コード例 #1
0
ファイル: launcher.py プロジェクト: kinsamanka/machinekit-NG
def load_hal_file(filename, ini=None):
    sys.stdout.write("loading " + filename + '... ')
    sys.stdout.flush()

    _, ext = os.path.splitext(filename)
    if ext == '.py':
        from machinekit import rtapi

        if not rtapi.__rtapicmd:
            rtapi.init_RTAPI()
        if ini is not None:
            from machinekit import config

            config.load_ini(ini)
        globals_ = {}
        with open(filename, 'r') as f:
            data = compile(f.read(), filename, 'exec')
            exec(data, globals_)
    else:
        command = 'halcmd'
        if ini is not None:
            command += ' -i ' + ini
        command += ' -f ' + filename
        subprocess.check_call(command, shell=True)
    sys.stdout.write('done\n')
コード例 #2
0
ファイル: main.py プロジェクト: yazici/stepper-test
def main():
    c.load_ini('hardware.ini')

    init_hardware()
    configure_stepgen()
    create_rcomp()
    setup_functions()

    # ready to start the threads
    hal.start_threads()

    # start haltalk server after everything is initialized
    # else binding the remote components on the UI might fail
    hal.loadusr('haltalk', wait=True)
コード例 #3
0
ファイル: launcher.py プロジェクト: 13788593535/machinekit
def load_hal_file(filename, ini=None):
    sys.stdout.write("loading " + filename + '... ')
    sys.stdout.flush()

    _, ext = os.path.splitext(filename)
    if ext == '.py':
        from machinekit import rtapi
        if not rtapi.__rtapicmd:
            rtapi.init_RTAPI()
        if ini is not None:
            from machinekit import config
            config.load_ini(ini)
        execfile(filename)
    else:
        command = 'halcmd'
        if ini is not None:
            command += ' -i ' + ini
        command += ' -f ' + filename
        subprocess.check_call(command, shell=True)
    sys.stdout.write('done\n')
コード例 #4
0
ファイル: delta.py プロジェクト: ArcEye/machinekit
def setup_linearDeltaKins(c):
#    c.load_ini(os.environ['INI_FILE_NAME'])

    deltaCfRod = c.find('MACHINE', 'CF_ROD')
    deltaRadius = c.find('MACHINE', 'DELTA_R')
    deltaJoin0Offset = c.find('MACHINE', 'JOINT_0_OFFSET',0)
    deltaJoin1Offset = c.find('MACHINE', 'JOINT_1_OFFSET',0)
    deltaJoin2Offset = c.find('MACHINE', 'JOINT_2_OFFSET',0)
    deltaJoin1AngleOffset = c.find('MACHINE', 'JOINT_1_ANGLE_OFFSET',0)
    deltaJoin2AngleOffset = c.find('MACHINE', 'JOINT_2_ANGLE_OFFSET',0)
    deltaJoin1RadiusOffset = c.find('MACHINE', 'JOINT_1_RADIUS_OFFSET',0)
    deltaJoin2RadiusOffset = c.find('MACHINE', 'JOINT_2_RADIUS_OFFSET',0)

    c.load_ini(os.environ['INI_FILE_NAME'])

    hal.Pin('lineardeltakins.L').set(deltaCfRod)
    hal.Pin('lineardeltakins.R').set(deltaRadius)
    hal.Pin('lineardeltakins.J0off').set(deltaJoin0Offset)
    hal.Pin('lineardeltakins.J1off').set(deltaJoin1Offset)
    hal.Pin('lineardeltakins.J2off').set(deltaJoin2Offset)
    hal.Pin('lineardeltakins.A1off').set(deltaJoin1AngleOffset)
    hal.Pin('lineardeltakins.A2off').set(deltaJoin2AngleOffset)
    hal.Pin('lineardeltakins.R1off').set(deltaJoin1RadiusOffset)
    hal.Pin('lineardeltakins.R2off').set(deltaJoin2RadiusOffset)
コード例 #5
0
def setup_linearDeltaKins(c):
    #    c.load_ini(os.environ['INI_FILE_NAME'])

    deltaCfRod = c.find('MACHINE', 'CF_ROD')
    deltaRadius = c.find('MACHINE', 'DELTA_R')
    deltaJoin0Offset = c.find('MACHINE', 'JOINT_0_OFFSET', 0)
    deltaJoin1Offset = c.find('MACHINE', 'JOINT_1_OFFSET', 0)
    deltaJoin2Offset = c.find('MACHINE', 'JOINT_2_OFFSET', 0)
    deltaJoin1AngleOffset = c.find('MACHINE', 'JOINT_1_ANGLE_OFFSET', 0)
    deltaJoin2AngleOffset = c.find('MACHINE', 'JOINT_2_ANGLE_OFFSET', 0)
    deltaJoin1RadiusOffset = c.find('MACHINE', 'JOINT_1_RADIUS_OFFSET', 0)
    deltaJoin2RadiusOffset = c.find('MACHINE', 'JOINT_2_RADIUS_OFFSET', 0)

    c.load_ini(os.environ['INI_FILE_NAME'])

    hal.Pin('lineardeltakins.L').set(deltaCfRod)
    hal.Pin('lineardeltakins.R').set(deltaRadius)
    hal.Pin('lineardeltakins.J0off').set(deltaJoin0Offset)
    hal.Pin('lineardeltakins.J1off').set(deltaJoin1Offset)
    hal.Pin('lineardeltakins.J2off').set(deltaJoin2Offset)
    hal.Pin('lineardeltakins.A1off').set(deltaJoin1AngleOffset)
    hal.Pin('lineardeltakins.A2off').set(deltaJoin2AngleOffset)
    hal.Pin('lineardeltakins.R1off').set(deltaJoin1RadiusOffset)
    hal.Pin('lineardeltakins.R2off').set(deltaJoin2RadiusOffset)
コード例 #6
0
ファイル: fabrikator_mini.py プロジェクト: ArcEye/machinekit
import os

from machinekit import rtapi as rt
from machinekit import hal
from machinekit import config as c

from fdm.config import velocity_extrusion as ve
from fdm.config import base
from fdm.config import storage
from fdm.config import motion
import cramps as hardware

# initialize the RTAPI command client
rt.init_RTAPI()
# loads the ini file passed by linuxcnc
c.load_ini(os.environ['INI_FILE_NAME'])

motion.setup_motion()
hardware.init_hardware()
storage.init_storage('storage.ini')

# reading functions
hardware.hardware_read()
hal.addf('motion-command-handler', 'servo-thread')
hal.addf('motion-controller', 'servo-thread')

numFans = c.find('FDM', 'NUM_FANS')
numExtruders = c.find('FDM', 'NUM_EXTRUDERS')
numLights = c.find('FDM', 'NUM_LIGHTS')
hasHbp = c.find('FDM', 'HAS_HBP')
コード例 #7
0
import attr
from aenum import Enum

from machinekit import hal
from machinekit import rtapi as rt
from machinekit import config as c

from pinconfig import io_map, pru0_input_pins
from servo import setup_servo

c.load_ini('hardware.ini')

PinDirection = Enum('PinDirection', 'IN OUT LOW HIGH')


@attr.s
class IOPin(object):
    number = attr.ib(default='')
    direction = attr.ib(default=PinDirection.IN)


def get_io_pin(id_, direction=PinDirection.IN):
    port, pin = str(id_)[0], str(id_)[1:]
    dir_ = 'in' if direction is PinDirection.IN else 'out'
    return hal.pins['bb_gpio.p{}.{}-{}'.format(port, dir_, pin)]


def setup_storage():
    hal.loadusr('hal_storage',
                name='storage',
                file='storage.ini',
コード例 #8
0
# HAL file for Trinamic SPI configuration
import os
from machinekit import hal
from machinekit import rtapi as rt
from machinekit import config as c
#from fdm.config import motion
from fdm_local.config import motion
from fdm.config import base
import cramps as hardware

hal.epsilon[1] = 0.1

# initialize the RTAPI command client
rt.init_RTAPI()
# loads the ini file passed by linuxcnc
c.load_ini(os.environ['INI_FILE_NAME'])

motion.setup_motion()

