class BasicClass(object):
def __init__(self):
self.sd = ServiceDiscovery()
rcomp = halremote.RemoteComponent('anddemo', debug=False)
rcomp.no_create = True
rcomp.newpin('button0', halremote.HAL_BIT, halremote.HAL_OUT)
rcomp.newpin('button1', halremote.HAL_BIT, halremote.HAL_OUT)
led_pin = rcomp.newpin('led', halremote.HAL_BIT, halremote.HAL_IN)
led_pin.on_value_changed.append(self.led_pin_changed)
led_pin.on_synced_changed.append(self.led_pin_synced)
rcomp.on_connected_changed.append(self._connected)
self.halrcomp = rcomp
self.sd.register(rcomp)
def led_pin_synced(self, synced):
if synced:
print("LED pin synced")
def led_pin_changed(self, value):
print('LED pin value changed: %s' % str(value))
def _connected(self, connected):
print('Remote component connected: %s' % str(connected))
def start(self):
self.sd.start()
def stop(self):
self.sd.stop()
def get_out_of_estop():
sd = ServiceDiscovery()
command = ApplicationCommand(debug=DEBUG)
if DEBUG:
command.on_state_changed.append(print_state)
sd.register(command)
sd.start()
connected = command.wait_connected(timeout=MAX_WAIT_CONNECTED)
if not connected:
raise RuntimeError('Could not connect')
else:
print('connected')
print('executing ESTOP reset')
ticket = command.set_task_state(EMC_TASK_STATE_ESTOP_RESET)
if not command.wait_completed(ticket=ticket, timeout=COMMAND_TIMEOUT):
raise RuntimeError('Task did not complete')
else:
print('done')
print('executing TASK STATE ON')
command.set_task_state(EMC_TASK_STATE_OFF)
if not command.wait_completed(timeout=COMMAND_TIMEOUT):
raise RuntimeError('Task did not complete')
else:
print('done')
def start_sd(self, uuid):
halrcmd_sd = ServiceDiscovery(service_type="_halrcmd._sub._machinekit._tcp", uuid=uuid)
halrcmd_sd.on_discovered.append(self.halrcmd_discovered) # start service discover
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()
def start_sd(self, uuid):
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()
def __init__(self):
launcher_sd = ServiceDiscovery(service_type="_launcher._sub._machinekit._tcp")
launcher_sd.on_discovered.append(self.service_discovered)
launcher_sd.on_disappeared.append(self.service_disappeared)
launcher_sd.start()
self.launcher_sd = launcher_sd
self.halrcompReady = False
self.halrcmdReady = False
halrcomp = halremote.RemoteComponent('anddemo')
halrcomp.newpin('button0', halremote.HAL_BIT, halremote.HAL_OUT)
halrcomp.newpin('button1', halremote.HAL_BIT, halremote.HAL_OUT)
halrcomp.newpin('led', halremote.HAL_BIT, halremote.HAL_IN)
halrcomp.no_create = True
self.halrcomp = halrcomp
def __init__(self):
launcher_sd = ServiceDiscovery(
service_type="_launcher._sub._machinekit._tcp")
launcher_sd.on_discovered.append(self.service_discovered)
launcher_sd.on_disappeared.append(self.service_disappeared)
launcher_sd.start()
self.launcher_sd = launcher_sd
self.halrcompReady = False
self.halrcmdReady = False
halrcomp = halremote.RemoteComponent('anddemo')
halrcomp.newpin('button0', halremote.HAL_BIT, halremote.HAL_OUT)
halrcomp.newpin('button1', halremote.HAL_BIT, halremote.HAL_OUT)
halrcomp.newpin('led', halremote.HAL_BIT, halremote.HAL_IN)
halrcomp.no_create = True
self.halrcomp = halrcomp
def __init__(self, debug=False):
self.debug = debug
context = zmq.Context()
context.linger = 0
self.context = context
services = ['launchercmd', 'halrcmd', 'command', 'config']
for service in services:
sd = ServiceDiscovery(service_type="_%s._sub._machinekit._tcp" % service)
sd.on_discovered.append(self.service_discovered)
sd.on_disappeared.append(self.service_disappeared)
sd.start()
