def start_sd(self, uuid):
halrcmd_sd = ServiceDiscovery(
service_type="_halrcmd._sub._machinekit._tcp", uuid=uuid)
halrcmd_sd.on_discovered.append(self.halrcmd_discovered)
halrcmd_sd.start()
#halrcmd_sd.disappered_callback = disappeared
#self.halrcmd_sd = halrcmd_sd
halrcomp_sd = ServiceDiscovery(
service_type="_halrcomp._sub._machinekit._tcp", uuid=uuid)
halrcomp_sd.on_discovered.append(self.halrcomp_discovered)
halrcomp_sd.start()
def run(self):
timeout = 2.0
launcher_sd = ServiceDiscovery(
service_type="_launcher._sub._machinekit._tcp", debug=True)
print('starting launcher service discovery')
launcher_sd.start()
assert launcher_sd.wait_discovered(timeout)
data = launcher_sd.service_names.values()[0]
print('launcher discovered %s %s' % (data.name, data.dsn))
uuid = data.uuid
print('uuid=%s' % uuid)
halrcmd_sd = ServiceDiscovery(
service_type="_halrcmd._sub._machinekit._tcp",
uuid=uuid,
debug=True)
print('starting halrcmd service discovery')
halrcmd_sd.start()
assert halrcmd_sd.wait_discovered(timeout)
data = halrcmd_sd.service_names.values()[0]
print('halrcmd discovered %s %s' % (data.name, data.dsn))
halrcmd_dsn = data.dsn
halrcomp_sd = ServiceDiscovery(
service_type="_halrcomp._sub._machinekit._tcp",
uuid=uuid,
debug=True)
print('starting halrcomp service discovery')
halrcomp_sd.start()
assert halrcomp_sd.wait_discovered(timeout)
data = halrcomp_sd.service_names.values()[0]
print('halrcomp discovered %s %s' % (data.name, data.dsn))
halrcomp_dsn = data.dsn
halrcomp = halremote.RemoteComponent('anddemo')
halrcomp.newpin('button0', halremote.HAL_BIT, halremote.HAL_OUT)
halrcomp.newpin('button1', halremote.HAL_BIT, halremote.HAL_OUT)
halrcomp.newpin('led', halremote.HAL_BIT, halremote.HAL_IN)
#halrcomp.no_create = True
halrcomp.halrcomp_uri = halrcomp_dsn
halrcomp.halrcmd_uri = halrcmd_dsn
halrcomp.ready()
print('waiting for component connected')
assert halrcomp.wait_connected()
print('component connected')
halrcomp.stop()
self.loop.quit()
def get_out_of_estop():
sd = ServiceDiscovery()
command = ApplicationCommand(debug=DEBUG)
if DEBUG:
command.on_state_changed.append(print_state)
sd.register(command)
sd.start()
connected = command.wait_connected(timeout=MAX_WAIT_CONNECTED)
if not connected:
raise RuntimeError('Could not connect')
else:
print('connected')
print('executing ESTOP reset')
ticket = command.set_task_state(EMC_TASK_STATE_ESTOP_RESET)
if not command.wait_completed(ticket=ticket, timeout=COMMAND_TIMEOUT):
raise RuntimeError('Task did not complete')
else:
print('done')
print('executing TASK STATE ON')
command.set_task_state(EMC_TASK_STATE_OFF)
if not command.wait_completed(timeout=COMMAND_TIMEOUT):
raise RuntimeError('Task did not complete')
else:
print('done')
def __init__(self, uuid, debug=True):
self.debug = debug
self.threads = []
self.shutdown = threading.Event()
sd_filter = ServiceDiscoveryFilter(txt_records={'uuid': uuid})
self.sd = ServiceDiscovery(filter_=sd_filter)
self.status = ApplicationStatus()
self.command = ApplicationCommand()
self.sd.register(self.status)
self.sd.register(self.command)
# create ipc sockets
context = zmq.Context()
context.linger = 0
self.context = context
# self.pubSocket = context.socket(zmq.PUB)
# self.pubSocket.bind('ipc://machinetalk-server.ipc')
# self.pubDsname = self.pubSocket.get_string(zmq.LAST_ENDPOINT, encoding='utf-8')
# if self.debug:
# print('bound PUB socket to %s' % self.pubDsname)
self.zmqSocket = context.socket(zmq.ROUTER)
