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#!/usr/bin/env python
# -*- coding: utf-8 -*-
#
# AWL simulator - LinuxCNC HAL module
#
# Copyright 2013 Michael Buesch <m@bues.ch>
#
# This program is free software; you can redistribute it and/or modify
# it under the terms of the GNU General Public License as published by
# the Free Software Foundation; either version 2 of the License, or
# (at your option) any later version.
#
# This program is distributed in the hope that it will be useful,
# but WITHOUT ANY WARRANTY; without even the implied warranty of
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
# GNU General Public License for more details.
#
# You should have received a copy of the GNU General Public License along
# with this program; if not, write to the Free Software Foundation, Inc.,
# 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA.
#
import sys
import os
import getopt
from awlsim.main import AwlSim
from awlsim.parser import AwlParser
from awlsim.util import AwlSimError, AwlParserError, printInfo, printWarning, printError, str2bool
from awlsim.version import VERSION_MAJOR, VERSION_MINOR
try:
import hal as LinuxCNC_HAL
except ImportError as e:
printError("Failed to import LinuxCNC HAL module: %s" % str(e))
sys.exit(1)
# Check presence of LinuxCNC. Returns True, if LinuxCNC is detected.
# Raises KeyboardInterrupt, is LinuxCNC is not detected.
def checkLinuxCNC():
for lockname in ("/tmp/linuxcnc.lock", "/tmp/emc.lock"):
try:
os.stat(lockname)
return True
except OSError:
pass
printError("LinuxCNC: doesn't seem to be running")
raise KeyboardInterrupt
# Create the LinuxCNC HAL pins
def createHalPins(hal,
inputBase, inputSize,
outputBase, outputSize):
HAL_BIT, HAL_U32, HAL_S32, HAL_FLOAT = \
LinuxCNC_HAL.HAL_BIT, LinuxCNC_HAL.HAL_U32, \
LinuxCNC_HAL.HAL_S32, LinuxCNC_HAL.HAL_FLOAT
HAL_IN, HAL_OUT, HAL_RO, HAL_RW = \
LinuxCNC_HAL.HAL_IN, LinuxCNC_HAL.HAL_OUT, \
LinuxCNC_HAL.HAL_RO, LinuxCNC_HAL.HAL_RW
# Create the input pins
for i in range(inputBase, inputBase + inputSize):
for bit in range(8):
hal.newpin("input.bit.%d.%d" % (i, bit), HAL_BIT, HAL_IN)
hal.newparam("input.bit.%d.%d.active" % (i, bit), HAL_BIT, HAL_RW)
if inputBase + inputSize - i < 4:
continue
hal.newpin("input.u32.%d" % i, HAL_U32, HAL_IN)
hal.newparam("input.u32.%d.active" % i, HAL_BIT, HAL_RW)
hal.newpin("input.s32.%d" % i, HAL_S32, HAL_IN)
hal.newparam("input.s32.%d.active" % i, HAL_BIT, HAL_RW)
hal.newpin("input.float.%d" % i, HAL_FLOAT, HAL_IN)
hal.newparam("input.float.%d.active" % i, HAL_BIT, HAL_RW)
# Create the output pins
for i in range(outputBase, outputBase + outputSize):
for bit in range(8):
hal.newpin("output.bit.%d.%d" % (i, bit), HAL_BIT, HAL_OUT)
if outputBase + outputSize - i < 4:
continue
hal.newpin("output.u32.%d" % i, HAL_U32, HAL_OUT)
hal.newpin("output.s32.%d" % i, HAL_S32, HAL_OUT)
hal.newpin("output.float.%d" % i, HAL_FLOAT, HAL_OUT)
def loadHardwareModule(awlSim, hal,
inputBase, outputBase,
inputSize, outputSize):
# Load the hardware interface layer
parameters = {
"hal" : hal,
"inputAddressBase" : str(inputBase),
"outputAddressBase" : str(outputBase),
"inputSize" : str(inputSize),
"outputSize" : str(outputSize),
}
hwClass = awlSim.loadHardwareModule("linuxcnc")
awlSim.registerHardwareClass(hwClass = hwClass,
parameters = parameters)
def usage():
printInfo("awlsim-linuxcnc-hal version %d.%d" % (VERSION_MAJOR, VERSION_MINOR))
printInfo("")
printInfo("%s [OPTIONS] AWL-source" % sys.argv[0])
printInfo("")
printInfo("Options:")
printInfo(" -i|--input-size 32 The input area size, in bytes.")
printInfo(" -I|--input-base 0 The AWL input address base.")
printInfo(" -o|--output-size 32 The output area size, in bytes.")
printInfo(" -O|--output-base 0 The AWL output address base.")
printInfo(" -g|--gui 1/0 Enable/disable the GUI (default off).")
def main():
opt_inputSize = 32
opt_inputBase = 0
opt_outputSize = 32
opt_outputBase = 0
opt_gui = False
try:
(opts, args) = getopt.getopt(sys.argv[1:],
"hi:I:o:O:g:",
[ "help", "input-size=", "input-base=",
"output-size=", "output-base=", "gui=", ])
except getopt.GetoptError as e:
printError(str(e))
usage()
return 1
for (o, v) in opts:
if o in ("-h", "--help"):
usage()
return 0
if o in ("-i", "--input-size"):
try:
opt_inputSize = int(v)
except ValueError:
printError("-i|--input-size: Invalid argument")
return 1
if o in ("-I", "--input-base"):
try:
opt_inputBase = int(v)
except ValueError:
printError("-I|--input-base: Invalid argument")
return 1
if o in ("-o", "--output-size"):
try:
opt_outputSize = int(v)
except ValueError:
printError("-o|--output-size: Invalid argument")
return 1
if o in ("-O", "--output-base"):
try:
opt_outputBase = int(v)
except ValueError:
printError("-O|--output-base: Invalid argument")
return 1
if o in ("-g", "--gui"):
opt_gui = str2bool(v)
if len(args) != 1:
usage()
return 1
awlSource = args[0]
# try:
# os.nice(-5)
# except OSError as e:
# printWarning("WARNING: Failed to renice LinuxCNC "
# "awlsim HAL module: %s" % str(e))
try:
hal = LinuxCNC_HAL.component("awlsim")
createHalPins(hal,
opt_inputBase, opt_inputSize,
opt_outputBase, opt_outputSize)
if opt_gui:
from awlsim.gui import MainWindow
mainwnd = MainWindow.start(initialAwlSource = awlSource)
s = mainwnd.getSim()
else:
p = AwlParser()
p.parseFile(awlSource)
s = AwlSim()
loadHardwareModule(awlSim = s, hal = hal,
inputBase = opt_inputBase,
outputBase = opt_outputBase,
inputSize = opt_inputSize,
outputSize = opt_outputSize)
if opt_gui:
mainwnd.cpuRun()
#TODO checkLinuxCNC() is not called.
mainwnd.runEventLoop()
else:
# Load the program
s.load(p.getParseTree())
# Run cyclic execution
while checkLinuxCNC():
s.runCycle()
except KeyboardInterrupt as e:
printInfo("Awlsim LinuxCNC HAL module shutdown")
except (AwlParserError, AwlSimError) as e:
printError(e.getReport())
return 1
return 0
if __name__ == "__main__":
sys.exit(main())
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