# reading functions
hardware.hardware_read()
hal.addf('motion-command-handler', 'servo-thread')

# Axis-of-motion Specific Configs (not the GUI)

# X [0] Axis
base.setup_stepper(section='AXIS_0',
                   axisIndex=0,
                   stepgenIndex=0,
                   stepgenType='hm2_5i25.0.stepgen')
コード例 #9
0
ファイル: hardware.py プロジェクト: strahlex/halanduino
    kalman.pin('dt').link(sigDt)
    kalman.pin('new-angle').link(sigNewAngle)
    kalman.pin('new-rate').link(sigNewRate)


def setupStorage():
    hal.loadusr('hal_storage', name='storage', file='storage.ini',
                autosave=True, wait_name='storage')


def readStorage():
    hal.Pin('storage.read-trigger').set(True)  # trigger read


rt.init_RTAPI()
c.load_ini('hardware.ini')

rt.loadrt('hal_bb_gpio', output_pins='915,917,838,840')
rt.loadrt('hal_arm335xQEP', encoders='eQEP0,eQEP2')
rt.loadrt(c.find('PRUCONF', 'DRIVER'), 'prucode=' + c.find('PRUCONF', 'PRUBIN'), pru=0, num_pwmgens=7, halname='hpg')

# storage
setupStorage()

# pru pwmgens
hal.Pin('hpg.pwmgen.00.pwm_period').set(500000)
# motor left
hal.Pin('hpg.pwmgen.00.out.00.pin').set(911)
hal.Pin('hpg.pwmgen.00.out.01.pin').set(913)
# motor right
hal.Pin('hpg.pwmgen.00.out.02.pin').set(808)
コード例 #10
0
ファイル: base.py プロジェクト: sam0737/machinekit-replicape
def init_hardware():
    check_version()

    rtapi.init_RTAPI()
    config.load_ini(os.environ['INI_FILE_NAME'])

    error_sigs = []
    watchdog_sigs = []

    global AXIS_TOTAL
    AXIS_TOTAL = int(config.find('TRAJ', 'AXES', '3'))
    if AXIS_TOTAL < 3:
        raise RuntimeError("AXES must be >= 3")

    global EXTRUDER_TOTAL
    EXTRUDER_TOTAL = int(config.find('FDM', 'EXTRUDERS', '1'))
    if EXTRUDER_TOTAL < 1:
        raise RuntimeError("EXTRUDERS must be >= 1")

    rtapi.loadrt('tp')
    rtapi.loadrt('trivkins')
    rtapi.loadrt(config.find('EMCMOT', 'EMCMOT'), 
        servo_period_nsec=config.find('EMCMOT', 'SERVO_PERIOD'),
        num_joints=str(AXIS_TOTAL),
        num_aio=51,
        num_dio=21)

    hal.addf('motion-command-handler', SERVO_THREAD)
    hal.addf('motion-controller', SERVO_THREAD)

    estop_reset = hal.newsig('estop-reset', hal.HAL_BIT)
    (main_enable, main_enable_inv) = setup_enable_chain()

    if BOARD_REV == 'B3A':
        replicape = hardware.ReplicapeB3A()
    if BOARD_REV == 'A4A':
        replicape = hardware.ReplicapeA4A()
    watchdog_sigs.extend(replicape.get_watchdog_sigs())
    replicape.link_enable(main_enable, main_enable_inv)

