class TestClass():
def __init__(self, uuid, use_curses):
self.halrcmdReady = False
self.halrcompReady = False
halrcomp = halremote.component('test')
halrcomp.newpin("coolant-iocontrol", halremote.HAL_BIT, halremote.HAL_IN)
halrcomp.newpin("coolant", halremote.HAL_BIT, halremote.HAL_OUT)
self.halrcomp = halrcomp
halrcomp2 = halremote.RemoteComponent(name='test2')
halrcomp2.newpin("coolant-iocontrol", halremote.HAL_BIT, halremote.HAL_IN)
halrcomp2.newpin("coolant", halremote.HAL_BIT, halremote.HAL_OUT)
self.halrcomp2 = halrcomp2
self.status = ApplicationStatus()
self.command = ApplicationCommand()
self.error = ApplicationError()
self.fileservice = ApplicationFile()
self.fileservice.local_file_path = 'test.ngc'
self.fileservice.local_path = './ngc/'
self.fileservice.remote_path = '/home/xy/'
self.fileservice.remote_file_path = '/home/xy/test.ngc'
halrcmd_sd = ServiceDiscovery(service_type="_halrcmd._sub._machinekit._tcp", uuid=uuid)
halrcmd_sd.on_discovered.append(self.halrcmd_discovered)
halrcmd_sd.start()
#halrcmd_sd.disappered_callback = disappeared
self.halrcmd_sd = halrcmd_sd
halrcomp_sd = ServiceDiscovery(service_type="_halrcomp._sub._machinekit._tcp", uuid=uuid)
halrcomp_sd.on_discovered.append(self.halrcomp_discovered)
halrcomp_sd.start()
self.harcomp_sd = halrcomp_sd
status_sd = ServiceDiscovery(service_type="_status._sub._machinekit._tcp", uuid=uuid)
status_sd.on_discovered.append(self.status_discovered)
status_sd.on_disappeared.append(self.status_disappeared)
status_sd.start()
self.status_sd = status_sd
command_sd = ServiceDiscovery(service_type="_command._sub._machinekit._tcp", uuid=uuid)
command_sd.on_discovered.append(self.command_discovered)
command_sd.on_disappeared.append(self.command_disappeared)
command_sd.start()
error_sd = ServiceDiscovery(service_type="_error._sub._machinekit._tcp", uuid=uuid)
error_sd.on_discovered.append(self.error_discovered)
error_sd.on_disappeared.append(self.error_disappeared)
error_sd.start()
file_sd = ServiceDiscovery(service_type="_file._sub._machinekit._tcp", uuid=uuid)
file_sd.on_discovered.append(self.file_discovered)
file_sd.on_disappeared.append(self.file_disappeared)
file_sd.start()
self.timer = None
self.use_curses = use_curses
if not self.use_curses:
return
self.messages = []
self.screen = curses.initscr()
self.screen.keypad(True)
self.dro_window = curses.newwin(10, 40, 1, 2)
self.status_window = curses.newwin(10, 40, 1, 44)
self.command_window = curses.newwin(10, 40, 1, 86)
self.connection_window = curses.newwin(10, 80, 12, 2)
self.error_window = curses.newwin(20, 120, 12, 84)
self.file_window = curses.newwin(10, 80, 1, 108)
curses.noecho()
curses.cbreak()
def start_halrcomp(self):
print('connecting rcomp %s' % self.halrcomp.name)
self.halrcomp.ready()
self.halrcomp2.ready()
#gevent.spawn(self.start_timer)
def halrcmd_discovered(self, data):
print("discovered %s %s" % (data.name, data.dsn))
self.halrcomp.halrcmd_uri = data.dsn
self.halrcomp2.halrcmd_uri = data.dsn
self.halrcmdReady = True
if self.halrcompReady:
self.start_halrcomp()
def halrcomp_discovered(self, data):
print("discovered %s %s" % (data.name, data.dsn))
self.halrcomp.halrcomp_uri = data.dsn
self.halrcomp2.halrcomp_uri = data.dsn
self.halrcompReady = True
if self.halrcmdReady:
self.start_halrcomp()
def status_discovered(self, data):
print('discovered %s %s' % (data.name, data.dsn))
self.status.status_uri = data.dsn
self.status.ready()
self.timer = threading.Timer(0.1, self.status_timer)
self.timer.start()
def status_disappeared(self, data):
print('%s disappeared' % data.name)
self.status.stop()
def command_discovered(self, data):
print('discovered %s %s' % (data.name, data.dsn))
self.command.command_uri = data.dsn
