parser = argparse.ArgumentParser( description='This is the Prusa-i3-soc run script ' 'it demonstrates how a run script could look like ' 'and of course starts the Prusa-i3 config') parser.add_argument('-v', '--video', 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()
from machinekit import hal try: launcher.check_installation() launcher.cleanup_session() # kill any running Machinekit instances launcher.start_realtime() # start Machinekit realtime environment while 'ul_iface_component.joint_6.pos-cmd' not in hal.pins: time.sleep(0.5) print('found HAL pin, connecting') # create 6 signals between pos-cmd and pos-fb pins # when machinekit_ros_control has started with # parameter machinekit_interface: 0 for i in range(1, 7): hal.Pin('ul_iface_component.joint_%s.pos-cmd' % i).link( 'ul_iface_component.joint_%s.pos-fb' % i) launcher.register_exit_handler( ) # enable on ctrl-C, needs to executed after HAL files while True: launcher.check_processes() time.sleep(1) except subprocess.CalledProcessError: launcher.end_session() sys.exit(1) sys.exit(0)
#!/usr/bin/python import sys import os 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
#!/usr/bin/python import sys import os import subprocess import importlib import argparse from time import * from machinekit import launcher launcher.register_exit_handler() #launcher.set_debug_level(5) os.chdir(os.path.dirname(os.path.realpath(__file__))) try: launcher.check_installation() launcher.cleanup_session() launcher.install_comp('thermistor_check.comp') launcher.install_comp('reset.comp') # Video Streaming: you might need to create your own config # launcher.start_process("videoserver --ini ~/video.ini Webcam1") # Remote Control: Get a Machineface at ARM.Replicape.A4A.vel/ launcher.start_process("configserver -n Replicape ~/Machineface/") launcher.start_process('linuxcnc replicape.ini') except subprocess.CalledProcessError: launcher.end_session() sys.exit(1) while True: sleep(1) launcher.check_processes()
from machinekit import launcher def check_mklaucher(): try: subprocess.check_output(['pgrep', 'mklauncher']) return True except subprocess.CalledProcessError: return False os.chdir(os.path.dirname(os.path.realpath(__file__))) try: launcher.check_installation() launcher.cleanup_session() launcher.register_exit_handler() # needs to executed after HAL files launcher.load_bbio_file('cramps2_cape.bbio') 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") launcher.start_process('linuxcnc CRAMPS.ini') while True: launcher.check_processes() time.sleep(1) except subprocess.CalledProcessError:
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') if args.halscope: