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)
#!/usr/bin/python
import sys
import os
import subprocess
import importlib
import argparse
import time
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 Replicookie-soc run script '
'it demonstrates how a run script could look like '
'and of course starts the Replicookie config')
#!/usr/bin/python
import sys
import os
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
parser = argparse.ArgumentParser(description='This is the CRAMPS2 run script '
'it demonstrates how a run script could look like '
'and of course starts the CRAMPS2 config')
parser.add_argument('-v', '--video', help='Starts the video server', action='store_true')
parser.add_argument('-d', '--debug', help='debug level', type=int, choices=[0 , 1, 2, 3, 4, 5])
args = parser.parse_args()
try:
launcher.check_installation() # make sure the Machinekit installation is sane
launcher.cleanup_session() # cleanup a previous session
# set debug level
if args.debug:
launcher.set_debug_level(args.debug)
launcher.load_bbio_file('cramps.bbio') # load a BBB universal overlay
launcher.install_comp('thermistor_check.comp')
launcher.start_process('configserver -d -n RIGIDBOT ~/ui') # start the configserver
# if args.video:
# launcher.start_process('videoserver --ini video.ini Webcam1')
launcher.start_process('machinekit -vd CRAMPS.ini') # start linuxcnc
except subprocess.CalledProcessError:
launcher.end_session()
sys.exit(1)
