def main():
parser = argparse.ArgumentParser(
description='Videoserver provides a webcam interface for Machinetalk')
parser.add_argument('-i', '--ini', help='INI file', default='video.ini')
parser.add_argument('-d',
'--debug',
help='Enable debug mode',
action='store_true')
parser.add_argument('webcams', help='List of webcams to stream', nargs='+')
args = parser.parse_args()
debug = args.debug
mkconfig = config.Config()
mkini = os.getenv("MACHINEKIT_INI")
if mkini is None:
mkini = mkconfig.MACHINEKIT_INI
if not os.path.isfile(mkini):
sys.stderr.write("MACHINEKIT_INI " + mkini + " does not exist\n")
sys.exit(1)
mki = ConfigParser.ConfigParser()
mki.read(mkini)
mkUuid = mki.get("MACHINEKIT", "MKUUID")
remote = mki.getint("MACHINEKIT", "REMOTE")
if remote == 0:
print(
"Remote communication is deactivated, videoserver will use the loopback interfaces"
)
print(("set REMOTE in " + mkini +
" to 1 to enable remote communication"))
if debug:
print("announcing videoserver")
hostname = '%(fqdn)s' # replaced by service announcement
video = VideoServer(args.ini,
svc_uuid=mkUuid,
host=hostname,
loopback=(not remote),
debug=debug)
video.setDaemon(True)
video.start()
for webcam in args.webcams:
video.startVideo(webcam)
while True:
time.sleep(1)
def init_hardware():
# load low-level drivers
rt.loadrt('hal_bb_gpio',
output_pins='807,808,810,819,828,841',
input_pins='809,831,832,833,835,837,838')
prubin = '%s/%s' % (c.Config().EMC2_RTLIB_DIR, c.find('PRUCONF', 'PRUBIN'))
rt.loadrt(c.find('PRUCONF', 'DRIVER'),
pru=0,
num_stepgens=4,
num_pwmgens=4,
pru_period=2500,
prucode=prubin,
halname='hpg')
def main():
debug = int(os.environ.get("DEBUG", 0))
launcher.set_debug_level(debug)
if "MACHINEKIT_INI" not in os.environ: # export for package installs
mkconfig = config.Config()
os.environ["MACHINEKIT_INI"] = mkconfig.MACHINEKIT_INI
hal_mgr = HalMgr()
try:
hal_mgr.start()
hal_mgr.loop()
except subprocess.CalledProcessError as e:
hal_mgr.shutdown("Process error: %s" % e, 1)
except rospy.ROSInterruptException as e:
hal_mgr.shutdown("Interrupt: %s" % e, 0)
else:
hal_mgr.shutdown("Shutting down", 0)
def init_hardware():
watchList = []
#rt=rtapi.RTAPIcommand()
rt.newinst('pp_gpio', 'hpg', 'pincount=6')
rt.newinst('pp_stepgen', 'hps', 'pincount=5')
#print(c.find('HBP', 'THERMISTOR', defaultThermistor))
#raw_input()
# load low-level drivers
if False:
rt.loadrt('hal_bb_gpio',
output_pins='816,822,823,824,825,826,914,923,925',
input_pins='807,808,809,810,817,911,913')
prubin = '%s/%s' % (c.Config().EMC2_RTLIB_DIR,
c.find('PRUCONF', 'PRUBIN'))
rt.loadrt(c.find('PRUCONF', 'DRIVER'),
pru=0,
num_stepgens=6,
num_pwmgens=6,
prucode=prubin,
halname='hpg')
# Python user-mode HAL module to read ADC value and generate a thermostat output for PWM
defaultThermistor = 'semitec_103GT_2'
hal.loadusr('hal_temp_bbb',
name='temp',
interval=0.05,
filter_size=1,
cape_board='CRAMPS',
channels='04:%s,05:%s,02:%s,03:%s' %
(c.find('HBP', 'THERMISTOR', defaultThermistor),
c.find('EXTRUDER_0', 'THERMISTOR', defaultThermistor),
c.find('EXTRUDER_1', 'THERMISTOR', defaultThermistor),
c.find('EXTRUDER_2', 'THERMISTOR', defaultThermistor)),
