Further to the getp/setp/gets I was encouraged to come up with a more complete
list of halcmd-like functionality for the Python hal.so module.
Below is what I've cooked up so far.
some questions for discussion:
- I'm not totally happy with the hal.XXX_info() dissector functions returning
tuples - I'm open to suggestions
- are name lists ok or do we need iterators, yield or what have you?
- what to do if any hal.xx() function called and no component created yet:
- fail
- autocreate hal<pid> component
- what happens if autocreated and hal.component("foo") is called?
- are aliases deprecated? they appear in halcmd code but not in the man page.
-Michael
# accessing and dissecting pins, params, signals,components, functions and
threads:
hal.pins([prefix]) - return list of pin names, optionally selected by prefix
hal.pin_info(name) - return tuple (owner,type,direction,value)
hal.parameters([prefix]) - return list of parameter names, optionally selected
by prefix
hal.pin_info(name) - return tuple (owner,type,direction,value)
hal.signals() - return list of signal names
hal.signal_info(name) - return a tuple (type,value,sourcepin,readers)
types: (int,<as per sigtype>,string,
list of strings)
hal.functions() - return list of function names
hal.function_info(name) - return a tuple (owner,code,args,usesFP,nusers)
describing the function
hal.components() - return list of components
hal.component_info(name) - return a tuple (id,type,pid,isready) describing
component state
types: (int, string,int,boolean)
hal.threads() - return list of threads
hal.thread_info(name) - return tuple(period,isFP,time,maxtime,list of function
names)
types: (int,bool,int,int, list of strings)
# the rest is pretty much copy & paste from halcmd.1
hal.loadrt(name) - load the <name> realtime module
hal.unloadrt(name) - unload the <name> realtime module; unload all if <name> is
"all"
hal.loadusr(command [,wait=<boolean>] [,waitfor=<componentname>]
[,waitforexit=<boolean>] [,ignore=<boolean>])
as per halcmd.1
hal.waitusr(name) - waits for user space component name to disconnect from HAL
hal.unloadusr(name) - unloads a userspace component called compname.
If compname is "all", it will unload all userspace components.
hal.unload(name) - unloads a userspace component or realtime module.
If compname is "all", it will unload all userspace components and
realtime modules.
hal.newsig(signame,type) - creates a new HAL signal called signame.
type must be one of hal.HAL_BIT, hal.HAL_FLOAT, hal.HAL_S32 or
hal.HAL_U32 .
hal.delsig(signame) - deletes HAL signal signame.
hal.sets(signame,value) - sets the value of signal signame to value.
hal.stype(signame) - return type of signame as one of hal.HAL_BIT,
hal.HAL_FLOAT, hal.HAL_S32 or hal.HAL_U32 .
backwards compatibility with halcmd - subset of hal.signal_info()
hal.gets(signame) - gets the value of signal signame.
hal.link(signal,pin) - link pin to signal
hal.net(signame,pinname,*pins) - create signname to match the type of pinname
if it does not yet exist.
Then, link signame to each pin in pins.
pins may be a tuple or list
hal.unlinkp(pinname) - breaks any previous link to pinname.
hal.setp(name,value) - Sets the value of parameter or pin name to value.
hal.param[paramname] = value - Identical to setp
hal.pin[pinname] = value - Identical to setp
hal.ptype(name) - gets the type of parameter or pin name.
backwards compatibility with halcmd - subset of hal.param_info() or
hal.pin_info()
hal.getp(name) - gets the value of parameter or pin name.
hal.addf(functname,threadname) - Adds function functname to realtime thread
threadname.
hal.delf(functname,threadname) - removes function functname from realtime
thread threadname.
hal.start() - starts execution of realtime threads.
hal.stop() - stops execution of realtime threads.
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