I wanted to learn about Fuse (http://fuse.sourceforge.net/) and did a prototype
halfs which makes the HAL namespace visible in the Linux filesystem.
To convey the idea, a usage example:
$ halfuse /tmp/hal
$ cd /tmp
$ ls hal/
components functions params pins signals threads
$ ls hal/signals/
acc-ok-x spindle-pos tool-prep-loop Xhomeswpos
Yhomesw Zpos
...
$ ls -l hal/pins/motion.spindle-[fis]*
--w-------. 0 root root 15 2012-06-25 12:41 motion.spindle-forward
-rw-------. 0 root root 15 2012-06-25 12:41 motion.spindle-index-enable
-r--------. 0 root root 15 2012-06-25 12:41 motion.spindle-is-oriented
...
$ cat hal/signals/estop-loop
FALSE
$ echo 4711 > hal/pins/foo
$ cat hal/components/l* hal/components/iocontrol
91 RT limit2 ready
94 RT lowpass ready
56 User iocontrol 23281 ready
-- etc
My questions are:
- does this make any sense pursuing as a contribution?
I'm a bit unsure about a decent use case and from understanding fuse
(accomplished) to a useful tool (not accomplished) it's quite a bit of work
however now that halrmt is gone, remote access to HAL has an option less; but
whether remote file access through, say, samba, is a usable realtime monitoring
method is TBD; I guess no due to caching.
- if yes, how to proceed on HAL attributes which cannot trivially mapped to
filesystem attributes (like mapping HAL_IN = 'r', HAL_OUT='w', HAL_IO='rw' as
file permissions) ?
for example, to determine the HAL type of a pin/signal/param, I see two
options: using extended attributes (see man 5 attr), for instance 'getattr', or
alternatively a shadow property tree:
$ getfattr -n user.haltype hal/signals/estop-loop
# file: hal/signals/estop-loop
user.haltype="bit"
or alternatively:
$ cat hal/properties/signals/estop-loop/type
bit
- Michael
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