#!/usr/bin/env python

import sys

import os

import subprocess

import argparse

import time

from machinekit import launcher

from machinekit import config

os.chdir(os.path.dirname(os.path.realpath(__file__)))

parser = argparse.ArgumentParser(description='This is the anddemo demo run script '

'it demonstrates how a run script could look like '

'and of course starts the motorctrl demo')

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('-g', '--gladevcp', help='Starts the GladeVCP user interface', 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')

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:

# -N - remote case, use zeroconf resolution

launcher.start_process('gladevcp -N -E -u motorctrl.py motorctrl.ui')

if args.halscope:

# load scope only now - because all sigs are now defined:

launcher.start_process('halscope')

if args.halmeter:

launcher.start_process('halmeter')

while True:

launcher.check_processes()

time.sleep(1)

except subprocess.CalledProcessError:

launcher.end_session()

sys.exit(1)

sys.exit(0)