Import LinuxCNC source tree

lib/python/mtc/agent.py

@@ -0,0 +1,144 @@
+# Copyright (C) 2026 LinuxCNC contributors
+#
+# 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 St, Fifth Floor, Boston, MA  02110-1301 USA
+
+# Agent core: holds the machine model, the observation buffer and the live
+# source, and produces the four MTConnect documents.  Transport-agnostic so it
+# can be driven by the embedded HTTP server (http_agent) or an MQTT publisher.
+
+import os
+import threading
+from datetime import datetime, timezone
+
+from .ini_reader import IniReader
+from .observations import build_dataitems
+from .device_model import DeviceConfig, probe_xml
+from .streams import (ObservationBuffer, current_xml, sample_xml, assets_xml)
+from .lcnc_source import LcncSource
+from .hal_items import HalSource
+from .models import build_models
+from . import kinematics as kin
+
+
+def now_iso():
+    return datetime.now(timezone.utc).strftime("%Y-%m-%dT%H:%M:%S.%f")[:-3] + "Z"
+
+
+def asset_dir():
+    """Directory holding runtime data assets (the extension schema).
+
+    Installed / RIP layout: $EMC2_HOME/share/linuxcnc/mtconnect.  Falls back to a
+    'mtconnect' dir beside this package for an uninstalled source checkout.
+    """
+    home = os.environ.get("EMC2_HOME")
+    if home:
+        d = os.path.join(home, "share", "linuxcnc", "mtconnect")
+        if os.path.isdir(d):
+            return d
+    return os.path.join(os.path.dirname(os.path.abspath(__file__)), "mtconnect")
+
+
+class OutOfRange(Exception):
+    pass
+
+
+class AgentState:
+    def __init__(self, ini_path, buffer_size=131072):
+        self.ini = IniReader(ini_path)
+        self.model = kin.build_model(self.ini)
+        self.config = DeviceConfig.from_ini(self.ini)
+        self.dataitems = build_dataitems(self.model, self.config)
+        self.buffer = ObservationBuffer(self.dataitems, max_size=buffer_size)
+        self.source = LcncSource(self.model, self.config)
+        self.hal_source = HalSource(self.config.hal_items)
+        self.models = build_models(self.ini, self.model, self.config)
+        self._assets = []
+        self._last_in_spindle = None
+        self._last_values = {}
+        self._lock = threading.Lock()
+
+    # -- data collection -----------------------------------------------------
+
+    def poll_once(self):
+        """Poll LinuxCNC once and fold new values into the buffer."""
+        self.source.poll()
+        values = self.source.sample_values()
+        values.update(self.hal_source.sample_values())   # user HAL_ITEM pins
+        assets = self.source.tool_assets()
+        ts = now_iso()
+        with self._lock:
+            self._detect_asset_change(assets, values)
+            self.buffer.ingest(values, ts)
+            self._assets = assets
+            self._last_values = values
+
+    def latest_values(self):
+        """Flat {dataitem_id: value} snapshot from the last poll (for HA)."""
+        with self._lock:
+            return dict(self._last_values)
+
+    def _detect_asset_change(self, assets, values):
+        in_spindle = values.get("toolnum")
+        if in_spindle is not None and in_spindle != self._last_in_spindle:
+            if in_spindle and in_spindle > 0:
+                values["assetchg"] = "tool-%d" % in_spindle
+            self._last_in_spindle = in_spindle
+
+    # -- document builders ---------------------------------------------------
+
+    def probe_document(self):
+        with self._lock:
+            asset_count = len(self._assets)
+        return probe_xml(self.model, self.config, models=self.models,
+                         creation_time=now_iso(), asset_count=asset_count)
+
+    def extension_schema(self):
+        """Return (bytes, content_type) for the LinuxCNC extension XSD, or None."""
+        path = os.path.join(asset_dir(), "mtconnect-linuxcnc-1.xsd")
+        if not os.path.isfile(path):
+            return None
+        with open(path, "rb") as fh:
+            return fh.read(), "application/xml"
+
+    def model_file(self, name):
+        """Return (bytes, content_type) for a served mesh, or None."""
+        ref = self.models.served.get(name)
+        if ref is None:
+            return None
+        if name in self.models.generated:            # auto-generated in memory
+            return self.models.generated[name].encode("utf-8"), ref.content_type
+        if ref.path and os.path.isfile(ref.path):
+            with open(ref.path, "rb") as fh:
+                return fh.read(), ref.content_type
+        return None
+
+    def current_document(self):
+        with self._lock:
+            return current_xml(self.buffer, self.config, now_iso())
+
+    def sample_document(self, from_seq=None, count=100):
+        with self._lock:
+            first, nxt = self.buffer.first_sequence, self.buffer.next_sequence
+            if from_seq is None:
+                from_seq = first
+            if from_seq < first or from_seq > nxt:
+                raise OutOfRange("from=%s out of range [%d,%d]"
+                                 % (from_seq, first, nxt))
+            return sample_xml(self.buffer, self.config, now_iso(), from_seq, count)
+
+    def assets_document(self):
+        with self._lock:
+            assets = list(self._assets)
+        return assets_xml(assets, self.config, now_iso())