Import LinuxCNC source tree

lib/python/hal.py

@@ -0,0 +1,96 @@
+#!/usr/bin/env python3
+# vim: sts=4 sw=4 et
+
+"""
+
+This module allows the creation of userspace HAL components in Python.
+This includes pins and parameters of the various HAL types.
+
+Typical usage:
+
+import hal, time
+h = hal.component("component-name")
+# create pins and parameters with calls to h.newpin and h.newparam
+h.newpin("in", hal.HAL_FLOAT, hal.HAL_IN)
+h.newpin("out", hal.HAL_FLOAT, hal.HAL_OUT)
+h.ready() # mark the component as 'ready'
+
+try:
+    while 1:
+        # act on changed input pins; update values on output pins
+        time.sleep(1)
+        h['out'] = h['in']
+except KeyboardInterrupt: pass
+
+
+When the component is requested to exit with 'halcmd unload', a
+KeyboardInterrupt exception will be raised.
+"""
+
+import _hal
+from _hal import *
+from _hal import query
+import sys
+import warnings
+import lcnc_realtime
+
+# _hal.query is a submodule, not a plain attribute. Registering it in
+# sys.modules under its dotted name makes 'import hal.query' and 'from hal
+# import query' work as they would for a real package.
+sys.modules['hal.query'] = query
+
+def __getattr__(name):
+    if name == 'is_rt':
+        warnings.warn(f"{name} is deprecated, use lcnc_realtime.verify() instead", FutureWarning, stacklevel=2)
+        return lcnc_realtime.verify()
+
+    if name == 'is_sim':
+        warnings.warn(f"{name} is deprecated, use lcnc_realtime.verify() instead", FutureWarning, stacklevel=2)
+        return not lcnc_realtime.verify()
+
+    raise AttributeError(f"module {__name__!r} has no attribute {name!r}")
+
+class _ItemWrap(object):
+    def __new__(cls, item):
+        if not isinstance(item, _hal.item):
+            raise TypeError("Constructor argument must be _hal.item: %s" % type(item))
+        self = super(_ItemWrap, cls).__new__(cls)
+        return self._item_wrap(item)
+
+    def _item_wrap(self, item):
+        for f in ['get', 'set', 'get_type', 'get_name', 'get_dir', 'is_pin', '__repr__']:
+            setattr(self, f, getattr(item, f))
+        # Only ports can use the extra methods
+        if _hal.HAL_PORT == item.get_type():
+            for f in ['write', 'read', 'peek', 'peek_commit', 'clear', 'size']:
+                setattr(self, f, getattr(item, f))
+        return self
+
+    def __init__(self, item):
+        self._item = item
+
+    name = property(lambda s: s._item.get_name())
+    type = property(lambda s: s._item.get_type())
+    dir  = property(lambda s: s._item.get_dir())
+
+    value = property(lambda s: s._item.get(), lambda s,v: s._item.set(v))
+
+class Pin(_ItemWrap):
+    def __init__(self, item):
+        _ItemWrap.__init__(self, item)
+        if not item.is_pin():
+            raise TypeError("Must be constructed from pin object")
+
+class Param(_ItemWrap):
+    def __init__(self, item):
+        _ItemWrap.__init__(self, item)
+        if item.is_pin():
+            raise TypeError("Must be constructed from param object")
+
+class component(_hal.component):
+    def newpin(self, *a, **kw): return Pin(_hal.component.newpin(self, *a, **kw))
+    def newparam(self, *a, **kw): return Param(_hal.component.newparam(self, *a, **kw))
+
+    def getpin(self, *a, **kw): return Pin(_hal.component.getpin(self, *a, **kw))
+    def getparam(self, *a, **kw): return Param(_hal.component.getparam(self, *a, **kw))
+    def getpins(self, *a, **kw): return _hal.component.getpins(self, *a, **kw)