def shutdown(self, msg="Shutting down for unknown reason", res=0): # Only run this once if self.shutdown_begun: return self.shutdown_begun = True if res: rospy.logerr("hal_mgr: %s" % msg) else: rospy.loginfo("hal_mgr: %s" % msg) self._pub.publish(False) launcher.end_session() rospy.signal_shutdown(msg) sys.exit(res)
def hal_config(): from machinekit import launcher launcher.cleanup_session() comp_path = os.path.join( os.path.dirname(os.path.realpath(__file__)), '../components/absolute_joint.icomp', ) launcher.install_comp(comp_path) launcher.start_realtime() rt.init_RTAPI() config = HalConfig(thread=THREAD) rt.newthread(config.thread.name, config.thread.period_ns, fp=True) hal.start_threads() yield config hal.stop_threads() launcher.end_session()
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() time.sleep(1) except subprocess.CalledProcessError: launcher.end_session() sys.exit(1) sys.exit(0)
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 while True: sleep(1) launcher.check_processes()