#self.launcher_sd = launcher_sd
self.tx = Container()
self.rx = Container()
def run(self):
timeout = 2.0
sd = ServiceDiscovery()
halrcomp = halremote.RemoteComponent('anddemo')
halrcomp.newpin('button0', halremote.HAL_BIT, halremote.HAL_OUT)
halrcomp.newpin('button1', halremote.HAL_BIT, halremote.HAL_OUT)
halrcomp.newpin('led', halremote.HAL_BIT, halremote.HAL_IN)
sd.register(halrcomp)
sd.start()
print('waiting for component connected')
assert halrcomp.wait_connected(timeout)
print('component connected')
print('stopping service discovery')
sd.stop()
print('completed')
class Logger(object):
def __init__(self, debug=False):
self._sd = ServiceDiscovery()
log = application.ApplicationLog(debug=debug)
log.log_level = application.log.RTAPI_MSG_DBG
log.on_message_received.append(self._on_log_message_received)
self._sd.register(log)
@staticmethod
def _on_log_message_received(msg):
print(msg)
def start(self):
self._sd.start()
def stop(self):
self._sd.stop()
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()
class MachinekitInterface(object):
def __init__(self):
self.sd = ServiceDiscovery(nameservers=['192.168.7.2'])
rcomp = halremote.RemoteComponent('command-interface', debug=False)
rcomp.no_create = False
for i in range(MAX_AXES):
rcomp.newpin('joint%i.position-cmd' % i, halremote.HAL_FLOAT,
halremote.HAL_OUT)
rcomp.newpin('joint%i.position-fb' % i, halremote.HAL_FLOAT,
halremote.HAL_IN)
rcomp.newpin('joint%i.enable' % i, halremote.HAL_BIT,
halremote.HAL_IO)
rcomp.newpin('joint%i.position-max' % i, halremote.HAL_FLOAT,
halremote.HAL_IO)
rcomp.newpin('joint%i.position-min' % i, halremote.HAL_FLOAT,
halremote.HAL_IO)
rcomp.on_connected_changed.append(self._connected)
self.halrcomp = rcomp
self.sd.register(rcomp)
def _connected(self, connected):
print('Remote component connected: %s' % str(connected))
def update_joint_values(self, data):
if not self.halrcomp.connected:
return
pin = self.halrcomp.getpin('joint0.position-cmd')
pin.set(data.get('Joint1', 0))
def start(self):
self.sd.start()
def stop(self):
self.sd.stop()
def run(self):
timeout = 2.0
launcher_sd = ServiceDiscovery(
service_type="_launcher._sub._machinekit._tcp", debug=True)
print('starting launcher service discovery')
launcher_sd.start()
assert launcher_sd.wait_discovered(timeout)
data = launcher_sd.service_names.values()[0]
print('launcher discovered %s %s' % (data.name, data.dsn))
uuid = data.uuid
print('uuid=%s' % uuid)
halrcmd_sd = ServiceDiscovery(
service_type="_halrcmd._sub._machinekit._tcp",
uuid=uuid,
debug=True)
print('starting halrcmd service discovery')
halrcmd_sd.start()
assert halrcmd_sd.wait_discovered(timeout)
data = halrcmd_sd.service_names.values()[0]
print('halrcmd discovered %s %s' % (data.name, data.dsn))
halrcmd_dsn = data.dsn
halrcomp_sd = ServiceDiscovery(
service_type="_halrcomp._sub._machinekit._tcp",
uuid=uuid,
debug=True)
print('starting halrcomp service discovery')
halrcomp_sd.start()
assert halrcomp_sd.wait_discovered(timeout)
data = halrcomp_sd.service_names.values()[0]
print('halrcomp discovered %s %s' % (data.name, data.dsn))
halrcomp_dsn = data.dsn
halrcomp = halremote.RemoteComponent('anddemo')
halrcomp.newpin('button0', halremote.HAL_BIT, halremote.HAL_OUT)
halrcomp.newpin('button1', halremote.HAL_BIT, halremote.HAL_OUT)
halrcomp.newpin('led', halremote.HAL_BIT, halremote.HAL_IN)
#halrcomp.no_create = True
halrcomp.halrcomp_uri = halrcomp_dsn
halrcomp.halrcmd_uri = halrcmd_dsn
halrcomp.ready()
print('waiting for component connected')
assert halrcomp.wait_connected()
print('component connected')