wait_name='temp')
watchList.append(['temp', 0.1])
base.usrcomp_status('temp', 'temp-hw', thread='servo-thread')
base.usrcomp_watchdog(watchList,
'estop-reset',
thread='servo-thread',
errorSignal='watchdog-error')
def __init__(self):
self.pru = rtapi.loadrt('hal_pru_generic',
pru=0, num_stepgens=5, num_pwmgens=0, halname='hpg',
prucode='%s/rt-preempt/pru_generic.bin' % (config.Config().EMC2_RTLIB_DIR))
# 4.14.18-ti-rt-r33 kernel and rt-preempt
hal.addf('hpg.capture-position', SERVO_THREAD)
hal.addf('hpg.update', SERVO_THREAD)
hal.addf('bb_gpio.read', SERVO_THREAD)
hal.addf('bb_gpio.write', SERVO_THREAD)
minvel = config.find('TRAJ','MIN_VELOCITY', 0.001)
for i in xrange(5):
self.get_pru_pin('stepgen.%02i.dirsetup' % i).set(200)
self.get_pru_pin('stepgen.%02i.dirhold' % i).set(200)
self.get_pru_pin('stepgen.%02i.steplen' % i).set(1000)
self.get_pru_pin('stepgen.%02i.stepspace' % i).set(1000)
self.get_pru_pin('stepgen.%02i.dirpin' % i).set(self.pru_dir_pin(i))
self.get_pru_pin('stepgen.%02i.steppin' % i).set(self.pru_step_pin(i))
# setting to zero: pru_generic adapts to maximum velocity and acceleration
# see http://www.machinekit.io/docs/man/man9/hal_pru_generic/
self.get_pru_pin('stepgen.%02i.maxvel' % i).set(0)
self.get_pru_pin('stepgen.%02i.maxaccel' % i).set(0)
# use new pru stepgen minvel pin to avoid pru hunting problem (without PID loop)
# see this discussion https://groups.google.com/forum/#!topic/machinekit/ATEwvfgoIb4
# except for extruder(s)
if i < 3 :
self.get_pru_pin('stepgen.%02i.minvel' % i).set(minvel)
self.pwm = hal.loadusr(USR_HAL_PATH + 'hal_replicape_pwm',
name='replicape_pwm',
wait_name='replicape_pwm')
self.watchdog_sigs = []
for pin in self.get_watchdog_pins():
s = hal.newsig('replicape.watchdog.%d' % len(self.watchdog_sigs), hal.HAL_BIT)
pin.link(s)
self.watchdog_sigs.append(s)
def __init__(self):
self.pru = rtapi.loadrt('hal_pru_generic',
pru=0,
num_stepgens=5,
num_pwmgens=0,
halname='hpg',
prucode='%s/xenomai/pru_generic.bin' %
(config.Config().EMC2_RTLIB_DIR))
hal.addf('hpg.capture-position', SERVO_THREAD)
hal.addf('hpg.update', SERVO_THREAD)
hal.addf('bb_gpio.read', SERVO_THREAD)
hal.addf('bb_gpio.write', SERVO_THREAD)
for i in xrange(5):
self.get_pru_pin('stepgen.%02i.dirsetup' % i).set(200)
self.get_pru_pin('stepgen.%02i.dirhold' % i).set(200)
self.get_pru_pin('stepgen.%02i.steplen' % i).set(1000)
self.get_pru_pin('stepgen.%02i.stepspace' % i).set(1000)
self.get_pru_pin('stepgen.%02i.dirpin' % i).set(
self.pru_dir_pin(i))
self.get_pru_pin('stepgen.%02i.steppin' % i).set(
self.pru_step_pin(i))
self.get_pru_pin('stepgen.%02i.maxvel' % i).set(0)
self.get_pru_pin('stepgen.%02i.maxaccel' % i).set(0)
self.pwm = hal.loadusr(USR_HAL_PATH + 'hal_replicape_pwm',
name='replicape_pwm',
wait_name='replicape_pwm')
self.watchdog_sigs = []
for pin in self.get_watchdog_pins():
s = hal.newsig('replicape.watchdog.%d' % len(self.watchdog_sigs),
hal.HAL_BIT)
pin.link(s)
self.watchdog_sigs.append(s)
def loadTable(self, name):
c = config.Config()
localInputFile = os.path.join(os.getcwd(), 'thermistor_tables',
name + '.txt')
systemInputFile = os.path.join(c.datadir, 'fdm', 'thermistor_tables',
