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c-morleyc-morley
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hal bridge -add new component
A (hopefully) universal bridge between GUI and HAL pins
1 parent c97a957 commit aa4089b

3 files changed

Lines changed: 242 additions & 1 deletion

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‎src/Makefile‎

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@@ -812,6 +812,7 @@ install-python: install-dirs
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$(EXE) ../bin/pncconf $(DESTDIR)$(bindir)
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$(EXE) ../bin/pyui $(DESTDIR)$(bindir)
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$(EXE) ../bin/hal_input $(DESTDIR)$(bindir)
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$(EXE) ../bin/hal_bridge $(DESTDIR)$(bindir)
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$(EXE) ../bin/mitsub_vfd $(DESTDIR)$(bindir)
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$(EXE) ../bin/mqtt-publisher $(DESTDIR)$(bindir)
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$(EXE) ../bin/z_level_compensation $(DESTDIR)$(bindir)

‎src/hal/user_comps/Submakefile‎

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USER_COMP_PY = pyvcp hal_input gladevcp scorbot-er-3 mitsub_vfd pmx485 sim-torch z_level_compensation mqtt-publisher
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USER_COMP_PY = pyvcp hal_input gladevcp scorbot-er-3 mitsub_vfd pmx485 sim-torch z_level_compensation mqtt-publisher hal_bridge
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USER_COMPS := $(sort $(wildcard hal/user_comps/*.comp))
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USER_COMP_BINS := $(patsubst hal/user_comps/%.comp, ../bin/%, $(USER_COMPS))

