def test_attach_nonexistent_ring():
# no size given means: attach to existing ring
# since not loaded, fail
try:
r1 = hal.Ring("ring1")
raise "should not happen"
except NameError:
pass
def listener2():
rospy.init_node('listener2', anonymous=True)
if "joint_interpolator.traj" in rings:
# attach to existing ring
global r
r = hal.Ring("joint_interpolator.traj")
# see what we have
print_ring(r)
rospy.Subscriber("/joint_path_command", JointTrajectory, callback)
rospy.spin()
def listener():
# In ROS, nodes are uniquely named. If two nodes with the same
# node are launched, the previous one is kicked off. The
# anonymous=True flag means that rospy will choose a unique
# name for our 'talker' node so that multiple talkers can
# run simultaneously.
rospy.init_node('listener', anonymous=True)
if "jointpos" in rings:
# attach to existing ring
global w
w = hal.Ring("jointpos")
# see what we have
print_ring(w)
rospy.Subscriber("/joint_path_command", JointTrajectory, callback)
# spin() simply keeps python from exiting until this node is stopped
rospy.spin()
def multiframe_ring(name):
try:
r = hal.Ring(name)
except RuntimeError:
r = hal.Ring(name, size=16384, flags=hal.RINGTYPE_MULTIPART)
return (r, hal.MultiframeRing(r))
import sys,os,time
from machinekit import hal
name = "ring1"
ringsize = 16384
polltime = 0.1
if name in hal.rings():
r = hal.Ring(name)
else:
r = hal.Ring(name, size=ringsize)
r.writer = os.getpid()
mf = hal.MultiframeRing(r)
try:
for msg in range(100):
for frame in range(3):
mf.write("msg%d-frame%d" % (msg,frame), frame + 4711)
mf.flush()
time.sleep(0.2)
except KeyboardInterrupt:
r.writer = 0
def test_loadrt_ringmods(self):
global r1
r1 = hal.Ring("test", size=16384)
rt.loadrt("ringread", "ring=test")
rt.loadrt("ringwrite", "ring=test")
rt.newinst("charge_pump", "charge-pump")
def test_create_ring():
global r1
# size given mean - create existing ring
r1 = hal.Ring("ring1", size=4096)
import os, time
import random
from machinekit import hal
from jplan_pb2 import *
import google.protobuf.text_format
name = "tp.cmd"
r = hal.Ring(name)
jc = JplanCommand()
j = jc.joint.add()
# enable and parameterize join 0
j.enable = True
# this will override any values from setp in jplan-demo.hal
j.max_vel = 1000
j.max_acc = 100
buffer = jc.SerializeToString()
# setup message
r.write(buffer)
# inject random moves on joint 1
while True:
jc = JplanCommand()
j = jc.joint.add()
j.pos_cmd = random.random()
buffer = jc.SerializeToString()
while not r.write(buffer):
def test_create_ring():
global r, sr
r = hal.Ring("ring1", size=size, type=hal.RINGTYPE_STREAM)
sr = hal.StreamRing(r)
#!/usr/bin/env python
# create or attach to a ring
# write a sequence of increasing doubles
import os,time,sys
from machinekit import hal
import struct
name = "jointpos"
try:
# to create the ring
r = hal.Ring(name, size=4096)
except RuntimeError:
# oops, existed already, so just attach
r = hal.Ring(name)
# Message details:
msg_fmt = 'd'
msg_size = struct.calcsize(msg_fmt)
v = 0.0
while True:
if r.available >= msg_size:
r.write(struct.pack('d', v))
v += 1.0
time.sleep(1)
import google.protobuf.text_format
import pb2json
import json # pretty printer
class Timeout(Exception):
pass
timeout = 50.0
interval = 0.1
try:
c = hal.Ring("first.in")
r = hal.Ring("first.out")
except Exception, e:
print e
r.reader = c.writer = os.getpid()
for i in range(10):
# construct a protobuf-encoded message
container = Container()
container.type = MT_MOTCMD
motcmd = container.motcmd
motcmd.command = EMCMOT_SET_LINE
motcmd.commandNum = i
pos = motcmd.pos
import os
from machinekit import hal
name = "streamring"
ringsize = 16384
polltime = 0.1
try:
r = hal.Ring(name)
except RuntimeError, e:
r = hal.Ring(name, size=ringsize, flags=hal.RINGTYPE_STREAM)
r.writer = os.getpid()
sr = hal.StreamRing(r)
count = 10
for n in range(count):
try:
r.write("message %d\n" % n)
except RuntimeError, e:
print e
# inspect rings
# attach to an existing ring and write a few messages
import os, time
from machinekit import hal
# print ring properties
def print_ring(r):
print "name=%s size=%d reader=%d writer=%d scratchpad=%d" % (
r.name, r.size, r.reader, r.writer, r.scratchpad_size),
print "use_rmutex=%d use_wmutex=%d type=%d in_halmem=%d" % (
r.rmutex_mode, r.wmutex_mode, r.type, r.in_halmem)
halring = hal.Ring("halmemring%d" % os.getpid(), size=4096, in_halmem=True)
shmring = hal.Ring("shmsegring%d" % os.getpid(), size=4096)
print_ring(halring)
print_ring(shmring)
# retrieve list of ring names
rings = hal.rings()
print "rings: ", rings
if "ring_0" in rings:
# attach to existing ring
w = hal.Ring("ring_0")
# see what we have
pru=0,
num_stepgens=5,
num_pwmgens=0,
prucode=prubin,
halname=card)
rt.loadrt('siggen')
#rt.newinst("siggen","siggen_0")
# load the ring for use with Charles' joint_stream component.
# for this you need to have built with catkin_make
# https://github.com/cdsteinkuehler/ros_hal_tests.git
# and also installed the component `comp --install joint_stream.comp`
# newring jointpos 16384
r1 = hal.Ring("jointpos", size=16384)
rt.loadrt("joint_stream", "ring=jointpos")
# create servo_thread
servothread = "servo_thread"
# create a new thread
rt.newthread('%s' % servothread, 1000000, fp=True)
# add components to the thread
if hardware == 'mesa-5i20':
hal.addf('%s.read' % card, servothread)
hal.addf('siggen.0.update', servothread)
hal.addf('joint_stream', servothread)
#
# adapted from: https://github.com/zeromq/pyzmq/tree/master/examples/pubsub
import os,sys
import time
import zmq
from machinekit import hal
debug = 1
ip = "127.0.0.1"
uri = "tcp://%s:5555" % (ip)
ringlist = []
for name in hal.rings():
r = hal.Ring(name) # no size parameter: attach to existing ring
if debug: print "inspecting ring %s: reader=%d writer=%d " % (name,r.reader,r.writer)
if r.reader == 0 and r.writer:
ringlist.append((name,r))
if debug: print "reading from ring",name
if not len(ringlist):
print "no readable rings found"
sys.exit(1)
context = zmq.Context()
s = context.socket(zmq.PUB)
s.bind(uri)
# poll rings and publish messages under topic <ringname>
while True:
import google.protobuf.text_format
import pb2json
import json # pretty printer
class Timeout(Exception):
pass
timeout = 50.0
interval = 0.1
try:
c = hal.Ring("pbring.0.in")
r = hal.Ring("pbring.0.out")
except Exception, e:
print e
r.reader = c.writer = os.getpid()
for i in range(10):
# construct a protobuf-encoded message
container = Container()
container.type = MT_MOTCMD
motcmd = container.motcmd
motcmd.command = EMCMOT_SET_LINE
motcmd.commandNum = i
pos = motcmd.pos