name + '.txt')
if os.path.exists(name):
inputFile = name
elif os.path.exists(localInputFile):
inputFile = localInputFile
elif os.path.exists(systemInputFile):
inputFile = systemInputFile
else:
raise RuntimeError('Thermistor table was not found')
with open(inputFile, "r") as f:
self.thermistor_table_raw = []
content = f.readlines()
for line in content:
line = ' '.join(line.split())
if ((len(line) == 0) or (line[0] == '#')):
continue
datas = line.split(' ')
tableEntry = []
for data in datas:
tableEntry.append(float(data))
self.thermistor_table_raw.append(tableEntry)
if len(self.thermistor_table_raw) == 0:
return
# Temperature table needs resistance to be ordered low [0] to high [n]
if (self.thermistor_table_raw[0][0] <
self.thermistor_table_raw[-1][0]):
self.thermistor_table_raw.reverse()
import os
import ConfigParser
from machinekit import rtapi, hal, config
# retrieve the machinekit UUID
cfg = ConfigParser.ConfigParser()
mkini = os.getenv("MACHINEKIT_INI")
if mkini is None:
mkini = config.Config().MACHINEKIT_INI
cfg.read(mkini)
uuid = cfg.get("MACHINEKIT", "MKUUID")
# open a command channel to rtapi_app
rt = rtapi.RTAPIcommand(uuid=uuid)
from machinekit import launcher
from machinekit import config
#launcher.set_debug_level(5)
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__)))
c = config.Config()
os.environ["MACHINEKIT_INI"] = c.MACHINEKIT_INI
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:
EN1 = io_map[21]
EN2 = io_map[22]
IN1 = io_map[23]
IN2 = io_map[24]
output_pins = [EN1, EN2]
input_pins = [IS1, IS2]
output_pins_joined = ','.join(str(x) for x in output_pins)
input_pins_joined = ','.join(str(x) for x in input_pins)
rt.loadrt('hal_bb_gpio',
output_pins=output_pins_joined,
input_pins=input_pins_joined)
rt.loadrt(c.find('PRUCONF', 'DRIVER'),
'prucode={}/{}'.format(c.Config().EMC2_RTLIB_DIR,
c.find('PRUCONF', 'PRUBIN')),
pru=0,
num_stepgens=0,
num_pwmgens=2,
num_encoders=1,
halname='hpg')
hpg = hal.Component('hpg')
hpg.pin('pwmgen.00.out.00.pin').set(IN1)
hpg.pin('pwmgen.00.out.01.pin').set(IN2)
hpg.pin('encoder.00.chan.00.A-pin').set(pru0_input_pins[ENC_A])
hpg.pin('encoder.00.chan.00.B-pin').set(pru0_input_pins[ENC_B])
hpg.pin('encoder.00.chan.00.index-pin').set(17) # ignore
hpg.pin('encoder.00.chan.00.counter-mode').set(0) # Quadrature Mode
'it starts the xyz configuration and UI')
parser.add_argument('-nc', '--no_config', help='Disables the config server', action='store_true')
parser.add_argument('-l', '--local', help='Enable local mode only', action='store_true')
parser.add_argument('-s', '--halscope', help='Starts the halscope', action='store_true')
parser.add_argument('-m', '--halmeter', help='Starts the halmeter', action='store_true')
parser.add_argument('-d', '--debug', help='Enable debug mode', action='store_true')
parser.add_argument('-hw', '--hardware', help='Hardware setup', action='store')
parser.add_argument('-t', '--test', help='Connect test motor to siggen', action='store_true')
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
def check_mklaucher():
try:
subprocess.check_output(['pgrep', 'mklauncher'])
return True