    (joint_commands, joint_feedbacks) = setup_joints()
    for i in xrange(AXIS_TOTAL):
        setup_axis(replicape, joint_commands[i], joint_feedbacks[i], i)
    setup_limit_switches(replicape)

    extruder_sel_sig = hal.newsig('extruder-sel', hal.HAL_S32)
    setup_extruders(replicape, extruder_sel_sig)

    for i in xrange(EXTRUDER_TOTAL):
        t = ExtruderTemperature(replicape, i, main_enable, estop_reset)
        error_sigs.append(t.get_error_sig())
        watchdog_sigs.append(t.get_temp_watchdog_sig())

    if config.find('HBP', 'THERMISTOR'):
        t = HbpTemperature(replicape, main_enable, estop_reset)
        error_sigs.append(t.get_error_sig())
        watchdog_sigs.append(t.get_temp_watchdog_sig())

    setup_system_fan(replicape)

    setup_estop(error_sigs, watchdog_sigs, estop_reset, SERVO_THREAD)
    connect_tool_changer()
コード例 #11
0
def init_hardware():
    config.load_ini(os.environ['INI_FILE_NAME'])
    check_version()
# we need to make the gpio pins used by the pru visible to userspace (??) in /sys/class/gpio
    os.system('sudo ' + HARDWARE_PATH + 'set_pru_gpio.sh')
    rtapi.init_RTAPI()
    error_sigs = []
    watchdog_sigs = []

    global AXIS_TOTAL
    AXIS_TOTAL = int(config.find('TRAJ', 'AXES', '3'))
    if AXIS_TOTAL < 3:
        raise RuntimeError("AXES must be >= 3")

    global EXTRUDER_TOTAL
    EXTRUDER_TOTAL = int(config.find('FDM', 'EXTRUDERS', '1'))
    if EXTRUDER_TOTAL < 1:
        raise RuntimeError("EXTRUDERS must be >= 1")
        
    global NUM_FANS
    NUM_FANS = int(config.find('FDM','NUM_FANS', 4))
    system_fan = int(config.find('FDM','SYSTEM_FAN', 0))
    if (NUM_FANS < system_fan):
    	raise RuntimeError("NUM_FANS must be >= 1 if SYSTEM_FAN > 0")
    if (NUM_FANS > 4) or (NUM_FANS < 0 ):
        raise RuntimeError("NUM_FANS must be > 0 and < 5")

    rtapi.loadrt('tp')
    if config.find('MACHINE','DELTA_R') is not None:
        kinematics = 'lineardeltakins'
        rtapi.loadrt(kinematics)
        hal.Pin('lineardeltakins.L').set(config.find('MACHINE', 'CF_ROD'))
        hal.Pin('lineardeltakins.R').set(config.find('MACHINE', 'DELTA_R'))
    else:
        kinematics = 'trivkins'
        rtapi.loadrt(kinematics)
    
    rtapi.loadrt(config.find('EMCMOT', 'EMCMOT'), 
        servo_period_nsec=config.find('EMCMOT', 'SERVO_PERIOD'),
        num_joints=str(AXIS_TOTAL),
        num_aio=51,
        num_dio=21,
        kins = kinematics)

    hal.addf('motion-command-handler', SERVO_THREAD)
    hal.addf('motion-controller', SERVO_THREAD)

    estop_reset = hal.newsig('estop-reset', hal.HAL_BIT)
    (main_enable, main_enable_inv) = setup_enable_chain()

    if BOARD_REV == 'B3A':
        replicape = hardware.ReplicapeB3A()
    if BOARD_REV == 'A4A':
        replicape = hardware.ReplicapeA4A()
    watchdog_sigs.extend(replicape.get_watchdog_sigs())
    replicape.link_enable(main_enable, main_enable_inv)

    (joint_commands, joint_feedbacks) = setup_joints()
    for i in xrange(AXIS_TOTAL):
        setup_axis(replicape, joint_commands[i], joint_feedbacks[i], i)
    setup_limit_switches(replicape)

    extruder_sel_sig = hal.newsig('extruder-sel', hal.HAL_S32)
    setup_extruders(replicape, extruder_sel_sig)

    for i in xrange(EXTRUDER_TOTAL):
        t = ExtruderTemperature(replicape, i, main_enable, estop_reset)
        error_sigs.append(t.get_error_sig())
        watchdog_sigs.append(t.get_temp_watchdog_sig())

    if config.find('HBP', 'THERMISTOR'):
        t = HbpTemperature(replicape, main_enable, estop_reset)
        error_sigs.append(t.get_error_sig())
        watchdog_sigs.append(t.get_temp_watchdog_sig())