self.zmqSocket.bind('ipc://machinetalk-server.ipc')
self.zmqDsname = self.zmqSocket.get_string(zmq.LAST_ENDPOINT,
encoding='utf-8')
if self.debug:
print('bound ROUTER socket to %s' % self.zmqDsname)
self.zmqLock = threading.Lock()
self._tx = Message()
self._rx = Message()
self.threads.append(threading.Thread(target=self.socket_worker))
for thread in self.threads:
thread.start()
def __init__(self, debug=False):
self._sd = ServiceDiscovery()
log = application.ApplicationLog(debug=debug)
log.log_level = application.log.RTAPI_MSG_DBG
log.on_message_received.append(self._on_log_message_received)
self._sd.register(log)
def __init__(self, uuid, debug=True):
self.debug = debug
self.threads = []
self.shutdown = threading.Event()
self.status = ApplicationStatus()
self.command = ApplicationCommand()
status_sd = ServiceDiscovery(service_type="_status._sub._machinekit._tcp", uuid=uuid)
status_sd.on_discovered.append(self.status_discovered)
status_sd.on_disappeared.append(self.status_disappeared)
status_sd.start()
self.status_sd = status_sd
command_sd = ServiceDiscovery(service_type="_command._sub._machinekit._tcp", uuid=uuid)
command_sd.on_discovered.append(self.command_discovered)
command_sd.on_disappeared.append(self.command_disappeared)
command_sd.start()
# create ipc sockets
context = zmq.Context()
context.linger = 0
self.context = context
# self.pubSocket = context.socket(zmq.PUB)
# self.pubSocket.bind('ipc://machinetalk-server.ipc')
# self.pubDsname = self.pubSocket.get_string(zmq.LAST_ENDPOINT, encoding='utf-8')
# if self.debug:
# print('bound PUB socket to %s' % self.pubDsname)
self.zmqSocket = context.socket(zmq.ROUTER)
self.zmqSocket.bind('ipc://machinetalk-server.ipc')
self.zmqDsname = self.zmqSocket.get_string(zmq.LAST_ENDPOINT, encoding='utf-8')
if self.debug:
print('bound ROUTER socket to %s' % self.zmqDsname)
self.zmqLock = threading.Lock()
self.tx = Message()
self.rx = Message()
self.threads.append(threading.Thread(target=self.socket_worker))
for thread in self.threads:
thread.start()
def __init__(self, uuid, use_curses, debug=False):
sd_filter = ServiceDiscoveryFilter(txt_records={'uuid': uuid})
self.sd = ServiceDiscovery(filter_=sd_filter)
halrcomp = halremote.component('test')
halrcomp.debug = debug
halrcomp.newpin("coolant-iocontrol", halremote.HAL_BIT, halremote.HAL_IN)
halrcomp.newpin("coolant", halremote.HAL_BIT, halremote.HAL_OUT)
self.halrcomp = halrcomp
self.sd.register(halrcomp)
halrcomp2 = halremote.RemoteComponent(name='test2', debug=debug)
halrcomp2.newpin("coolant-iocontrol", halremote.HAL_BIT, halremote.HAL_IN)
halrcomp2.newpin("coolant", halremote.HAL_BIT, halremote.HAL_OUT)
self.halrcomp2 = halrcomp2
self.sd.register(halrcomp2)
self.status = ApplicationStatus(debug=debug)
self.status.on_synced_changed.append(self._on_status_synced)
self.sd.register(self.status)
self.command = ApplicationCommand(debug=debug)
self.sd.register(self.command)
self.error = ApplicationError(debug=debug)
self.sd.register(self.error)
self.fileservice = ApplicationFile(debug=debug)
self.fileservice.local_file_path = 'test.ngc'
self.fileservice.local_path = './ngc/'
self.fileservice.remote_path = '/home/xy/'
self.fileservice.remote_file_path = '/home/xy/test.ngc'
self.fileservice.on_ready_changed.append(self._on_fileservice_ready)
self.sd.register(self.fileservice)
self.timer = None
self.timer_interval = 0.1
self.use_curses = use_curses
if not self.use_curses:
return
self.messages = []
self.screen = curses.initscr()
