo.ini')
if args.video:
launcher.start_process('videoserver --ini video.ini Webcam1')
launcher.start_realtime()
# launcher.load_hal_file('hardware.hal', 'hardware.ini')
command = 'halcmd -i hardware.ini -f hardware.hal'
subprocess.check_call(command, shell=True)
# launcher.load_hal_file('hardware.hal', 'led-demo.ini')
#launcher.load_hal_file('led-demo.hal', 'led-demo.ini')
command = 'halcmd -i led-demo.ini -f led-demo.hal'
subprocess.check_call(command, shell=True)
#launcher.load_hal_file('threading.hal', 'led-demo.ini')
command = 'halcmd -i led-demo.ini -f threading.hal'
subprocess.check_call(command, shell=True)
parser.add_argument('-m', '--halmeter', help='Starts the halmeter', action='store_true')
parser.add_argument('-d', '--debug', help='Enable debug mode', action='store_true')
args = parser.parse_args()
if args.debug:
launcher.set_debug_level(5)
if 'MACHINEKIT_INI' not in os.environ: # export for package installs
mkconfig = config.Config()
os.environ['MACHINEKIT_INI'] = mkconfig.MACHINEKIT_INI
try:
launcher.check_installation()
launcher.cleanup_session() # kill any running Machinekit instances
launcher.start_realtime() # start Machinekit realtime environment
launcher.load_hal_file('anddemo.py') # load the main HAL file
launcher.register_exit_handler() # enable on ctrl-C, needs to executed after HAL files
launcher.ensure_mklauncher() # ensure mklauncher is started
if not args.no_config:
# the point-of-contact for QtQUickVCP
launcher.start_process('configserver -n AND-Demo .')
if args.gladevcp:
# start the gladevcp version
if args.local:
# no -N flag - local case, use IPC sockets, no zeroconf resolution
launcher.start_process('gladevcp -E -u motorctrl.py motorctrl.ui')
else:
# -N - remote case, use zeroconf resolution