halrcomp.stop()
self.loop.quit()
def run(self):
timeout = 2.0
launcher_sd = ServiceDiscovery(service_type="_launcher._sub._machinekit._tcp", debug=True)
print('starting launcher service discovery')
launcher_sd.start()
assert launcher_sd.wait_discovered(timeout)
data = launcher_sd.service_names.values()[0]
print('launcher discovered %s %s' % (data.name, data.dsn))
uuid = data.uuid
print('uuid=%s' % uuid)
halrcmd_sd = ServiceDiscovery(service_type="_halrcmd._sub._machinekit._tcp", uuid=uuid, debug=True)
print('starting halrcmd service discovery')
halrcmd_sd.start()
assert halrcmd_sd.wait_discovered(timeout)
data = halrcmd_sd.service_names.values()[0]
print('halrcmd discovered %s %s' % (data.name, data.dsn))
halrcmd_dsn = data.dsn
halrcomp_sd = ServiceDiscovery(service_type="_halrcomp._sub._machinekit._tcp", uuid=uuid, debug=True)
print('starting halrcomp service discovery')
halrcomp_sd.start()
assert halrcomp_sd.wait_discovered(timeout)
data = halrcomp_sd.service_names.values()[0]
print('halrcomp discovered %s %s' % (data.name, data.dsn))
halrcomp_dsn = data.dsn
halrcomp = halremote.RemoteComponent('anddemo')
halrcomp.newpin('button0', halremote.HAL_BIT, halremote.HAL_OUT)
halrcomp.newpin('button1', halremote.HAL_BIT, halremote.HAL_OUT)
halrcomp.newpin('led', halremote.HAL_BIT, halremote.HAL_IN)
#halrcomp.no_create = True
halrcomp.halrcomp_uri = halrcomp_dsn
halrcomp.halrcmd_uri = halrcmd_dsn
halrcomp.ready()
print('waiting for component connected')
assert halrcomp.wait_connected()
print('component connected')
halrcomp.stop()
self.loop.quit()
class IPCServer:
def __init__(self, uuid, debug=True):
self.debug = debug
self.threads = []
self.shutdown = threading.Event()
sd_filter = ServiceDiscoveryFilter(txt_records={'uuid': uuid})
self.sd = ServiceDiscovery(filter_=sd_filter)
self.status = ApplicationStatus()
self.command = ApplicationCommand()
self.sd.register(self.status)
self.sd.register(self.command)
# 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.EMC_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 start(self):
self.sd.start()
def stop(self):
self.sd.stop()
self.shutdown.set()
for thread in self.threads:
thread.join()
self.threads = []
class TerminalUI(object):
def __init__(self, uuid, use_curses, debug=False):
sd_filter = ServiceDiscoveryFilter(txt_records={'uuid': uuid})
self.sd = ServiceDiscovery(filter_=sd_filter)
halrcomp = halremote.component('test')
halrcomp.debug = debug
halrcomp.newpin("coolant-iocontrol", halremote.HAL_BIT, halremote.HAL_IN)
halrcomp.newpin("coolant", halremote.HAL_BIT, halremote.HAL_OUT)
self.halrcomp = halrcomp
self.sd.register(halrcomp)
halrcomp2 = halremote.RemoteComponent(name='test2', debug=debug)
halrcomp2.newpin("coolant-iocontrol", halremote.HAL_BIT, halremote.HAL_IN)
halrcomp2.newpin("coolant", halremote.HAL_BIT, halremote.HAL_OUT)
self.halrcomp2 = halrcomp2
self.sd.register(halrcomp2)
self.status = ApplicationStatus(debug=debug)
self.status.on_synced_changed.append(self._on_status_synced)
self.sd.register(self.status)
self.command = ApplicationCommand(debug=debug)
self.sd.register(self.command)
self.error = ApplicationError(debug=debug)
self.sd.register(self.error)
self.fileservice = ApplicationFile(debug=debug)
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'
self.fileservice.on_ready_changed.append(self._on_fileservice_ready)
self.sd.register(self.fileservice)
self.timer = None
self.timer_interval = 0.1
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 _on_status_synced(self, synced):
if synced:
self.timer = threading.Timer(self.timer_interval, self.status_timer_tick)
self.timer.start()
else:
if self.timer:
self.timer.cancel()
self.timer = None
def _on_fileservice_ready(self, ready):
if ready:
print('fileservice ready')
self.fileservice.refresh_files()
self.fileservice.wait_completed()
print(self.fileservice.file_list)
self.fileservice.remove_file('test.ngc')
self.fileservice.wait_completed()
def status_timer_tick(self):
# print(
# 'stat: {}, cmd: {}, err: {}'.format(
# self.status.synced, self.command.connected, self.error.connected
# )
# )
if self.use_curses:
self.update_screen()
self.timer = threading.Timer(self.timer_interval, self.status_timer_tick)
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.EMC_TASK_STATE_ESTOP),
)
status.addstr(
4,
4,
'Power: %s'
% str(self.status.task.task_state == application.EMC_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.EMC_TASK_STATE_ESTOP:
ticket = self.command.set_task_state(
application.EMC_TASK_STATE_ESTOP_RESET
)
self.command.wait_completed(ticket=ticket, timeout=0.2)
else:
self.command.set_task_state(application.EMC_TASK_STATE_ESTOP)
self.command.wait_completed(timeout=0.2)
elif c == curses.KEY_F2:
if self.status.task.task_state == application.EMC_TASK_STATE_ON:
self.command.set_task_state(application.EMC_TASK_STATE_OFF)
else:
self.command.set_task_state(application.EMC_TASK_STATE_ON)
elif c == curses.KEY_F3:
self.fileservice.start_upload()
def start(self):
self.sd.start()
def stop(self):
self.sd.stop()
if self.timer:
self.timer.cancel()
if self.use_curses:
curses.endwin()
class TerminalUI(object):
def __init__(self, uuid, use_curses, debug=False):
sd_filter = ServiceDiscoveryFilter(txt_records={'uuid': uuid})
self.sd = ServiceDiscovery(filter_=sd_filter)
halrcomp = halremote.component('test')
halrcomp.debug = debug
halrcomp.newpin("coolant-iocontrol", halremote.HAL_BIT, halremote.HAL_IN)
halrcomp.newpin("coolant", halremote.HAL_BIT, halremote.HAL_OUT)
self.halrcomp = halrcomp
self.sd.register(halrcomp)
halrcomp2 = halremote.RemoteComponent(name='test2', debug=debug)
halrcomp2.newpin("coolant-iocontrol", halremote.HAL_BIT, halremote.HAL_IN)
halrcomp2.newpin("coolant", halremote.HAL_BIT, halremote.HAL_OUT)
self.halrcomp2 = halrcomp2
self.sd.register(halrcomp2)
self.status = ApplicationStatus(debug=debug)
self.status.on_synced_changed.append(self._on_status_synced)
self.sd.register(self.status)
self.command = ApplicationCommand(debug=debug)
self.sd.register(self.command)
self.error = ApplicationError(debug=debug)
self.sd.register(self.error)
self.fileservice = ApplicationFile(debug=debug)
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'
self.fileservice.on_ready_changed.append(self._on_fileservice_ready)
self.sd.register(self.fileservice)
self.timer = None
self.timer_interval = 0.1
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 _on_status_synced(self, synced):
if synced:
self.timer = threading.Timer(self.timer_interval, self.status_timer_tick)
self.timer.start()
else:
if self.timer:
self.timer.cancel()
self.timer = None
def _on_fileservice_ready(self, ready):
if ready:
print('fileservice ready')
self.fileservice.refresh_files()
self.fileservice.wait_completed()
print(self.fileservice.file_list)
self.fileservice.remove_file('test.ngc')
self.fileservice.wait_completed()
def status_timer_tick(self):
# if self.status.synced:
# print('flood %s' % self.status.io.flood)
if self.use_curses:
self.update_screen()
self.timer = threading.Timer(self.timer_interval, self.status_timer_tick)
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.EMC_TASK_STATE_ESTOP),