self.screen.keypad(True)
self.dro_window = curses.newwin(10, 40, 1, 2)
self.status_window = curses.newwin(10, 40, 1, 44)
self.command_window = curses.newwin(10, 40, 1, 86)
self.connection_window = curses.newwin(10, 80, 12, 2)
self.error_window = curses.newwin(20, 120, 12, 84)
self.file_window = curses.newwin(10, 80, 1, 108)
curses.noecho()
curses.cbreak()
def __init__(self):
self.sd = ServiceDiscovery()
rcomp = halremote.RemoteComponent('anddemo', debug=False)
rcomp.no_create = True
rcomp.newpin('button0', halremote.HAL_BIT, halremote.HAL_OUT)
rcomp.newpin('button1', halremote.HAL_BIT, halremote.HAL_OUT)
led_pin = rcomp.newpin('led', halremote.HAL_BIT, halremote.HAL_IN)
led_pin.on_value_changed.append(self.led_pin_changed)
led_pin.on_synced_changed.append(self.led_pin_synced)
rcomp.on_connected_changed.append(self._connected)
self.halrcomp = rcomp
self.sd.register(rcomp)
def __init__(self, debug=False):
self.debug = debug
context = zmq.Context()
context.linger = 0
self.context = context
services = ['launchercmd', 'halrcmd', 'command', 'config']
for service in services:
sd = ServiceDiscovery(service_type="_%s._sub._machinekit._tcp" % service)
sd.on_discovered.append(self.service_discovered)
sd.on_disappeared.append(self.service_disappeared)
sd.start()
#self.launcher_sd = launcher_sd
self.tx = Container()
self.rx = Container()
def __init__(self, debug=False):
self.debug = debug
context = zmq.Context()
context.linger = 0
self.context = context
self.sd = ServiceDiscovery()
services = ['launchercmd', 'halrcmd', 'command', 'config']
for name in services:
service = Service(type_=name)
self.sd.register(service)
service.on_ready_changed.append(
partial(self.service_ready, service=service))
self._tx = Container()
self._rx = Container()
def __init__(self):
launcher_sd = ServiceDiscovery(
service_type="_launcher._sub._machinekit._tcp")
launcher_sd.on_discovered.append(self.service_discovered)
launcher_sd.on_disappeared.append(self.service_disappeared)
launcher_sd.start()
self.launcher_sd = launcher_sd
self.halrcompReady = False
self.halrcmdReady = False
halrcomp = halremote.RemoteComponent('anddemo')
halrcomp.newpin('button0', halremote.HAL_BIT, halremote.HAL_OUT)
halrcomp.newpin('button1', halremote.HAL_BIT, halremote.HAL_OUT)
halrcomp.newpin('led', halremote.HAL_BIT, halremote.HAL_IN)
halrcomp.no_create = True
self.halrcomp = halrcomp
def run(self):
timeout = 2.0
sd = ServiceDiscovery()
halrcomp = halremote.RemoteComponent('anddemo')
halrcomp.newpin('button0', halremote.HAL_BIT, halremote.HAL_OUT)
halrcomp.newpin('button1', halremote.HAL_BIT, halremote.HAL_OUT)
halrcomp.newpin('led', halremote.HAL_BIT, halremote.HAL_IN)
sd.register(halrcomp)
sd.start()
print('waiting for component connected')
assert halrcomp.wait_connected(timeout)
print('component connected')
print('stopping service discovery')
sd.stop()
print('completed')
def __init__(self, com_pin=board.D18, num_pixels=16, debug=False):
self.pixels = neopixel.NeoPixel(com_pin, num_pixels)
self._connected = False
self._enabled = False
self._update_light()
rcomp = halremote.RemoteComponent('neopixel', debug=debug)
rcomp.no_create = True
enable_pin = rcomp.newpin('enable', halremote.HAL_BIT,
halremote.HAL_IN)
enable_pin.on_value_changed.append(self._enable_pin_changed)
mode_pin = rcomp.newpin('mode', halremote.HAL_U32, halremote.HAL_IN)
mode_pin.on_value_changed.append(self._mode_pin_changed)
rcomp.on_connected_changed.append(self._connected_changed)