self.command.ready()
def command_disappeared(self, data):
print('%s disappeared' % data.name)
self.command.stop()
def error_discovered(self, data):
print('discovered %s %s' % (data.name, data.dsn))
self.error.error_uri = data.dsn
self.error.ready()
def error_disappeared(self, data):
print('%s disappeared' % data.name)
self.error.stop()
def file_discovered(self, data):
print('discovered %s %s' % (data.name, data.dsn))
self.fileservice.uri = data.dsn
#self.fileservice.start_download()
self.fileservice.refresh_files()
self.fileservice.wait_completed()
print(self.fileservice.file_list)
self.fileservice.remove_file('test.ngc')
self.fileservice.wait_completed()
def file_disappeared(self, data):
print('%s disappeared' % data.name)
def start_timer(self):
self.toggle_pin()
timer = threading.Timer(1.0, self.start_timer)
timer.start()
#glib.timeout_add(1000, self.toggle_pin)
def status_timer(self):
#if self.status.synced:
# print('flood %s' % self.status.io.flood)
if self.use_curses:
self.update_screen()
self.timer = threading.Timer(0.05, self.status_timer)
self.timer.start()
def toggle_pin(self):
self.halrcomp['coolant'] = not self.halrcomp['coolant']
return True
def update_screen(self):
con = self.connection_window
con.clear()
con.border(0)
con.addstr(1, 2, 'Connection')
con.addstr(3, 4, 'Status: %s %s' % (str(self.status.synced), self.status.status_uri))
con.addstr(4, 4, 'Command: %s %s' % (str(self.command.connected), self.command.command_uri))
con.addstr(5, 4, 'Error: %s %s' % (str(self.error.connected), self.error.error_uri))
con.refresh()
if not self.status.synced or not self.command.connected:
return
dro = self.dro_window
dro.clear()
dro.border(0)
dro.addstr(1, 2, "DRO")
for i, n in enumerate(['x', 'y', 'z']): # range(self.status.config.axes):
pos = str(getattr(self.status.motion.position, n))
dro.addstr(3 + i, 4, '%s: %s' % (n, pos))
dro.refresh()
status = self.status_window
status.clear()
status.border(0)
status.addstr(1, 2, 'Status')
status.addstr(3, 4, 'Estop: %s' % str(self.status.task.task_state == application.TASK_STATE_ESTOP))
status.addstr(4, 4, 'Power: %s' % str(self.status.task.task_state == application.TASK_STATE_ON))
status.refresh()
cmd = self.command_window
cmd.clear()
cmd.border(0)
cmd.addstr(1, 2, 'Command')
cmd.addstr(3, 4, 'Estop - F1')
cmd.addstr(4, 4, 'Power - F2')
cmd.refresh()
error = self.error_window
error.clear()
error.border(0)
error.addstr(1, 2, 'Notifications')
self.messages += self.error.get_messages()
pos = 0
for message in self.messages:
# msg_type = str(message['type'])
for note in message['notes']:
error.addstr(3 + pos, 4, str(note))
pos += 1
error.refresh()
win = self.file_window
win.clear()
win.border(0)
win.addstr(1, 2, 'File')
win.addstr(3, 4, 'Status: %s' % self.fileservice.transfer_state)
win.addstr(4, 4, 'Progress: %f' % self.fileservice.progress)
win.refresh()
self.screen.nodelay(True)
c = self.screen.getch()
if c == curses.KEY_F1:
if self.status.task.task_state == application.TASK_STATE_ESTOP:
ticket = self.command.set_task_state(application.TASK_STATE_ESTOP_RESET)
self.command.wait_completed(timeout=0.2)
else:
self.command.set_task_state(application.TASK_STATE_ESTOP)
self.command.wait_completed()
elif c == curses.KEY_F2:
if self.status.task.task_state == application.TASK_STATE_ON:
self.command.set_task_state(application.TASK_STATE_OFF)
else:
self.command.set_task_state(application.TASK_STATE_ON)
elif c == curses.KEY_F3:
self.fileservice.start_upload()
def stop(self):
if self.halrcomp is not None:
self.halrcomp.stop()
if self.halrcomp2 is not None:
self.halrcomp2.stop()
if self.status is not None:
self.status.stop()
if self.command is not None:
self.command.stop()
if self.error is not None:
self.error.stop()
if self.timer:
self.timer.cancel()
if self.use_curses:
curses.endwin()
class IPCServer():
def __init__(self, uuid, debug=True):
self.debug = debug
self.threads = []
self.shutdown = threading.Event()
self.status = ApplicationStatus()
self.command = ApplicationCommand()
status_sd = ServiceDiscovery(service_type="_status._sub._machinekit._tcp", uuid=uuid)
status_sd.on_discovered.append(self.status_discovered)
status_sd.on_disappeared.append(self.status_disappeared)
status_sd.start()
self.status_sd = status_sd
command_sd = ServiceDiscovery(service_type="_command._sub._machinekit._tcp", uuid=uuid)
command_sd.on_discovered.append(self.command_discovered)
command_sd.on_disappeared.append(self.command_disappeared)
command_sd.start()
# create ipc sockets
context = zmq.Context()
context.linger = 0
self.context = context
# self.pubSocket = context.socket(zmq.PUB)
# self.pubSocket.bind('ipc://machinetalk-server.ipc')
# self.pubDsname = self.pubSocket.get_string(zmq.LAST_ENDPOINT, encoding='utf-8')
# if self.debug:
# print('bound PUB socket to %s' % self.pubDsname)
self.zmqSocket = context.socket(zmq.ROUTER)
self.zmqSocket.bind('ipc://machinetalk-server.ipc')
self.zmqDsname = self.zmqSocket.get_string(zmq.LAST_ENDPOINT, encoding='utf-8')
if self.debug:
print('bound ROUTER socket to %s' % self.zmqDsname)
self.zmqLock = threading.Lock()
self.tx = Message()
self.rx = Message()
self.threads.append(threading.Thread(target=self.socket_worker))
for thread in self.threads:
thread.start()
def send_msg(self, identity, msg_type):
with self.zmqLock:
self.tx.type = msg_type
txBuffer = self.tx.SerializeToString()
self.zmqSocket.send_multipart([identity, txBuffer], zmq.NOBLOCK)
self.tx.Clear()
def socket_worker(self):
poll = zmq.Poller()
poll.register(self.zmqSocket, zmq.POLLIN)
while not self.shutdown.is_set():
s = dict(poll.poll(200))
if self.zmqSocket in s and s[self.zmqSocket] == zmq.POLLIN:
self.process_msg(self.zmqSocket)
def process_msg(self, socket):
(identity, message) = socket.recv_multipart()
self.rx.ParseFromString(message)
if self.debug:
print("process message called, id: %s" % identity)
print(str(self.rx))
if self.rx.type == IPC_POSITION:
self.tx.x = self.status.motion.position.x - \
self.status.motion.g5x_offset.x - \
self.status.motion.g92_offset.x - \
self.status.io.tool_offset.x
self.tx.y = self.status.motion.position.y - \
self.status.motion.g5x_offset.y - \
self.status.motion.g92_offset.y - \
self.status.io.tool_offset.y
self.send_msg(identity, IPC_POSITION)
elif self.rx.type == IPC_JOG:
self.command.set_task_mode(application.TASK_MODE_MANUAL)
self.command.jog(self.rx.jog_type, self.rx.axis,
self.rx.velocity, self.rx.distance)
elif self.rx.type == IPC_CONNECTED:
self.tx.connected = self.status.synced and self.command.connected
self.send_msg(identity, IPC_CONNECTED)
def status_discovered(self, data):
if self.debug:
print('discovered %s %s' % (data.name, data.dsn))
self.status.status_uri = data.dsn
self.status.ready()
#self.timer = threading.Timer(0.1, self.status_timer)
#self.timer.start()
def status_disappeared(self, data):
if self.debug:
print('%s disappeared' % data.name)
self.status.stop()
def command_discovered(self, data):
if self.debug:
print('discovered %s %s' % (data.name, data.dsn))
self.command.command_uri = data.dsn
self.command.ready()
def command_disappeared(self, data):
if self.debug:
print('%s disappeared' % data.name)
self.command.stop()
def stop(self):
if self.status is not None:
self.status.stop()
if self.command is not None:
self.command.stop()
self.shutdown.set()
for thread in self.threads:
thread.join()
self.threads = []
class TestClass():
def __init__(self, uuid, use_curses):
self.halrcmdReady = False
