HAL Python модуль

This documentation describes the hal python module, which provides a Python API for creating and accessing HAL pins and signals.

1. Basic usage

#!/usr/bin/env python3
import hal, time
h = hal.component("passthrough")
h.newpin("in", hal.HAL_FLOAT, hal.HAL_IN)
h.newpin("out", hal.HAL_FLOAT, hal.HAL_OUT)
h.ready()

2. Функции

component: +
Сам компонент создается вызовом конструктора hal.component. Аргументами являются имя компонента HAL и (опционально) префикс, используемый для имен выводов и параметров. Если префикс не указан, используется имя компонента.
.Пример

h = hal.component("passthrough")

newpin: +
Создать новый контакт.
Аргументы: суффикс имени контакта, тип контакта и направление контакта. Для параметров аргументами являются: суффикс имени параметра, тип параметра и направление параметра.
.Пример:

h.newpin("in", hal.HAL_FLOAT, hal.HAL_IN)

ready: Tells the HAL system the component is initialized. Locks out adding pins.
unready: Allows a component to add pins after ready() has been called. One should call ready() on the component after.
component_exists: Does the specified component exist at this time.

Пример

hal.component_exists("testpanel")

component_is_ready: Is the specified component ready at this time.

Пример

hal.component_is_ready("testpanel")

get_msg_level: Get the current Realtime msg level.
set_msg_level: Set the current Realtime msg level. used for debugging information.
connect: Connect a pin to a signal.

Пример

hal.connect("pinname","signal_name")

disconnect: Disconnect a pin from a signal.

Пример

hal.disconnect("pinname")

get_value: Read a pin, param, or signal directly.

Пример

value = hal.get_value("iocontrol.0.emc-enable-in")

get_info_pins(): Returns a list of dicts of all system pins.

listOfDicts = hal.get_info_pins()
pinName1 = listOfDicts[0].get('NAME')
pinValue1 = listOfDicts[0].get('VALUE')
pinType1 = listOfDicts[0].get('TYPE')
pinDirection1 = listOfDicts[0].get('DIRECTION')

get_info_signals(): Returns a list of dicts of all system signals.

listOfDicts = hal.get_info_signals()
signalName1 = listOfDicts[0].get('NAME')
signalValue1 = listOfDicts[0].get('VALUE')
driverPin1 = listOfDicts[0].get('DRIVER')

get_info_params(): Returns a list of dicts of all system parameters.

listOfDicts = hal.get_info_params()
paramName1 = listOfDicts[0].get('NAME')
paramValue1 = listOfDicts[0].get('VALUE')
paramDirection1 = listOfDicts[0].get('DIRECTION')

new_sig: Create a new signal of the type specified.

Пример

hal.new_sig("signalname",hal.HAL_BIT)

pin_has_writer: Does the specified pin have a driving pin connected.
Returns True or False.

h.in.pin_has_writer()

get_name: Get the HAL object name.
Return a string.

h.in.get_name()

get_type: Get the HAL object’s type.
Returns an integer.

h.in.get_type()

get_dir: Get the HAL object direction type.
Returns an integer.

h.in.get_dir()

get: Get the HAL object value.

h.in.get()

set: Set the HAL object value.

h.out.set(10)

is_pin: Is the object a pin or parameter?
Returns True or False.

h.in.is_pin()

sampler_base: TODO
stream_base: TODO
stream: TODO
set_p: Set a pin value of any pin in the HAL system.

Пример

hal.set_p("pinname","10")

set_s: Set the value of any unconnected signal in the HAL system.

Пример

hal.set_s("signalname","10")