Python RTAPIcommandの例

コード例 #1

    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

コード例 #2

ファイル: unittest_instbindings.py プロジェクト: capitaneanu/machinekit-hal

    def setUp(self):
        self.cfg = ConfigParser.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(instances) == 1
        rt.newinst("icomp", "bar")
        assert len(instances) == 2
        rt.delinst("foo")
        assert len(instances) == 1
        c = hal.Component("icomp")
        for i in instances:
            assert c.id == i.owner_id
            assert c.name == i.owner().name
        assert "foo" in instances
        assert "bar" in instances
        assert instances["foo"].size > 0
        assert instances["bar"].size > 0
        try:
            x = instances["nonexistent"]
            raise "should not happen"
        except NameError:
            pass

コード例 #3

 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()

コード例 #4

ファイル: micromot-server.py プロジェクト: trigrass2/machinekit-2

def multiframe_ring(name):
    try:
        r = hal.Ring(name)
    except RuntimeError:
        r = hal.Ring(name, size=16384, flags=hal.RINGTYPE_MULTIPART)
    return (r, hal.MultiframeRing(r))


subprocess.call("realtime restart", shell=True, stderr=subprocess.STDOUT)

# connect to RTAPI
cfg = ConfigParser.ConfigParser()
cfg.read(os.getenv("MACHINEKIT_INI"))
uuid = cfg.get("MACHINEKIT", "MKUUID")
rt = rtapi.RTAPIcommand(uuid=uuid)

# setup zeroMQ socket and poller
context = zmq.Context()
socket = context.socket(zmq.ROUTER)
socket.bind("tcp://127.0.0.1:5700")
poller = zmq.Poller()
poller.register(socket, zmq.POLLIN)

# allocate the rings
(command, mfcommand) = multiframe_ring(cname)
(response, mfresponse) = multiframe_ring(rname)

# reflect role - visible in halcmd:
command.writer = os.getpid()
response.reader = os.getpid()

コード例 #5

ファイル: test_ringdemo.py プロジェクト: the-snowwhite/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)

コード例 #6

ファイル: unittest_icomp.py プロジェクト: trigrass2/machinekit-2

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

コード例 #7

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