)
status.addstr(
4,
4,
'Power: %s'
% str(self.status.task.task_state == application.EMC_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.EMC_TASK_STATE_ESTOP:
ticket = self.command.set_task_state(
application.EMC_TASK_STATE_ESTOP_RESET
)
self.command.wait_completed(ticket=ticket, timeout=0.2)
else:
self.command.set_task_state(application.EMC_TASK_STATE_ESTOP)
self.command.wait_completed(timeout=0.2)
elif c == curses.KEY_F2:
if self.status.task.task_state == application.EMC_TASK_STATE_ON:
self.command.set_task_state(application.EMC_TASK_STATE_OFF)
else:
self.command.set_task_state(application.EMC_TASK_STATE_ON)
elif c == curses.KEY_F3:
self.fileservice.start_upload()
def start(self):
self.sd.start()
def stop(self):
self.sd.stop()
if self.timer:
self.timer.cancel()
if self.use_curses:
curses.endwin()
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()
class TestClass(object):
def __init__(self, debug=False):
self.debug = debug
context = zmq.Context()
context.linger = 0
self.context = context
self.sd = ServiceDiscovery()
services = ['launchercmd', 'halrcmd', 'command', 'config']
for name in services:
service = Service(type_=name)
self.sd.register(service)
service.on_ready_changed.append(
partial(self.service_ready, service=service))
self._tx = Container()
self._rx = Container()
def start(self):
self.sd.start()
def stop(self):
self.sd.stop()
def service_ready(self, ready, service):
if ready:
self.send_broken(service.name, service.uri)
self.send_broker_msg(service.name, service.uri)
def send_broken(self, name, dsn):
socket = self.context.socket(zmq.DEALER)
socket.setsockopt(zmq.LINGER, 0)
socket.setsockopt(zmq.RCVTIMEO, 1000)
if self.debug:
print('connecting to %s' % dsn)
socket.connect(dsn)
bogus = 'random_string'
if self.debug:
print('sending bogus string %s' % bogus)
socket.send(bogus)
answer = ''
try:
answer = socket.recv()
except zmq.error.Again as e:
print('test failed, answer timed out %s' % name)
return
self._rx.ParseFromString(answer)
if self.debug:
print('received answer %s' % self._rx)
if self._rx.type == MT_ERROR:
print('test successfull, %s handles broken messages' % name)
else:
print('test failed, %s does not handle broken messages' % name)
def send_broker_msg(self, name, dsn):
frontend = self.context.socket(zmq.ROUTER)
backend = self.context.socket(zmq.DEALER)
backend.setsockopt(zmq.IDENTITY, 'broker')
socket = self.context.socket(zmq.DEALER)
socket.setsockopt(zmq.IDENTITY, 'client')
if self.debug:
print('connecting backend to %s' % dsn)
backend.connect(dsn)
ipc = 'ipc://broker'
if self.debug:
print('connecting frontend to %s' % ipc)
frontend.bind(ipc)
if self.debug:
print('connecting socket to %s' % ipc)
socket.connect(ipc)
if self.debug:
print('sending ping via socket')
self._tx.Clear()
self._tx.type = MT_PING
socket.send(self._tx.SerializeToString())
if self.debug:
print('receiving with broker:')
recv = frontend.recv_multipart()
if self.debug:
print(recv)
print('forwarding to host')
backend.send_multipart(recv)
if self.debug:
print('receiving with backend:')
recv = backend.recv_multipart()
if self.debug:
print(recv)
print('sending data to frontend:')
frontend.send_multipart(recv)
if self.debug:
print('receiving data with socket:')
recv = socket.recv()
self._rx.ParseFromString(recv)
if self.debug:
print(self._rx)
if self._rx.type == MT_PING_ACKNOWLEDGE:
print('test successfull, %s handles multiple ids' % name)
else:
print('test failed, %s does not correctly handle multiple ids' %
name)
class NeoPixelHal(object):
"""
NeoPixel HAL Remote component.
