b987b3fce5
A HAL port pin is a hal pin that acts as a real time one way byte oriented data stream An output port on any component may be connected to an input port on any other component via a signal. Data written on the output pin becomes accessible to the input pin. A HAL port signal may link only a single writer and a single reader. A port buffers data with a user definable buffer size. Includes: Documentation on how to use a port object. a ctypes wrapper for the hal api (pyhal.py) a test to exersice hal port code along with pyhal.py changes to allow halcmd to understand and manipulate ports.
245 lines
6.8 KiB
Python
245 lines
6.8 KiB
Python
"""hal library python interface using ctypes ffi interface"""
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from ctypes import*
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lib = CDLL('liblinuxcnchal.so')
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lib.hal_malloc.restype = c_void_p
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lib.hal_malloc.argtype = [c_long]
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lib.hal_comp_name.restype = c_char_p
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lib.hal_pin_new.argtypes = [c_char_p, c_int, c_int, c_void_p, c_int]
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lib.hal_signal_new.argtypes = [c_char_p, c_int]
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lib.hal_link.argtypes = [c_char_p, c_char_p]
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lib.hal_port_read.argtypes = [c_int, c_char_p, c_uint]
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lib.hal_port_read.restype = c_bool
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lib.hal_port_peek.argtypes = [c_int, c_char_p, c_uint]
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lib.hal_port_peek.restype = c_bool
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lib.hal_port_peek_commit.argtypes = [c_int, c_char_p, c_uint]
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lib.hal_port_peek.restype = c_bool
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lib.hal_port_write.argtypes = [c_int, c_char_p, c_uint]
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lib.hal_port_write.restype = c_bool
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lib.hal_port_readable.argtypes = [c_int]
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lib.hal_port_readable.restype = c_uint
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lib.hal_port_writable.argtypes = [c_int]
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lib.hal_port_writable.restype = c_uint
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lib.hal_port_buffer_size.argtypes = [c_int]
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lib.hal_port_buffer_size.restype = c_uint
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lib.hal_port_clear.argtypes = [c_int]
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lib.hal_port_wait_readable.argtypes = [POINTER(POINTER(c_int)), c_uint, c_int]
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lib.hal_port_wait_writable.argtypes = [POINTER(POINTER(c_int)), c_uint, c_int]
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class HalException(Exception):
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"""An exception raised by hal library functions"""
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pass
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class halType:
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BIT = 1
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FLOAT = 2
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SIGNED = 3
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UNSIGNED = 4
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PORT = 5
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values = [BIT, FLOAT, SIGNED, UNSIGNED, PORT ]
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typeConversion = { BIT : c_bool,
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FLOAT : c_double,
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SIGNED : c_int32,
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UNSIGNED : c_uint32,
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PORT : c_int }
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class pinDir:
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IN = 16
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OUT = 32
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IO = IN | OUT
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values = [IN, OUT, IO]
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class pin(object):
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def __init__(self, component, name, type, dir, data_ptr):
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self.comp = component
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self.name = name
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self.type = type
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self.dir = dir
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self.data_ptr = data_ptr
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@property
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def fullname(self):
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return "{0}.{1}".format(self.comp.name, self.name)
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@property
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def value(self):
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if self.type == halType.PORT:
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raise HalException("cannot get value of PORT pin")
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else:
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return self.data_ptr.contents.contents.value
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@value.setter
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def value(self, val):
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if self.type == halType.PORT:
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raise HalException("cannot set value of PORT pin")
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else:
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self.data_ptr.contents.contents.value = val
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class port(pin):
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def __init__(self, component, name, type, dir, data_ptr):
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pin.__init__(self, component, name, type, dir, data_ptr)
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@property
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def __port(self):
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return self.data_ptr.contents.contents.value
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def read(self, count):
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if self.dir != pinDir.IN:
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raise HalException("cannot read output port")
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buff = create_string_buffer(count)
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if not lib.hal_port_read(self.__port, buff, count):
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return ''
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else:
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return buff.raw
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def peek(self, count):
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if self.dir != pinDir.IN:
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raise HalException("cannot peek output port")
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buff = create_string_buffer(count)
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if not lib.hal_port_peek(self.__port, buff, count):
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return ''
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else:
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return buff.raw
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def peek_commit(self, count):
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if self.dir != pinDir.IN:
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raise HalException("cannot peek commit output port")
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return lib.hal_port_peek_commit(self.__port, count)
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def write(self, buff):
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if self.dir != pinDir.OUT:
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raise HalException("cannot write input port")
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return lib.hal_port_write(self.__port, buff, len(buff))
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def readable(self):
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if self.dir != pinDir.IN:
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raise HalException("cannot read output port")
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return lib.hal_port_readable(self.__port)
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def writable(self):
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if self.dir != pinDir.OUT:
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raise HalException("cannot write input port")
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return lib.hal_port_writable(self.__port)
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def size(self):
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return lib.hal_port_buffer_size(self.__port)
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def clear(self):
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if self.dir != pinDir.IN:
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raise HalException("cannot clear output port")
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lib.hal_port_clear(self.__port)
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def waitReadable(self, count):
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if self.dir != pinDir.IN:
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raise HalException("cannot read ouput port")
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lib.hal_port_wait_readable(self.data_ptr, count, 0)
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def waitWritable(self, count):
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if self.dir != pinDir.OUT:
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raise HalException("cannot write input port")
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lib.hal_port_wait_writable(self.data_ptr, count, 0)
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class component:
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def __init__(self, name):
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self.id = lib.hal_init(name)
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self.name = name
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self.pins = {}
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if self.id < 0:
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raise HalException('failed to initialized component "{0}"'.format(name))
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def __del__(self):
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self.exit()
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def exit(self):
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if self.id > 0:
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result = lib.hal_exit(self.id)
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self.id = -1
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if result < 0:
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raise HalException('hal_exit failed with code {0}'.format(result))
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def ready(self):
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result = lib.hal_ready(self.id)
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if result < 0:
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raise HalException('hal_ready failed with code {0}'.format(result))
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def name(self):
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return lib.hal_comp_name(self.id)
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def pinNew(self, name, type, dir):
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if not type in halType.typeConversion:
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raise HalException('failed to create pin "{0}". Unknown type {1}'.format(name, type))
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if not dir in pinDir.values:
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raise HalException('failed to create pin "{0}". Unknown dir {1}'.format(name, dir))
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ctype = halType.typeConversion[type]
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ptr = self.halMalloc(sizeof(c_void_p))
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result = lib.hal_pin_new("{0}.{1}".format(self.name, name), type, dir, ptr, self.id)
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if result < 0:
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raise HalException('failed to create pin "{0}" with code {1}'.format(name, result))
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if type == halType.PORT:
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self.pins[name] = port(self, name, type, dir, cast(ptr, POINTER(POINTER(ctype))))
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else:
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self.pins[name] = pin(self, name, type, dir, cast(ptr, POINTER(POINTER(ctype))))
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return self.pins[name]
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def sigNew(self, name, type):
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if not type in halType.values:
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raise HalException('failed to create signal "{0}". Invalid type {1}'.format(name, type))
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result = lib.hal_signal_new(name, type)
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if result < 0:
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raise HalException('failed to create signal "{0}" with code {1}'.format(name, result))
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def sigLink(self, pin_name, sig_name):
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result = lib.hal_link(pin_name, sig_name)
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if result < 0:
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raise HalException('failed to link sig "{0}" to pin "{1}" with result {2}'.format(sig_name, pin_name, result))
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def halMalloc(self, count):
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ptr = lib.hal_malloc(count)
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memset(ptr, 0, count)
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return ptr
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