‎src/hal/user_comps/hal_bridge.py‎

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#!/usr/bin/env python3
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import os
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import sys
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import time
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import json
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import signal
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import hal
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from PyQt5 import QtCore
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from qtvcp.qt_halobjects import Qhal
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from common.iniinfo import _IStat as IStatParent
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from common import logger
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# LOG is for running code logging
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LOG = logger.initBaseLogger('HAL bridge', log_file=None,
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log_level=logger.WARNING, logToFile=False)
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# Force the log level for this module
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#LOG.setLevel(logger.DEBUG) # One of DEBUG, INFO, WARNING, ERROR, CRITICAL
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try:
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import zmq
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ZMQ = True
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except:
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LOG.critical('ZMQ python library problem - Is python3-zmq installed?')
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ZMQ = False
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class Info(IStatParent):
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_instance = None
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_instanceNum = 0
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def __new__(cls, *args, **kwargs):
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if not cls._instance:
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cls._instance = IStatParent.__new__(cls, *args, **kwargs)
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return cls._instance
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# Instantiate the library with global reference
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class Bridge(object):
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def __init__(self, readAddress = "tcp://127.0.0.1:5690",
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writeAddress = "tcp://127.0.0.1:5691"):
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super(Bridge, self).__init__()
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self.INFO = Info()
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self.readAddress = readAddress
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self.writeAddress = writeAddress
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LOG.debug('read port: {}'.format(readAddress))
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LOG.debug('write port: {}'.format(writeAddress))
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self.readTopic = ""
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self.writeTopic = "STATUSREQUEST"
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# catch control c and terminate signals
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signal.signal(signal.SIGTERM, self.shutdown)
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signal.signal(signal.SIGINT, self.shutdown)
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self.init_hal()
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if ZMQ:
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self.init_read()
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self.init_write()
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def init_hal(self):
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self.comp = h = hal.component("bridge")
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QHAL = Qhal(comp=self.comp, hal=hal)
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self.jogRate = QHAL.newpin("jog-rate", hal.HAL_FLOAT, hal.HAL_OUT)
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self.jogRateAngular = QHAL.newpin("jog-rate-angular", hal.HAL_FLOAT, hal.HAL_OUT)
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self.jogIncrement = QHAL.newpin("jog-increment", hal.HAL_FLOAT, hal.HAL_OUT)
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self.jogIncrementAngular = QHAL.newpin("jog-increment-angular", hal.HAL_FLOAT, hal.HAL_OUT)
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self.activeJoint = QHAL.newpin('joint-selected', hal.HAL_S32, hal.HAL_OUT)
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for i in (self.INFO.AVAILABLE_AXES):
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let = i.lower()
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# input
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self['axis{}Select'.format(let)] = QHAL.newpin('axis-%s-select'%let, hal.HAL_BIT, hal.HAL_IN)
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self['axis{}Select'.format(let)].pinValueChanged.connect(self.pinChanged)
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# output
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self['Axis{}IsSelected'.format(let)] = QHAL.newpin('axis-%s-is-selected'%let, hal.HAL_BIT, hal.HAL_OUT)
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self.cycle_start = QHAL.newpin('cycle-start-in',QHAL.HAL_BIT, QHAL.HAL_IN)
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self.cycle_start.pinValueChanged.connect(self.pinChanged)
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self.cycle_pause = QHAL.newpin('cycle-pause-in',QHAL.HAL_BIT, QHAL.HAL_IN)
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self.cycle_pause.pinValueChanged.connect(self.pinChanged)
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for i in self.INFO.MDI_COMMAND_DICT:
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LOG.debug('{} {}'.format(i,self.INFO.MDI_COMMAND_DICT.get(i)))
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self[i] = QHAL.newpin('macro-cmd-{}'.format(i),QHAL.HAL_BIT, QHAL.HAL_IN)
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self[i].pinValueChanged.connect(self.runMacroChanged)
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QHAL.setUpdateRate(100)
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h.ready()
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def init_write(self):
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context = zmq.Context()
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self.writeSocket = context.socket(zmq.PUB)
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self.writeSocket.bind(self.writeAddress)
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def init_read(self):
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# ZeroMQ Context
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self.readContext = zmq.Context()
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# Define the socket using the "Context"
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self.readSocket = self.readContext.socket(zmq.SUB)
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# Define subscription and messages with topic to accept.
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self.readSocket.setsockopt_string(zmq.SUBSCRIBE, self.readTopic)
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self.readSocket.connect(self.readAddress)
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self.readNotify = QtCore.QSocketNotifier(
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self.readSocket.getsockopt(zmq.FD),
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QtCore.QSocketNotifier.Read, None)
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self.readNotify.activated.connect(self.onReadMsg)
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# callback from ZMQ read socket
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def onReadMsg(self, msg):
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if self.readSocket.getsockopt(zmq.EVENTS) & zmq.POLLIN:
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while self.readSocket.getsockopt(zmq.EVENTS) & zmq.POLLIN:
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# get raw message
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topic, data = self.readSocket.recv_multipart()
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# convert from json object to python object
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y = json.loads(data)
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self. action(y.get('MESSAGE'),y.get('ARGS'))
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# set our output HAL pins from messages from hal_glib
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def action(self, msg, data):
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LOG.debug('{} {}'.format(msg, data))
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if msg == 'jograte-changed':
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self.jogRate.set(float(data[0]))
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if msg == 'jograte-angular-changed':
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self.jogRateAngular.set(float(data[0]))
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elif msg == 'jogincrements-changed':
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self.jogIncrement.set(float(data[0][0]))
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elif msg == 'jogincrement-angular-changed':
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self.jogIncremtAngular.set(float(data[0][0]))
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elif msg == 'joint-selection-changed':
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self.activeJoint.set(int(data[0]))
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elif msg == 'axis-selection-changed':
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for i in(self.INFO.AVAILABLE_AXES):
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if data[0] == i:
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state = True
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else:
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state = False
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self['Axis{}IsSelected'.format(i.lower())].set(state)
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# send msg to hal_glib
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def writeMsg(self, msg, data):
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if ZMQ:
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topic = self.writeTopic
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message = json.dumps({'FUNCTION':msg,'ARGS':data})
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LOG.debug('Sending ZMQ Message:{} {}'.format(topic, message))
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self.writeSocket.send_multipart(
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[bytes(topic.encode('utf-8')),
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bytes((message).encode('utf-8'))])
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# callback from HAL input pins
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def pinChanged(self, pinObject, value):
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LOG.debug('Pin name:{} changed value to {}'.format(pinObject.text(), value))
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#print(type(value))
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# Axis selction change request
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if 'select' in pinObject.text():
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if bool(value) == False:
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pass
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#print('Not true state')
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return
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for i in (self.INFO.AVAILABLE_AXES):
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if '-{}-'.format(i.lower()) in pinObject.text():
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self.writeMsg('set_selected_axis', i)
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break
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else:
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if 'None' in pinObject.text():
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self.writeMsg('set_selected_axis', '')
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# cycle start
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elif self.cycle_start == pinObject:
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if value:
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self.writeMsg('request_cycle_start', value)
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# cycle pause
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elif self.cycle_pause == pinObject:
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#if value:
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self.writeMsg('request_cycle_pause', value)
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# catch all default
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else:
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self.writeMsg(pinObject.text(),value)
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# callback; request to run a specific macro
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def runMacroChanged(self, pinObject, value):
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LOG.debug('Macro Pin name:{} changed value to {}'.format(pinObject.text(), value))
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#LOG.debug(type(value))
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name = pinObject.text().strip('macro-cmd-')
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if value:
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self.writeMsg('request_macro_call', name)
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def shutdown(self,signum=None,stack_frame=None):
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LOG.debug('shutdown')
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global app
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app.quit()
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def __getitem__(self, item):
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return getattr(self, item)
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def __setitem__(self, item, value):
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return setattr(self, item, value)
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if __name__ == "__main__":
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import sys
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import getopt
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from PyQt5.QtWidgets import QApplication
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letters = 'dh' # the : means an argument needs to be passed after the letter
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keywords = ['readport=', 'writeport=' ] # the = means that a value is expected after
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# the keyword
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opts, extraparam = getopt.getopt(sys.argv[1:],letters,keywords)
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# starts at the second element of argv since the first one is the script name
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# extraparms are extra arguments passed after all option/keywords are assigned
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# opts is a list containing the pair "option"/"value"
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readport = "tcp://127.0.0.1:5690"
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writeport = "tcp://127.0.0.1:5691"
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for o,p in opts:
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if o in ['-d']:
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LOG.setLevel(logger.DEBUG)
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elif o in ['--readport']:
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readport = p
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elif o in ['--writeport']:
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writeport = p
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elif o in ['-h','--help']:
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print('HAL bridge: GUI to HAL interface using ZMQ')
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print('option "-d" = debug print mode')
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print('option "--readport=" read socket address')
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print('option "--writeport=" write socket address')
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print('example: hal_bridge -d --readport=tcp://127.0.0.1:5692')
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app = QApplication(sys.argv)
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test = Bridge(readport, writeport)
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sys.exit(app.exec_())

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