#    setup_system_fan(replicape)
    setup_fans(replicape)
    setup_estop(error_sigs, watchdog_sigs, estop_reset, SERVO_THREAD)
    connect_tool_changer()
コード例 #12
0
ファイル: base.py プロジェクト: ArcEye/machinekit
def init_hardware():
    config.load_ini(os.environ['INI_FILE_NAME'])
    check_version()
# we need to make the gpio pins used by the pru visible to userspace (??) in /sys/class/gpio
    os.system('sudo ' + HARDWARE_PATH + 'set_pru_gpio.sh')
    rtapi.init_RTAPI()
    error_sigs = []
    watchdog_sigs = []

    global AXIS_TOTAL
    AXIS_TOTAL = int(config.find('TRAJ', 'AXES', '3'))
    if AXIS_TOTAL < 3:
        raise RuntimeError("AXES must be >= 3")

    global EXTRUDER_TOTAL
    EXTRUDER_TOTAL = int(config.find('FDM', 'EXTRUDERS', '1'))
    if EXTRUDER_TOTAL < 1:
        raise RuntimeError("EXTRUDERS must be >= 1")
        
    global NUM_FANS
    NUM_FANS = int(config.find('FDM','NUM_FANS', 4))
    system_fan = int(config.find('FDM','SYSTEM_FAN', 0))
    if (NUM_FANS < system_fan):
    	raise RuntimeError("NUM_FANS must be >= 1 if SYSTEM_FAN > 0")
    if (NUM_FANS > 4) or (NUM_FANS < 0 ):
        raise RuntimeError("NUM_FANS must be > 0 and < 5")

    rtapi.loadrt('tp')
    if config.find('MACHINE','DELTA_R') is not None:
        kinematics = 'lineardeltakins'
        rtapi.loadrt(kinematics)
        hal.Pin('lineardeltakins.L').set(config.find('MACHINE', 'CF_ROD'))
        hal.Pin('lineardeltakins.R').set(config.find('MACHINE', 'DELTA_R'))
    else:
        kinematics = 'trivkins'
        rtapi.loadrt(kinematics)
    
    rtapi.loadrt(config.find('EMCMOT', 'EMCMOT'), 
        servo_period_nsec=config.find('EMCMOT', 'SERVO_PERIOD'),
        num_joints=str(AXIS_TOTAL),
        num_aio=51,
        num_dio=21,
        kins = kinematics)

    hal.addf('motion-command-handler', SERVO_THREAD)
    hal.addf('motion-controller', SERVO_THREAD)

    estop_reset = hal.newsig('estop-reset', hal.HAL_BIT)
    (main_enable, main_enable_inv) = setup_enable_chain()

    if BOARD_REV == 'B3A':
        replicape = hardware.ReplicapeB3A()
    if BOARD_REV == 'A4A':
        replicape = hardware.ReplicapeA4A()
    watchdog_sigs.extend(replicape.get_watchdog_sigs())
    replicape.link_enable(main_enable, main_enable_inv)

    (joint_commands, joint_feedbacks) = setup_joints()
    for i in xrange(AXIS_TOTAL):
        setup_axis(replicape, joint_commands[i], joint_feedbacks[i], i)
    setup_limit_switches(replicape)

    extruder_sel_sig = hal.newsig('extruder-sel', hal.HAL_S32)
    setup_extruders(replicape, extruder_sel_sig)

    for i in xrange(EXTRUDER_TOTAL):
        t = ExtruderTemperature(replicape, i, main_enable, estop_reset)
        error_sigs.append(t.get_error_sig())
        watchdog_sigs.append(t.get_temp_watchdog_sig())

    if config.find('HBP', 'THERMISTOR'):
        t = HbpTemperature(replicape, main_enable, estop_reset)
        error_sigs.append(t.get_error_sig())
        watchdog_sigs.append(t.get_temp_watchdog_sig())

