Hal Standalone. some trouble..
13 Sep 2019 18:02 - 13 Sep 2019 18:04 #145067
by dab77
Hal Standalone. some trouble.. was created by dab77
Hi, my project of a Hal standalone Gui to control a couple of motor is going on.
Working with python, I finally managed how to write it.
First I had to change from python3 to python2, because it seems to me that hal module cannot be imported in python3 (if I'm wrong please, tell me)
Than I choose Gtk, which is more natural in LinuxMint, and should be also cross-platform.
Till now I could create a hal file in-place based on the number of motors choosed (at the moment from 1 to 8, because using stepgen) and the buttons and scales in the gui also are created according to that number.
I've set all the stepgen in position mode, and it works ok, also the position feedback going back to the gui is perfectly shown.
The first big problem I cannot resolve, is deceleration in case the 'GO' button is released in the middle of a movement.
If I set stepgen.x.enable 0, the stepgen stops instantly. So I've tried to set stepgen.x.maxvel to 0, but that doesn't stop the current movement.
So here's my question:
Do you know how does it work in Axis when in jog-mode you have decelerations when stop jogging? are the stepgen temporarly set in velocity mode?
thanks, Davide.
Working with python, I finally managed how to write it.
First I had to change from python3 to python2, because it seems to me that hal module cannot be imported in python3 (if I'm wrong please, tell me)
Than I choose Gtk, which is more natural in LinuxMint, and should be also cross-platform.
Till now I could create a hal file in-place based on the number of motors choosed (at the moment from 1 to 8, because using stepgen) and the buttons and scales in the gui also are created according to that number.
I've set all the stepgen in position mode, and it works ok, also the position feedback going back to the gui is perfectly shown.
The first big problem I cannot resolve, is deceleration in case the 'GO' button is released in the middle of a movement.
If I set stepgen.x.enable 0, the stepgen stops instantly. So I've tried to set stepgen.x.maxvel to 0, but that doesn't stop the current movement.
So here's my question:
Do you know how does it work in Axis when in jog-mode you have decelerations when stop jogging? are the stepgen temporarly set in velocity mode?
thanks, Davide.
Last edit: 13 Sep 2019 18:04 by dab77.
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13 Sep 2019 18:13 #145071
by BigJohnT
Replied by BigJohnT on topic Hal Standalone. some trouble..
Did you set the stepgen.N.maxaccel for each axis.
JT
JT
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13 Sep 2019 18:27 - 13 Sep 2019 18:31 #145072
by dab77
Replied by dab77 on topic Hal Standalone. some trouble..
Thanks John for your fast answer.
Yes I did.
this is the GO release code:
But I just discovered that if instead of '0', i set stepgen.x.maxvel to 1 it works as expected, meaning that it decelerates as soon as I release th GO button, but unfortunately it goes at 1-speed, doesn't stop.
In the meantime I also want to ask: instead of calling "os.system("command")", is there a way to directly change a Hal Parameter in python? I've looked in the code, but didn't find anything about that..
Yes I did.
this is the GO release code:
def on_jog_go_released(self, button, name):
....
for i in range(n_mot):
try:
os.system("halcmd setp stepgen.%d.maxvel %d" % (i, 0))
print("vel %d changed to 0" % (i))
except KeyboardInterrupt:
print("Vel set error..")
...But I just discovered that if instead of '0', i set stepgen.x.maxvel to 1 it works as expected, meaning that it decelerates as soon as I release th GO button, but unfortunately it goes at 1-speed, doesn't stop.
In the meantime I also want to ask: instead of calling "os.system("command")", is there a way to directly change a Hal Parameter in python? I've looked in the code, but didn't find anything about that..
Last edit: 13 Sep 2019 18:31 by dab77.
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13 Sep 2019 23:10 #145086
by Tower
Well, there are few ways how to solve this, you can create HAL Python Userspace component which will create the HAL pins which you will be changing in your Python written program. And then you connect these pins inside the HAL layer to actual pins you need to change. That is described here: linuxcnc.org/docs/html/hal/halmodule.html .
Or you can create Python wrappers around the C hallib functions. That is probably quite a bit of work, but you can find the inspiration here: github.com/machinekit/machinekit-hal/tre...al/cython/machinekit
Or you can create direct connector to the HAL shared memory space and change values here. This is the most hard-core option and I would not recommend this.
Replied by Tower on topic Hal Standalone. some trouble..
(...)
In the meantime I also want to ask: instead of calling "os.system("command")", is there a way to directly change a Hal Parameter in python? I've looked in the code, but didn't find anything about that..
Well, there are few ways how to solve this, you can create HAL Python Userspace component which will create the HAL pins which you will be changing in your Python written program. And then you connect these pins inside the HAL layer to actual pins you need to change. That is described here: linuxcnc.org/docs/html/hal/halmodule.html .
Or you can create Python wrappers around the C hallib functions. That is probably quite a bit of work, but you can find the inspiration here: github.com/machinekit/machinekit-hal/tre...al/cython/machinekit
Or you can create direct connector to the HAL shared memory space and change values here. This is the most hard-core option and I would not recommend this.
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14 Sep 2019 01:04 #145091
by cmorley
You don't have to connect pins. There are some functions to do direct commands - depends on the version of linuxcnc.
in 2.7 fairly limited:
linuxcnc.org/docs/2.7/html/hal/halmodule...l#_helpful_functions
in 2.8 + a fair bit better (get_value is very useful):
linuxcnc.org/docs/2.8/html/hal/halmodule...l#_helpful_functions
Chris
Replied by cmorley on topic Hal Standalone. some trouble..