except subprocess.CalledProcessError:
return False
try:
launcher.check_installation()
launcher.cleanup_session()
launcher.start_realtime()
# setup the configuration
def main():
parser = argparse.ArgumentParser(
description=
'Configserver is the entry point for Machinetalk based user interfaces'
)
parser.add_argument('-n',
'--name',
help='Name of the machine',
default="Machinekit")
parser.add_argument(
'-s',
'--suppress_ip',
help='Do not show ip of machine in service name',
action='store_false',
)
parser.add_argument('-d',
'--debug',
help='Enable debug mode',
action='store_true')
parser.add_argument(
'dirs',
nargs='*',
help="List of directories to scan for user interface configurations",
)
args = parser.parse_args()
debug = args.debug
mkconfig = config.Config()
mkini = os.getenv("MACHINEKIT_INI")
if mkini is None:
mkini = mkconfig.MACHINEKIT_INI
if not os.path.isfile(mkini):
sys.stderr.write("MACHINEKIT_INI " + mkini + " does not exist\n")
sys.exit(1)
mki = configparser.ConfigParser()
mki.read(mkini)
uuid = mki.get("MACHINEKIT", "MKUUID")
remote = mki.getint("MACHINEKIT", "REMOTE")
if remote == 0:
print(
"Remote communication is deactivated, configserver will use the loopback interfaces"
)
print("set REMOTE in " + mkini +
" to 1 to enable remote communication")
if debug:
print("announcing configserver")
context = zmq.Context()
context.linger = 0
register_exit_handler()
config_service = None
try:
hostname = '%(fqdn)s' # replaced by service announcement
config_service = ConfigServer(
context,
svc_uuid=uuid,
topdir=".",
host=hostname,
app_dirs=args.dirs,
name=args.name,
host_in_name=bool(args.suppress_ip),
loopback=(not remote),
debug=debug,
)
while config_service.running and not check_exit():
time.sleep(1)
except Exception as e:
print("exception")
print(e)
if debug:
print("stopping threads")
if config_service is not None:
config_service.stop()
# wait for all threads to terminate
while threading.active_count() > 1:
time.sleep(0.1)
if debug:
print("threads stopped")
sys.exit(0)
card = hardwarelist[hardware][1]
#load mesa card with firmware
if hardware == 'mesa-5i20':
rt.loadrt('hostmot2')
rt.loadrt('hm2_pci',
config="firmware=hm2/5i20/SVST8_4.BIT \
num_pwmgens=3 \
num_stepgens=4")
if hardware == 'bbb-cramps':
os.system('./setup.sh')
rt.loadrt('hal_bb_gpio',
output_pins='816,822,823,824,825,826,914,923,925',
input_pins='807,808,809,810,817,911,913')
prubin = '%s/%s' % (c.Config().EMC2_RTLIB_DIR, 'xenomai/pru_generic.bin')
rt.loadrt('hal_pru_generic',
pru=0,
num_stepgens=5,
num_pwmgens=0,
prucode=prubin,
halname=card)
if hardware == 'bbb-bebopr++':
os.system('./setup.bridge.sh')
rt.loadrt('hal_bb_gpio',
output_pins='807,924,926',
input_pins='808,809,810,814,817,818')
prubin = '%s/%s' % (c.Config().EMC2_RTLIB_DIR, 'xenomai/pru_generic.bin')
rt.loadrt('hal_pru_generic',
pru=0,
def get_pin(name):
if name in hal.pins:
return hal.pins[name]
else:
return None
c.load_ini('hardware.ini')
rt.loadrt('hal_bb_gpio',
output_pins='826,827,923,926,930',
input_pins='807,810,814,817,818,819,912,914,915,916,917,918,924,941')
rt.loadrt(c.find('PRUCONF', 'DRIVER'),
'prucode=%s/%s' %
(c.Config().EMC2_RTLIB_DIR, c.find('PRUCONF', 'PRUBIN')),
