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()
events = dict(poller.poll(timeout))
if socket in events and events[socket] == zmq.POLLIN:
request = socket.recv_multipart()
n = 0
for frame in request:
mfcommand.write(frame, False if n == 0 else 1)
n += 1
mfcommand.flush()
# poll response ring
if mfresponse.ready():
reply = []
for frame in mfresponse.read():
#print "got:",(frame.data.tobytes(), frame.flags)
reply.append(frame.data)
mfresponse.shift()
if reply:
socket.send_multipart(reply)
except (KeyboardInterrupt, zmq.error.ZMQError) as e:
# cleanup
hal.stop_threads()
command.writer = 0
response.reader = 0
rt.delthread("fast")
rt.unloadrt("micromot")
subprocess.call("realtime stop", shell=True, stderr=subprocess.STDOUT)
subprocess.call("killall webtalk", shell=True, stderr=subprocess.STDOUT)
def test_unloadrt_or2():
hal.stop_threads()
rt.delthread("servo-thread")
rt.unloadrt("or2")
def test_unloadrt_or2():
hal.stop_threads()
rt.delthread("servo-thread")
rt.unloadrt("or2")
events = dict(poller.poll(timeout))
if socket in events and events[socket] == zmq.POLLIN:
request = socket.recv_multipart()
n = 0
for frame in request:
mfcommand.write(frame, False if n == 0 else 1)
n += 1
mfcommand.flush()
# poll response ring
if mfresponse.ready():
reply = []
for frame in mfresponse.read():
#print "got:",(frame.data.tobytes(), frame.flags)
reply.append(frame.data)
mfresponse.shift()
if reply:
socket.send_multipart(reply)
except (KeyboardInterrupt,zmq.error.ZMQError) as e:
# cleanup
hal.stop_threads()
command.writer = 0
response.reader = 0
rt.delthread("fast")
rt.unloadrt("micromot")
subprocess.call("realtime stop", shell=True,stderr=subprocess.STDOUT)
subprocess.call("killall webtalk", shell=True,stderr=subprocess.STDOUT)