Well, there are few ways how to solve this, you can create HAL Python Userspace component which will create the HAL pins which you will be changing in your Python written program. And then you connect these pins inside the HAL layer to actual pins you need to change. That is described here: linuxcnc.org/docs/html/hal/halmodule.html .
You don't have to connect pins. There are some functions to do direct commands - depends on the version of linuxcnc.
in 2.7 fairly limited:
linuxcnc.org/docs/2.7/html/hal/halmodule...l#_helpful_functions
in 2.8 + a fair bit better (get_value is very useful):
linuxcnc.org/docs/2.8/html/hal/halmodule...l#_helpful_functions
Chris
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14 Sep 2019 02:14 #145096
by Tower
Interesting, I didn't know about it. I presume there is no chance for some push notification pattern without major HAL rework, right?
(I am not Python developer, so I don't know what you are calling it in parseltongue.)
Replied by Tower on topic Hal Standalone. some trouble..
You don't have to connect pins. There are some functions to do direct commands - depends on the version of linuxcnc.
in 2.7 fairly limited:
(...)
Interesting, I didn't know about it. I presume there is no chance for some push notification pattern without major HAL rework, right?
(I am not Python developer, so I don't know what you are calling it in parseltongue.)
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14 Sep 2019 02:19 #145098
by cmorley
Replied by cmorley on topic Hal Standalone. some trouble..
push notification?
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14 Sep 2019 10:07 #145121
by dab77
Replied by dab77 on topic Hal Standalone. some trouble..
no, i need to change a parameter, not a pin, so i cannot link a signal to a parameter..
(...)
In the meantime I also want to ask: instead of calling "os.system("command")", is there a way to directly change a Hal Parameter in python? I've looked in the code, but didn't find anything about that..
Well, there are few ways how to solve this, you can create HAL Python Userspace component which will create the HAL pins which you will be changing in your Python written program. And then you connect these pins inside the HAL layer to actual pins you need to change. That is described here: linuxcnc.org/docs/html/hal/halmodule.html .
Or you can create Python wrappers around the C hallib functions. That is probably quite a bit of work, but you can find the inspiration here: github.com/machinekit/machinekit-hal/tre...al/cython/machinekit
Or you can create direct connector to the HAL shared memory space and change values here. This is the most hard-core option and I would not recommend this.
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14 Sep 2019 10:13 #145122
by dab77
thank you.
i think what i need is hal.set_p() wishing it can change parameters too.
than i still don't understand if i can toggle the stepgen command mode between velocity and position, to solve the deceleration problem.
Replied by dab77 on topic Hal Standalone. some trouble..
really, i couldn't find those functions anywhere!
Well, there are few ways how to solve this, you can create HAL Python Userspace component which will create the HAL pins which you will be changing in your Python written program. And then you connect these pins inside the HAL layer to actual pins you need to change. That is described here: linuxcnc.org/docs/html/hal/halmodule.html .
You don't have to connect pins. There are some functions to do direct commands - depends on the version of linuxcnc.
in 2.7 fairly limited:
linuxcnc.org/docs/2.7/html/hal/halmodule...l#_helpful_functions
in 2.8 + a fair bit better (get_value is very useful):
linuxcnc.org/docs/2.8/html/hal/halmodule...l#_helpful_functions
Chris
thank you.
i think what i need is hal.set_p() wishing it can change parameters too.
than i still don't understand if i can toggle the stepgen command mode between velocity and position, to solve the deceleration problem.
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14 Sep 2019 13:01 - 14 Sep 2019 13:34 #145129
by dab77
Replied by dab77 on topic Hal Standalone. some trouble..
the problem is this:I don't know how to refer to hal components.
I have also tried what is suggested in that page, while running linuxcnc, but without success:..and obviously the pin was there:
I've forgot to say that I have Linuxcnc 2.9.0 on..
>>> import hal
>>> hal.set_p("stepgen.0.maxaccel", "22")
Traceback (most recent call last):
File "<stdin>", line 1, in <module>
RuntimeError: Cannot call before creating component
>>> I have also tried what is suggested in that page, while running linuxcnc, but without success:
>>> os.system("halcmd show comp")
Loaded HAL Components:
ID Type Name PID State
82 User halcmd4120 4120 ready
76 User axisui 4108 ready
74 User inihal 4104 ready
65 RT match8 ready
62 RT wcomp ready
57 RT comp ready
54 RT or2 ready
49 User hal_manualtoolchange 4088 ready
43 RT scale ready
40 RT near ready
37 RT lowpass ready
34 RT limit2 ready
31 RT sim_spindle ready
26 RT hypot ready
23 RT ddt ready
20 RT __servo-thread ready
19 RT motmod ready
16 RT trivkins ready
10 User halui 4065 ready
4 User iocontrol 4063 ready
0
>>> value = hal.get_value("iocontrol.0.emc-enable-in")
Traceback (most recent call last):
File "<stdin>", line 1, in <module>
RuntimeError: Can't set value: pin / param iocontrol.0.emc-enable-in not found
>>> ....
4 bit OUT FALSE iocontrol.0.coolant-flood
4 bit OUT FALSE iocontrol.0.coolant-mist
4 bit IN TRUE iocontrol.0.emc-enable-in <== estop-loop
4 bit OUT TRUE iocontrol.0.lube
4 bit IN FALSE iocontrol.0.lube_level
....I've forgot to say that I have Linuxcnc 2.9.0 on..
Last edit: 14 Sep 2019 13:34 by dab77.
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