import sys,os,time
from machinekit import hal
name = "ring1"
ringsize = 16384
polltime = 0.1
if name in hal.rings():
r = hal.Ring(name)
else:
r = hal.Ring(name, size=ringsize)
r.writer = os.getpid()
mf = hal.MultiframeRing(r)
try:
for msg in range(100):
for frame in range(3):
mf.write("msg%d-frame%d" % (msg,frame), frame + 4711)
mf.flush()
time.sleep(0.2)
except KeyboardInterrupt:
r.writer = 0
from machinekit import hal
# print ring properties
def print_ring(r):
print "name=%s size=%d reader=%d writer=%d scratchpad=%d" % (r.name, r.size, r.reader, r.writer, r.scratchpad_size),
print "use_rmutex=%d use_wmutex=%d type=%d in_halmem=%d" % (r.rmutex_mode, r.wmutex_mode, r.type, r.in_halmem)
halring = hal.Ring("halmemring%d" % os.getpid(), size=4096, in_halmem=True)
shmring = hal.Ring("shmsegring%d" % os.getpid(), size=4096)
print_ring(halring)
print_ring(shmring)
# retrieve list of ring names
rings = hal.rings()
print "rings: ", rings
if "ring_0" in rings:
# attach to existing ring
w = hal.Ring("ring_0")
# see what we have
print_ring(w)
if w.writer == 0: # not in use write-side
# mark as 'writer side in use by <pid>'
w.writer = os.getpid()
print "max msgsize: ", w.available
# print ring properties
def print_ring(r):
print 'information on the ring:'
print ' - name=%s \n\
- size=%d \n\
- reader=%d \n\
- writer=%d \n\
- scratchpad=%d\n' % (r.name, r.size, r.reader, r.writer, r.scratchpad_size),
print ' - use_rmutex=%d\n\
- use_wmutex=%d \n\
- type=%d \n\
- in_halmem=%d' % (r.rmutex_mode, r.wmutex_mode, r.type, r.in_halmem)
# retrieve list of ring names
rings = hal.rings()
print '\navailable rings in HAL: \n ', rings, '\n'
# Global variable for ring handle
r = 0
n = 0
#p = 0
#tp = None
def callback(data):
print 'In callback'
global n
global r
prev_point_time = 0.0
# python zmqringsub.py tcp://127.0.0.1:5555
#
# adapted from: https://github.com/zeromq/pyzmq/tree/master/examples/pubsub
import os,sys
import time
import zmq
from machinekit import hal
debug = 1
ip = "127.0.0.1"
uri = "tcp://%s:5555" % (ip)
ringlist = []
for name in hal.rings():
r = hal.Ring(name) # no size parameter: attach to existing ring
if debug: print "inspecting ring %s: reader=%d writer=%d " % (name,r.reader,r.writer)
if r.reader == 0 and r.writer:
ringlist.append((name,r))
if debug: print "reading from ring",name
if not len(ringlist):
print "no readable rings found"
sys.exit(1)
context = zmq.Context()
s = context.socket(zmq.PUB)
s.bind(uri)
# poll rings and publish messages under topic <ringname>
