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()
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)
def loop(self): while not rospy.is_shutdown(): launcher.check_processes() self._rate.sleep()