self.rcomp = rcomp
self.sd = ServiceDiscovery(filter_=ServiceDiscoveryFilter(
txt_records={b'uuid': MK_UUID}))
self.sd.register(rcomp)
def __init__(self):
self.sd = ServiceDiscovery(nameservers=['192.168.7.2'])
rcomp = halremote.RemoteComponent('command-interface', debug=False)
rcomp.no_create = False
for i in range(MAX_AXES):
rcomp.newpin('joint%i.position-cmd' % i, halremote.HAL_FLOAT,
halremote.HAL_OUT)
rcomp.newpin('joint%i.position-fb' % i, halremote.HAL_FLOAT,
halremote.HAL_IN)
rcomp.newpin('joint%i.enable' % i, halremote.HAL_BIT,
halremote.HAL_IO)
rcomp.newpin('joint%i.position-max' % i, halremote.HAL_FLOAT,
halremote.HAL_IO)
rcomp.newpin('joint%i.position-min' % i, halremote.HAL_FLOAT,
halremote.HAL_IO)
rcomp.on_connected_changed.append(self._connected)
self.halrcomp = rcomp
self.sd.register(rcomp)
def __init__(self, uuid, use_curses):
self.halrcmdReady = False
self.halrcompReady = False
halrcomp = halremote.component('test')
halrcomp.newpin("coolant-iocontrol", halremote.HAL_BIT,
halremote.HAL_IN)
halrcomp.newpin("coolant", halremote.HAL_BIT, halremote.HAL_OUT)
self.halrcomp = halrcomp
halrcomp2 = halremote.RemoteComponent(name='test2')
halrcomp2.newpin("coolant-iocontrol", halremote.HAL_BIT,
halremote.HAL_IN)
halrcomp2.newpin("coolant", halremote.HAL_BIT, halremote.HAL_OUT)
self.halrcomp2 = halrcomp2
self.status = ApplicationStatus()
self.command = ApplicationCommand()
self.error = ApplicationError()
self.fileservice = ApplicationFile()
self.fileservice.local_file_path = 'test.ngc'
self.fileservice.local_path = './ngc/'
self.fileservice.remote_path = '/home/xy/'
self.fileservice.remote_file_path = '/home/xy/test.ngc'
halrcmd_sd = ServiceDiscovery(
service_type="_halrcmd._sub._machinekit._tcp", uuid=uuid)
halrcmd_sd.on_discovered.append(self.halrcmd_discovered)
halrcmd_sd.start()
#halrcmd_sd.disappered_callback = disappeared
self.halrcmd_sd = halrcmd_sd
halrcomp_sd = ServiceDiscovery(
service_type="_halrcomp._sub._machinekit._tcp", uuid=uuid)
halrcomp_sd.on_discovered.append(self.halrcomp_discovered)
halrcomp_sd.start()
self.harcomp_sd = halrcomp_sd
status_sd = ServiceDiscovery(
service_type="_status._sub._machinekit._tcp", uuid=uuid)
status_sd.on_discovered.append(self.status_discovered)
status_sd.on_disappeared.append(self.status_disappeared)
status_sd.start()
self.status_sd = status_sd
command_sd = ServiceDiscovery(
service_type="_command._sub._machinekit._tcp", uuid=uuid)
command_sd.on_discovered.append(self.command_discovered)
command_sd.on_disappeared.append(self.command_disappeared)
command_sd.start()
error_sd = ServiceDiscovery(
service_type="_error._sub._machinekit._tcp", uuid=uuid)
error_sd.on_discovered.append(self.error_discovered)
error_sd.on_disappeared.append(self.error_disappeared)
error_sd.start()
file_sd = ServiceDiscovery(service_type="_file._sub._machinekit._tcp",
uuid=uuid)
file_sd.on_discovered.append(self.file_discovered)
file_sd.on_disappeared.append(self.file_disappeared)
file_sd.start()
self.timer = None
self.use_curses = use_curses
if not self.use_curses:
return
self.messages = []
self.screen = curses.initscr()
self.screen.keypad(True)
self.dro_window = curses.newwin(10, 40, 1, 2)
self.status_window = curses.newwin(10, 40, 1, 44)
self.command_window = curses.newwin(10, 40, 1, 86)
self.connection_window = curses.newwin(10, 80, 12, 2)
self.error_window = curses.newwin(20, 120, 12, 84)
self.file_window = curses.newwin(10, 80, 1, 108)
curses.noecho()
curses.cbreak()