pru=1,
num_stepgens=6,
num_pwmgens=1,
halname='hpg')
# axis_enable_signal = hal.Signal('emcmot.00.enable', hal.HAL_BIT)
# hal.Pin('hpg.stepgen.00.enable').link(axis_enable_signal)
# axis_enable_signal.set(True)
# pos_cmd_signal = hal.Signal('emcmot.00.pos-cmd', hal.HAL_FLOAT)
# hal.Pin('hpg.stepgen.00.position-cmd').link(pos_cmd_signal)
# pos_fb_signal = hal.Signal('emcmot.00.pos-fb', hal.HAL_FLOAT)
# hal.Pin('hpg.stepgen.00.position-fb').link(pos_fb_signal)
hal.Pin('hpg.stepgen.00.dirsetup').set(c.find('AXIS_0', 'DIRSETUP'))
hal.Pin('hpg.stepgen.00.dirhold').set(c.find('AXIS_0', 'DIRHOLD'))
def main():
parser = argparse.ArgumentParser(
description=
'Configserver is the entry point for Machinetalk based user interfaces'
)
parser.add_argument('-n',
'--name',
help='Name of the machine',
default="Machinekit")
parser.add_argument('-s',
'--suppress_ip',
help='Do not show ip of machine in service name',
action='store_false')
parser.add_argument('-d',
'--debug',
help='Enable debug mode',
action='store_true')
parser.add_argument(
'dirs',
nargs='*',
help="List of directories to scan for user interface configurations")
args = parser.parse_args()
debug = args.debug
mkconfig = config.Config()
mkini = os.getenv("MACHINEKIT_INI")
if mkini is None:
mkini = mkconfig.MACHINEKIT_INI
if not os.path.isfile(mkini):
sys.stderr.write("MACHINEKIT_INI " + mkini + " does not exist\n")
sys.exit(1)
mki = ConfigParser.ConfigParser()
mki.read(mkini)
uuid = mki.get("MACHINEKIT", "MKUUID")
remote = mki.getint("MACHINEKIT", "REMOTE")
prefs = mki.get("MACHINEKIT", "INTERFACES").split()
if remote == 0:
print(
"Remote communication is deactivated, configserver will use the loopback interfaces"
)
print(("set REMOTE in " + mkini +
" to 1 to enable remote communication"))
iface = ['lo', '127.0.0.1']
else:
iface = choose_ip(prefs)
if not iface:
sys.stderr.write(
"failed to determine preferred interface (preference = %s)\n" %
prefs)
sys.exit(1)
if debug:
print(("announcing configserver on " + str(iface)))
context = zmq.Context()
context.linger = 0
register_exit_handler()
configService = None
try:
configService = ConfigServer(context,
svcUuid=uuid,
topdir=".",
ip=iface[1],
appDirs=args.dirs,
name=args.name,
ipInName=bool(args.suppress_ip),
debug=debug)
while configService.running and not check_exit():
time.sleep(1)
except Exception as e:
print("exception")
print(e)
except:
print("other exception")
if debug:
print("stopping threads")
if configService is not None:
configService.stop()
# wait for all threads to terminate
while threading.active_count() > 1:
time.sleep(0.1)
if debug:
print("threads stopped")
sys.exit(0)
def main():
parser = argparse.ArgumentParser(
description=
'mklauncher is Machinetalk based session/configuration launcher for Machinekit'
)
parser.add_argument('-n',
'--name',
help='Name of the machine',
default="Machinekit Launcher")
parser.add_argument('-s',
'--suppress_ip',
help='Do not show ip of machine in service name',
action='store_false')
parser.add_argument('-d',
'--debug',
help='Enable debug mode',
action='store_true')
parser.add_argument(
'dirs',
nargs='*',