self.halrcompReady = False
halrcomp = halremote.component('test')
halrcomp.newpin("coolant-iocontrol", halremote.HAL_BIT,
halremote.HAL_IN)
halrcomp.newpin("coolant", halremote.HAL_BIT, halremote.HAL_OUT)
self.halrcomp = halrcomp
halrcomp2 = halremote.RemoteComponent(name='test2')
halrcomp2.newpin("coolant-iocontrol", halremote.HAL_BIT,
halremote.HAL_IN)
halrcomp2.newpin("coolant", halremote.HAL_BIT, halremote.HAL_OUT)
self.halrcomp2 = halrcomp2
self.status = ApplicationStatus()
self.command = ApplicationCommand()
self.error = ApplicationError()
self.fileservice = ApplicationFile()
self.fileservice.local_file_path = 'test.ngc'
self.fileservice.local_path = './ngc/'
self.fileservice.remote_path = '/home/xy/'
self.fileservice.remote_file_path = '/home/xy/test.ngc'
halrcmd_sd = ServiceDiscovery(
service_type="_halrcmd._sub._machinekit._tcp", uuid=uuid)
halrcmd_sd.on_discovered.append(self.halrcmd_discovered)
halrcmd_sd.start()
#halrcmd_sd.disappered_callback = disappeared
self.halrcmd_sd = halrcmd_sd
halrcomp_sd = ServiceDiscovery(
service_type="_halrcomp._sub._machinekit._tcp", uuid=uuid)
halrcomp_sd.on_discovered.append(self.halrcomp_discovered)
halrcomp_sd.start()
self.harcomp_sd = halrcomp_sd
status_sd = ServiceDiscovery(
service_type="_status._sub._machinekit._tcp", uuid=uuid)
status_sd.on_discovered.append(self.status_discovered)
status_sd.on_disappeared.append(self.status_disappeared)
status_sd.start()
self.status_sd = status_sd
command_sd = ServiceDiscovery(
service_type="_command._sub._machinekit._tcp", uuid=uuid)
command_sd.on_discovered.append(self.command_discovered)
command_sd.on_disappeared.append(self.command_disappeared)
command_sd.start()
error_sd = ServiceDiscovery(
service_type="_error._sub._machinekit._tcp", uuid=uuid)
error_sd.on_discovered.append(self.error_discovered)
error_sd.on_disappeared.append(self.error_disappeared)
error_sd.start()
file_sd = ServiceDiscovery(service_type="_file._sub._machinekit._tcp",
uuid=uuid)
file_sd.on_discovered.append(self.file_discovered)
file_sd.on_disappeared.append(self.file_disappeared)
file_sd.start()
self.timer = None
self.use_curses = use_curses
if not self.use_curses:
return
self.messages = []
self.screen = curses.initscr()
self.screen.keypad(True)
self.dro_window = curses.newwin(10, 40, 1, 2)
self.status_window = curses.newwin(10, 40, 1, 44)
self.command_window = curses.newwin(10, 40, 1, 86)
self.connection_window = curses.newwin(10, 80, 12, 2)
self.error_window = curses.newwin(20, 120, 12, 84)
self.file_window = curses.newwin(10, 80, 1, 108)
curses.noecho()
curses.cbreak()
def start_halrcomp(self):
print('connecting rcomp %s' % self.halrcomp.name)
self.halrcomp.ready()
self.halrcomp2.ready()
#gevent.spawn(self.start_timer)
def halrcmd_discovered(self, data):
print("discovered %s %s" % (data.name, data.dsn))
self.halrcomp.halrcmd_uri = data.dsn
self.halrcomp2.halrcmd_uri = data.dsn
self.halrcmdReady = True
if self.halrcompReady:
self.start_halrcomp()
def halrcomp_discovered(self, data):
print("discovered %s %s" % (data.name, data.dsn))
self.halrcomp.halrcomp_uri = data.dsn
self.halrcomp2.halrcomp_uri = data.dsn
self.halrcompReady = True
if self.halrcmdReady:
self.start_halrcomp()
def status_discovered(self, data):
print('discovered %s %s' % (data.name, data.dsn))
self.status.status_uri = data.dsn
self.status.ready()
self.timer = threading.Timer(0.1, self.status_timer)
self.timer.start()
def status_disappeared(self, data):
print('%s disappeared' % data.name)
self.status.stop()
def command_discovered(self, data):
print('discovered %s %s' % (data.name, data.dsn))
self.command.command_uri = data.dsn
self.command.ready()
def command_disappeared(self, data):
print('%s disappeared' % data.name)