#    setup_system_fan(replicape)
    setup_fans(replicape)
    setup_estop(error_sigs, watchdog_sigs, estop_reset, SERVO_THREAD)
    connect_tool_changer()
コード例 #13
0
ファイル: qqvsim.py プロジェクト: araisrobo/qqvsim
# HAL file for BeagleBone + TCT paralell port cape with 5 steppers and 3D printer board
import os

from machinekit import rtapi as rt
from machinekit import hal
from machinekit import config as c

from config import base
from config import motion

# initialize the RTAPI command client
rt.init_RTAPI()
# loads the ini file passed by linuxcnc
c.load_ini(os.environ["INI_FILE_NAME"])

motion.setup_motion(kinematics=c.find("KINS", "KINEMATICS"))

# reading functions
hal.addf("motion-command-handler", "servo-thread")

# define gantry joints
base.init_gantry(axisIndex=1, joints=2, latching=True)

# Axis-of-motion Specific Configs (not the GUI)
# X [J0] Axis
base.setup_stepper(section="AXIS_0", axisIndex=0, stepgenIndex=0, stepgenType="sim")
# Y [J1] Axis
base.setup_stepper(section="AXIS_1", axisIndex=1, stepgenIndex=1, gantry=True, gantryJoint=0, stepgenType="sim")
# YY[J2] Axis
base.setup_stepper(section="AXIS_1", axisIndex=1, stepgenIndex=2, gantry=True, gantryJoint=1, stepgenType="sim")
# Z [J3] Axis
コード例 #14
0
def init_hardware():
    check_version()

    rtapi.init_RTAPI()
    config.load_ini(os.environ['INI_FILE_NAME'])

    error_sigs = []
    watchdog_sigs = []

    global AXIS_TOTAL
    AXIS_TOTAL = int(config.find('TRAJ', 'AXES', '3'))
    if AXIS_TOTAL < 3:
        raise RuntimeError("AXES must be >= 3")

    global EXTRUDER_TOTAL
    EXTRUDER_TOTAL = int(config.find('FDM', 'EXTRUDERS', '1'))
    if EXTRUDER_TOTAL < 1:
        raise RuntimeError("EXTRUDERS must be >= 1")

    rtapi.loadrt('tp')
    rtapi.loadrt('trivkins')
    rtapi.loadrt(config.find('EMCMOT', 'EMCMOT'),
                 servo_period_nsec=config.find('EMCMOT', 'SERVO_PERIOD'),
                 num_joints=str(AXIS_TOTAL),
                 num_aio=51,
                 num_dio=21)

    hal.addf('motion-command-handler', SERVO_THREAD)
    hal.addf('motion-controller', SERVO_THREAD)

    estop_reset = hal.newsig('estop-reset', hal.HAL_BIT)
    (main_enable, main_enable_inv) = setup_enable_chain()

    if BOARD_REV == 'B3A':
        replicape = hardware.ReplicapeB3A()
    if BOARD_REV == 'A4A':
        replicape = hardware.ReplicapeA4A()
    watchdog_sigs.extend(replicape.get_watchdog_sigs())
    replicape.link_enable(main_enable, main_enable_inv)

    (joint_commands, joint_feedbacks) = setup_joints()
    for i in xrange(AXIS_TOTAL):
        setup_axis(replicape, joint_commands[i], joint_feedbacks[i], i)
    setup_limit_switches(replicape)

    extruder_sel_sig = hal.newsig('extruder-sel', hal.HAL_S32)
    setup_extruders(replicape, extruder_sel_sig)

    for i in xrange(EXTRUDER_TOTAL):
        t = ExtruderTemperature(replicape, i, main_enable, estop_reset)
        error_sigs.append(t.get_error_sig())
        watchdog_sigs.append(t.get_temp_watchdog_sig())

    if config.find('HBP', 'THERMISTOR'):
        t = HbpTemperature(replicape, main_enable, estop_reset)
        error_sigs.append(t.get_error_sig())
        watchdog_sigs.append(t.get_temp_watchdog_sig())

    setup_system_fan(replicape)

    setup_estop(error_sigs, watchdog_sigs, estop_reset, SERVO_THREAD)
    connect_tool_changer()