help="List of directories to scan for launcher configurations")
args = parser.parse_args()
debug = args.debug
logging.basicConfig()
if debug:
logger.setLevel(logging.DEBUG)
else:
logger.setLevel(logging.INFO)
mkconfig = config.Config()
mkini = os.getenv("MACHINEKIT_INI")
if mkini is None:
mkini = mkconfig.MACHINEKIT_INI
if not os.path.isfile(mkini):
sys.stderr.write("MACHINEKIT_INI " + mkini + " does not exist\n")
sys.exit(1)
mki = configparser.ConfigParser()
mki.read(mkini)
uuid = mki.get("MACHINEKIT", "MKUUID")
remote = mki.getint("MACHINEKIT", "REMOTE")
if remote == 0:
logger.info(
"Remote communication is deactivated, configserver will use the loopback interfaces"
)
logger.info(("set REMOTE in " + mkini +
" to 1 to enable remote communication"))
logger.debug("announcing mklauncher")
context = zmq.Context()
context.linger = 0
register_exit_handler()
hostname = '%(fqdn)s' # replaced by service announcement
mklauncher = Mklauncher(context,
svc_uuid=uuid,
host=hostname,
launcher_dirs=args.dirs,
name=args.name,
host_in_name=bool(args.suppress_ip),
loopback=(not remote),
debug=debug)
mklauncher.start()
while mklauncher.running and not check_exit():
time.sleep(1)
logger.debug('stopping threads')
mklauncher.stop()
# wait for all threads to terminate
while threading.active_count() > 1:
time.sleep(0.1)
logger.debug('threads stopped')
sys.exit(0)
def init_hardware():
watchList = []
# load low-level drivers
rt.loadrt('hal_bb_gpio', output_pins='807,819,826,926', input_pins='941')
prubin = '%s/%s' % (c.Config().EMC2_RTLIB_DIR, c.find('PRUCONF', 'PRUBIN'))
rt.loadrt(c.find('PRUCONF', 'DRIVER'),
pru=0,
num_stepgens=5,
num_pwmgens=0,
prucode=prubin,
halname='hpg')
# Python user-mode HAL module to interface with an I2C gpio extender
hal.loadusr('hal_gpio_mcp23017',
name='i2c-gpio',
bus_id=2,
address=32,
interval=0.05,
delay=2.5,
input_pins='A00,A01,A02,A03,A04,A05,A06,A07,B06,B07',
output_pins='B00,B01,B02,B03,B04,B05',
wait_name='i2c-gpio')
watchList.append(['i2c-gpio', 0.1])
# Python user-mode HAL module to interface with an I2C PWM generator
hal.loadusr('hal_pwm_pca9685',
name='i2c-pwm',
bus_id=2,
address=67,
interval=0.1,
delay=2.6,
wait_name='i2c-pwm')
watchList.append(['i2c-pwm', 0.2])
# Python user-mode HAL module to interface with an I2C ADC and convert it to temperature
defaultThermistor = 'semitec_103GT_2'
hal.loadusr(
'hal_temp_ads7828',
name='i2c-temp',
bus_id=2,
address=72,
interval=0.05,
delay=2.7,
filter_size=1,
channels='00:%s,01:%s,02:%s,03:%s,04:%s,05:none,06:none,07:none' %
(c.find('HBP', 'THERMISTOR', defaultThermistor),
c.find('EXTRUDER_0', 'THERMISTOR', defaultThermistor),
c.find('EXTRUDER_1', 'THERMISTOR', defaultThermistor),
c.find('EXTRUDER_2', 'THERMISTOR', defaultThermistor),
c.find('EXTRUDER_3', 'THERMISTOR', defaultThermistor)),
wait_name='i2c-temp')
watchList.append(['i2c-temp', 0.1])
base.usrcomp_status('i2c-gpio', 'gpio-hw', thread='servo-thread')
base.usrcomp_status('i2c-pwm', 'pwm-hw', thread='servo-thread')
base.usrcomp_status('i2c-temp', 'temp-hw', thread='servo-thread')
base.usrcomp_watchdog(watchList,
'estop-reset',
thread='servo-thread',
errorSignal='watchdog-error')