Using HAL from Python

#!/usr/bin/bash

# Startup hal-core
cd /opt/hal-core/scripts/ && . ./rip-environment

cd /opt/hal-core/bin

halcmd stop
halcmd loadrt threads name1=base-thread fp1=0 period1=1000000
#name2=servo-thread period2=1

# Unix command to load the ethercat .xml config
/opt/hal-core/rtlib/./lcec_conf /opt/hal-core/rtlib/ethercat-conf.xml &
halcmd loadrt lcec

halcmd net ec-slaves-responding <= lcec.slaves-responding
halcmd net ec-link-up <= lcec.link-up
halcmd net ec-all-op <= lcec.all-op

halcmd addf lcec.read-all base-thread
halcmd addf lcec.write-all base-thread

halcmd start

HAL: ERROR: version code mismatch
HAL: ERROR: could not init shared memory
Traceback (most recent call last):
  File "test", line 3, in <module>
    h = hal.component("lcec")
hal.error: Invalid argument

#!/usr/bin/env python
import hal, time
h = hal.component("lcec")
h.newpin("in", hal.HAL_FLOAT, hal.HAL_IN)
h.newpin("out", hal.HAL_FLOAT, hal.HAL_OUT)
h.ready()
try:
    while 1:
        time.sleep(1)
        h['out'] = h['in']
except KeyboardInterrupt:
    raise SystemExit

#!python
#cython: language_level=3
cdef extern from "rtapi_app.h":
    cdef int hal_init(char* name)
    cdef void hal_ready(int comp_id)
    cdef void *hal_malloc(int size)
    cdef int hal_pin_float_new(char* name, void* ptr, int comp_id)
    cdef void hal_pin_float_set(int pin, double value)

cdef double my_pin_value

def main():
    cdef int comp_id
    comp_id = hal_init("lcec.0.3.din-0-not")
    my_pin_value = hal_malloc(sizeof(double))
    hal_pin_float_new("lcec.0.3.din-0-not", my_pin_value, comp_id)
    hal_ready(comp_id)
    
    return <object>my_pin_value

if __name__ == "__main__":
    main()