def start(self):
# Find the hal_hw_interface comp's directory in
# LD_LIBRARY_PATH and put it into $COMP_DIR
for path in os.environ.get("LD_LIBRARY_PATH", "").split(":"):
rospy.loginfo(f"Checking for hal_hw_interface.so in {path}")
if os.path.exists(os.path.join(path, "hal_hw_interface.so")):
comp_dir = path
break
else:
comp_dir = ""
os.environ["COMP_DIR"] = comp_dir
rospy.loginfo("hal_mgr: COMP_DIR set to '%s'" % comp_dir)
# Get parameters
if not rospy.has_param(self.NAME):
self.shutdown("No parameters set for '%s'" % self.NAME, 1)
try:
hal_mgr_config = rospy.get_param(self.NAME)
except KeyError:
self.shutdown("No keys defined at %s" % self.NAME, 1)
return
if "hal_files" not in hal_mgr_config:
self.shutdown("%s has no 'hal_files' key" % self.NAME, 1)
if "hal_file_dir" not in hal_mgr_config:
self.shutdown("%s has no 'hal_file_dir' key" % self.NAME, 1)
# Set up HAL
launcher.cleanup_session() # kill any running Machinekit instances
launcher.start_realtime()
rospy.loginfo("hal_mgr: Started realtime")
# Load rtapi module and set up signal handlers
if not getattr(rtapi, "__rtapicmd"):
rtapi.init_RTAPI()
def shutdown_graceful(signum, frame):
self.shutdown("Gracefully shutting down after interrupt signal")
signal.signal(signal.SIGINT, shutdown_graceful)
signal.signal(signal.SIGTERM, shutdown_graceful)
# Load HAL configuration
for fname in hal_mgr_config["hal_files"]:
fpath = os.path.join(hal_mgr_config["hal_file_dir"], fname)
if not os.path.exists(fpath):
self.shutdown(
"No file '%s' in directory '%s'" %
(fname, hal_mgr_config["hal_file_dir"]),
res=1,
)
rospy.loginfo("hal_mgr: Loading hal file '%s'" % fname)
launcher.load_hal_file(fpath)
rospy.loginfo("hal_mgr: Loading hal file '%s' complete" % fpath)
# Spin until ROS shutdown event
rospy.loginfo("ROS node and HAL started successfully")
self._pub.publish(True)
def hal_config():
from machinekit import launcher
launcher.cleanup_session()
comp_path = os.path.join(
os.path.dirname(os.path.realpath(__file__)),
'../components/absolute_joint.icomp',
)
launcher.install_comp(comp_path)
launcher.start_realtime()
rt.init_RTAPI()
config = HalConfig(thread=THREAD)
rt.newthread(config.thread.name, config.thread.period_ns, fp=True)
hal.start_threads()
yield config
hal.stop_threads()
launcher.end_session()
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:
launcher.check_installation()
launcher.cleanup_session()
launcher.register_exit_handler() # needs to executed after HAL files
launcher.install_comp('thermistor_check.comp')
launcher.install_comp('reset.comp')
nc_path = os.path.expanduser('~/nc_files')
if not os.path.exists(nc_path):
os.mkdir(nc_path)
if not check_mklaucher(
): # start mklauncher if not running to make things easier
launcher.start_process('mklauncher .')
launcher.start_process("configserver -n Prusa-i3 ~/Machineface ")
if args.video:
launcher.start_process('videoserver --ini video.ini Webcam1')
launcher.start_process('linuxcnc Prusa-i3.ini')
while True:
#!/usr/bin/env python
# -*- coding: utf-8 -*-
# very small helper script for short-cutting
# input and output pins when passing data
# thru HAL shared memory setup
import sys
import time
import subprocess
from machinekit import launcher
from machinekit import hal
try:
launcher.check_installation()
launcher.cleanup_session() # kill any running Machinekit instances
launcher.start_realtime() # start Machinekit realtime environment
while 'ul_iface_component.joint_6.pos-cmd' not in hal.pins:
time.sleep(0.5)
print('found HAL pin, connecting')
# create 6 signals between pos-cmd and pos-fb pins
# when machinekit_ros_control has started with
# parameter machinekit_interface: 0
for i in range(1, 7):
hal.Pin('ul_iface_component.joint_%s.pos-cmd' % i).link(
'ul_iface_component.joint_%s.pos-fb' % i)
launcher.register_exit_handler(
) # enable on ctrl-C, needs to executed after HAL files
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
while True:
import sys
import os
import subprocess
import importlib
import argparse
from time import *
from machinekit import launcher
launcher.register_exit_handler()
#launcher.set_debug_level(5)
os.chdir(os.path.dirname(os.path.realpath(__file__)))
try:
launcher.check_installation()
launcher.cleanup_session()
launcher.install_comp('thermistor_check.comp')
launcher.install_comp('reset.comp')
# Video Streaming: you might need to create your own config
# launcher.start_process("videoserver --ini ~/video.ini Webcam1")
# Remote Control: Get a Machineface at ARM.Replicape.A4A.vel/
launcher.start_process("configserver -n Replicape ~/Machineface/")
launcher.start_process('linuxcnc replicape.ini')
except subprocess.CalledProcessError:
launcher.end_session()
sys.exit(1)
while True:
sleep(1)
launcher.check_processes()
import subprocess
import importlib
from machinekit import launcher
from machinekit import config
from time import *
launcher.register_exit_handler()
launcher.set_debug_level(5)
os.chdir(os.path.dirname(os.path.realpath(__file__)))
c = config.Config()
os.environ["MACHINEKIT_INI"] = c.MACHINEKIT_INI
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('myoverlay.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.install_comp('lineardeltajointscartesian.comp')
launcher.start_process(
"configserver ~/Machineface ~/Cetus/"
) # start the configserver with Machineface or an Cetus user interfaces
launcher.start_process('linuxcnc prusa-i3_dev.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
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')
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
try:
launcher.check_installation()
launcher.cleanup_session() # kill any running Machinekit instances
launcher.start_realtime() # start Machinekit realtime environment
launcher.load_hal_file('anddemo.py') # load the main HAL file
launcher.register_exit_handler() # enable on ctrl-C, needs to executed after HAL files
launcher.ensure_mklauncher() # ensure mklauncher is started
if not args.no_config:
# the point-of-contact for QtQUickVCP
launcher.start_process('configserver -n AND-Demo .')
if args.gladevcp:
# start the gladevcp version
if args.local:
# no -N flag - local case, use IPC sockets, no zeroconf resolution
launcher.start_process('gladevcp -E -u motorctrl.py motorctrl.ui')
else:
