Python RTAPIcommand Examples

Example #1

File: test_instbindings.py Project: cerna/machinekit-hal

    def test_inst(self):
        self.cfg = ConfigParser()
        self.cfg.read(os.getenv("MACHINEKIT_INI"))
        self.uuid = self.cfg.get("MACHINEKIT", "MKUUID")
        rt = rtapi.RTAPIcommand(uuid=self.uuid)

        rt.loadrt("icomp");
        rt.newinst("icomp","foo")
        assert len(hal.instances) == 1
        rt.newinst("icomp","bar")
        assert len(hal.instances) == 2
        rt.delinst("foo")
        assert len(hal.instances) == 1
        with pytest.raises(RuntimeError):
            # HAL error: duplicate component name 'icomp'
            c = hal.Component("icomp")
        c = hal.components["icomp"]
        for name in hal.instances:
            inst = hal.instances[name]
            assert c.id == inst.owner_id
            assert c.name == inst.owner.name
        assert "foo" in hal.instances
        assert "bar" in hal.instances
        assert hal.instances["foo"].size > 0
        assert hal.instances["bar"].size > 0
        try:
            x = hal.instances["nonexistent"]
            raise "should not happen"
        except NameError:
            pass

Example #2

File: test_or2.py Project: cerna/machinekit-hal

 def setUp(self):
     self.cfg = ConfigParser()
     self.cfg.read(os.getenv("MACHINEKIT_INI"))
     self.uuid = self.cfg.get("MACHINEKIT", "MKUUID")
     self.rt = rtapi.RTAPIcommand(uuid=self.uuid)
     self.rt.newinst("or2", "or2.0")
     self.rt.newthread("servo-thread",1000000,fp=True)
     hal.addf("or2.0","servo-thread")
     hal.start_threads()

Example #3

 def setUp(self):
     global rt
     self.cfg = ConfigParser()
     self.cfg.read(os.getenv("MACHINEKIT_INI"))
     self.uuid = self.cfg.get("MACHINEKIT", "MKUUID")
     rt = rtapi.RTAPIcommand(uuid=self.uuid)

Example #4

File: test_ringdemo.py Project: cerna/machinekit-hal

 def test_rtapi_connect(self):
     global uuid, rt
     cfg = ConfigParser()
     cfg.read(os.getenv("MACHINEKIT_INI"))
     uuid = cfg.get("MACHINEKIT", "MKUUID")
     rt = rtapi.RTAPIcommand(uuid=uuid)

Example #5

import os
from six.moves import configparser
from machinekit.hal import cyruntime, cyhal

# retrieve the machinekit UUID
cfg = configparser.ConfigParser()
cfg.read(os.getenv("MACHINEKIT_INI"))
uuid = cfg.get("MACHINEKIT", "MKUUID")

# open a command channel to rtapi_app
rt = cyruntime.RTAPIcommand(uuid=uuid)

Example #6

 def test_rtapi_connect(self):
     global rt
     rt = rtapi.RTAPIcommand(uuid=uuid)