self.command.stop()
def error_discovered(self, data):
print('discovered %s %s' % (data.name, data.dsn))
self.error.error_uri = data.dsn
self.error.ready()
def error_disappeared(self, data):
print('%s disappeared' % data.name)
self.error.stop()
def file_discovered(self, data):
print('discovered %s %s' % (data.name, data.dsn))
self.fileservice.uri = data.dsn
#self.fileservice.start_download()
self.fileservice.refresh_files()
self.fileservice.wait_completed()
print(self.fileservice.file_list)
self.fileservice.remove_file('test.ngc')
self.fileservice.wait_completed()
def file_disappeared(self, data):
print('%s disappeared' % data.name)
def start_timer(self):
self.toggle_pin()
timer = threading.Timer(1.0, self.start_timer)
timer.start()
#glib.timeout_add(1000, self.toggle_pin)
def status_timer(self):
#if self.status.synced:
# print('flood %s' % self.status.io.flood)
if self.use_curses:
self.update_screen()
self.timer = threading.Timer(0.05, self.status_timer)
self.timer.start()
def toggle_pin(self):
self.halrcomp['coolant'] = not self.halrcomp['coolant']
return True
def update_screen(self):
con = self.connection_window
con.clear()
con.border(0)
con.addstr(1, 2, 'Connection')
con.addstr(
3, 4, 'Status: %s %s' %
(str(self.status.synced), self.status.status_uri))
con.addstr(
4, 4, 'Command: %s %s' %
(str(self.command.connected), self.command.command_uri))
con.addstr(
5, 4,
'Error: %s %s' % (str(self.error.connected), self.error.error_uri))
con.refresh()
if not self.status.synced or not self.command.connected:
return
dro = self.dro_window
dro.clear()
dro.border(0)
dro.addstr(1, 2, "DRO")
for i, n in enumerate(['x', 'y',
'z']): # range(self.status.config.axes):
pos = str(getattr(self.status.motion.position, n))
dro.addstr(3 + i, 4, '%s: %s' % (n, pos))
dro.refresh()
status = self.status_window
status.clear()
status.border(0)
status.addstr(1, 2, 'Status')
status.addstr(
3, 4, 'Estop: %s' %
str(self.status.task.task_state == application.TASK_STATE_ESTOP))
status.addstr(
4, 4, 'Power: %s' %
str(self.status.task.task_state == application.TASK_STATE_ON))
status.refresh()
cmd = self.command_window
cmd.clear()
cmd.border(0)
cmd.addstr(1, 2, 'Command')
cmd.addstr(3, 4, 'Estop - F1')
cmd.addstr(4, 4, 'Power - F2')
cmd.refresh()
error = self.error_window
error.clear()
error.border(0)
error.addstr(1, 2, 'Notifications')
self.messages += self.error.get_messages()
pos = 0
for message in self.messages:
# msg_type = str(message['type'])
for note in message['notes']:
error.addstr(3 + pos, 4, str(note))
pos += 1
error.refresh()
win = self.file_window
win.clear()
win.border(0)
win.addstr(1, 2, 'File')
win.addstr(3, 4, 'Status: %s' % self.fileservice.transfer_state)
win.addstr(4, 4, 'Progress: %f' % self.fileservice.progress)
win.refresh()
self.screen.nodelay(True)
c = self.screen.getch()
if c == curses.KEY_F1:
if self.status.task.task_state == application.TASK_STATE_ESTOP:
ticket = self.command.set_task_state(
application.TASK_STATE_ESTOP_RESET)
self.command.wait_completed(timeout=0.2)
else:
self.command.set_task_state(application.TASK_STATE_ESTOP)
self.command.wait_completed()
elif c == curses.KEY_F2:
if self.status.task.task_state == application.TASK_STATE_ON:
self.command.set_task_state(application.TASK_STATE_OFF)
else:
self.command.set_task_state(application.TASK_STATE_ON)
elif c == curses.KEY_F3:
self.fileservice.start_upload()
def stop(self):
if self.halrcomp is not None:
self.halrcomp.stop()
if self.halrcomp2 is not None:
self.halrcomp2.stop()
if self.status is not None:
self.status.stop()
if self.command is not None:
self.command.stop()
if self.error is not None:
self.error.stop()
if self.timer:
self.timer.cancel()
if self.use_curses:
curses.endwin()