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)
#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)
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.load_bbio_file('parallel_cape_io_test.bbio') # load the BBIO pin overlay
launcher.start_realtime() # start Machinekit realtime environment
launcher.load_hal_file(MAIN_HAL) # 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
launcher.start_process('configserver -n {} .'.format(NAME))
while True:
launcher.check_processes()
time.sleep(1)
except subprocess.CalledProcessError:
launcher.end_session()
sys.exit(1)
sys.exit(0)
#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.install_comp('dxlincurve.comp')
launcher.install_comp('progtime.icomp')
launcher.load_hal_file('main.hal') # 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
launcher.start_process(
"configserver -n kilncontrol ./ui_mon ./ui_prog ./ui_run")
while True:
launcher.check_processes()
time.sleep(1)
except subprocess.CalledProcessError:
launcher.end_session()
sys.exit(1)
sys.exit(0)
def check_mklaucher():
try:
subprocess.check_output(['pgrep', 'mklauncher'])
return True
except subprocess.CalledProcessError:
return False
try:
launcher.check_installation()
launcher.cleanup_session()
launcher.load_bbio_file('cramps2_cape.bbio')
launcher.start_realtime()
launcher.load_hal_file('basic.hal')
launcher.start_process("configserver -n Electrolab \"demo-ui.Awesome UI\"")
#launcher.start_process('linuxcnc CRAMPS.ini')
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)
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
launcher.start_process('gladevcp -N -E -u motorctrl.py motorctrl.ui')
mkconfig = config.Config()
os.environ['MACHINEKIT_INI'] = mkconfig.MACHINEKIT_INI
def check_mklaucher():
try:
subprocess.check_output(['pgrep', 'mklauncher'])
return True
except subprocess.CalledProcessError:
return False
try:
launcher.check_installation()
launcher.cleanup_session()
launcher.load_bbio_file('cramps2_cape.bbio')
launcher.start_realtime()
launcher.load_hal_file('basic.hal')
launcher.start_process("configserver -n Electrolab \"demo-ui.Awesome UI\"")
#launcher.start_process('linuxcnc CRAMPS.ini')
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)