For docs on how to use the neopixel lib visit: https://github.com/adafruit/Adafruit_CircuitPython_NeoPixel
"""
WHITE = (255, 255, 255)
RED = (255, 0, 0)
BLUE = (0, 0, 255)
OFF = (0, 0, 0)
def __init__(self, com_pin=board.D18, num_pixels=16, debug=False):
self.pixels = neopixel.NeoPixel(com_pin, num_pixels)
self._connected = False
self._enabled = False
self._update_light()
rcomp = halremote.RemoteComponent('neopixel', debug=debug)
rcomp.no_create = True
enable_pin = rcomp.newpin('enable', halremote.HAL_BIT,
halremote.HAL_IN)
enable_pin.on_value_changed.append(self._enable_pin_changed)
mode_pin = rcomp.newpin('mode', halremote.HAL_U32, halremote.HAL_IN)
mode_pin.on_value_changed.append(self._mode_pin_changed)
rcomp.on_connected_changed.append(self._connected_changed)
self.rcomp = rcomp
self.sd = ServiceDiscovery(filter_=ServiceDiscoveryFilter(
txt_records={b'uuid': MK_UUID}))
self.sd.register(rcomp)
def _standby_light(self):
self.pixels.fill(self.OFF)
color = tuple(
map(lambda x: int(x * 0.01),
(self.BLUE if self._connected else self.RED)))
self.pixels[0] = color
self.pixels[1] = color
def _update_light(self):
if self._enabled and self._connected:
self.pixels.fill(self.RED)
else:
self._standby_light()
def _enable_pin_changed(self, value):
logger.debug(f'Enable pin changed: {value}')
self._enabled = value
self._update_light()
def _mode_pin_changed(self, value):
pass
def _connected_changed(self, connected):
logger.debug(f'Remote component connected: {connected}')
self._connected = connected
self._update_light()
def start(self):
self.sd.start()
def stop(self):
self.sd.stop()
def update(self):
pass
class TestClass(object):
def __init__(self, debug=False):
self.debug = debug
context = zmq.Context()
context.linger = 0
self.context = context
self.sd = ServiceDiscovery()
services = ['launchercmd', 'halrcmd', 'command', 'config']
for name in services:
service = Service(type_=name)
self.sd.register(service)
service.on_ready_changed.append(
partial(self.service_ready, service=service)
)
self._tx = Container()
self._rx = Container()
def start(self):
self.sd.start()
def stop(self):
self.sd.stop()
def service_ready(self, ready, service):
if ready:
self.send_broken(service.name, service.uri)
self.send_broker_msg(service.name, service.uri)
def send_broken(self, name, dsn):
socket = self.context.socket(zmq.DEALER)
socket.setsockopt(zmq.LINGER, 0)
socket.setsockopt(zmq.RCVTIMEO, 1000)
if self.debug:
print('connecting to %s' % dsn)
socket.connect(dsn)
bogus = 'random_string'
if self.debug:
print('sending bogus string %s' % bogus)
socket.send(bogus)
answer = ''
try:
answer = socket.recv()
except zmq.error.Again as e:
print('test failed, answer timed out %s' % name)
return
self._rx.ParseFromString(answer)
if self.debug:
print('received answer %s' % self._rx)
if self._rx.type == MT_ERROR:
print('test successfull, %s handles broken messages' % name)
else:
print('test failed, %s does not handle broken messages' % name)
def send_broker_msg(self, name, dsn):
frontend = self.context.socket(zmq.ROUTER)
backend = self.context.socket(zmq.DEALER)
backend.setsockopt(zmq.IDENTITY, 'broker')
socket = self.context.socket(zmq.DEALER)
socket.setsockopt(zmq.IDENTITY, 'client')
if self.debug:
print('connecting backend to %s' % dsn)
backend.connect(dsn)
ipc = 'ipc://broker'
if self.debug:
print('connecting frontend to %s' % ipc)
frontend.bind(ipc)
if self.debug:
print('connecting socket to %s' % ipc)
socket.connect(ipc)
if self.debug:
print('sending ping via socket')
self._tx.Clear()
self._tx.type = MT_PING
socket.send(self._tx.SerializeToString())
if self.debug:
print('receiving with broker:')
recv = frontend.recv_multipart()
if self.debug:
print(recv)
print('forwarding to host')
backend.send_multipart(recv)
if self.debug:
print('receiving with backend:')
recv = backend.recv_multipart()
if self.debug:
print(recv)
print('sending data to frontend:')
frontend.send_multipart(recv)
if self.debug:
print('receiving data with socket:')
recv = socket.recv()
self._rx.ParseFromString(recv)
if self.debug:
print(self._rx)
if self._rx.type == MT_PING_ACKNOWLEDGE:
print('test successfull, %s handles multiple ids' % name)
else:
print('test failed, %s does not correctly handle multiple ids' % name)
class IPCServer:
def __init__(self, uuid, debug=True):
self.debug = debug
self.threads = []
self.shutdown = threading.Event()
sd_filter = ServiceDiscoveryFilter(txt_records={'uuid': uuid})
self.sd = ServiceDiscovery(filter_=sd_filter)
self.status = ApplicationStatus()
self.command = ApplicationCommand()
self.sd.register(self.status)
self.sd.register(self.command)
# 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.EMC_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 start(self):
self.sd.start()
def stop(self):
self.sd.stop()
self.shutdown.set()
for thread in self.threads:
thread.join()
self.threads = []
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()