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#!/usr/bin/env python2.7
# -*- coding: utf-8 -*-
#
# LinuxCNC HAL module
# Copyright 2013 Michael Buesch <m@bues.ch>
#
# Licensed under the terms of the GNU General Public License version 2.
#
import sys
import os
import hal
from hal import HAL_BIT, HAL_U32, HAL_S32, HAL_FLOAT
from hal import HAL_IN, HAL_OUT, HAL_RO, HAL_RW
from awlsim import *
from awlsim.util import *
class AwlSimHAL(object):
def __init__(self):
self.h = hal.component("awlsim")
self.__createHalPins()
self.h.ready()
def __createHalPins(self):
h = self.h
#TODO h.newparam("NAME", HAL_BIT, HAL_RW)
#TODO h.newpin("NAME", HAL_BIT, HAL_IN)
pass#TODO
def __checkLinuxCNC(self):
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
def eventLoop(self):
while self.__checkLinuxCNC():
pass#TODO
def main():
try:
os.nice(-5)
except OSError as e:
printWarning("WARNING: Failed to renice awlsim HAL module: %s" % str(e))
try:
awlsimhal = AwlSimHAL()
awlsimhal.eventLoop()
except KeyboardInterrupt as e:
printInfo("Awlsim HAL module shutdown")
return 0
if __name__ == "__main__":
sys.exit(main())
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