userspace components are just HAL aware normal binaries, using
normal scheduling.
Their polling, within the constraints of the scheduling allowed to
them, is set in the main function loop.
(in your example the sleep call)
You cannot attach one to a HAL thread.
If you say what you are trying to do, rather than how you are trying
to do it, we may be able to help.
There is no compelling reason to use python at all, writing comp
components is probably simpler in terms
of usability, 'comp --install component.comp' and voila, it is
available like any other component.
On 16/05/19 15:53, mngr wrote:
Hi,
I am trying to build userspace hal components, and I am
trying to build them with python.
I can find a lot of examples in the repository calling
machinekit.rtapi.loadrt, but I have the vague idea of
using machinekit.hal.loadusr
Until now the only solution i have found is something
structured like this
#comp file
from
machinekit import
hal
comp=hal.component("name")
comp.newpin("a",
HAL.IN
,
HAL.BIT)
while
1:
comp["a"]=comp["b"]
time.sleep(1)
and loading
Is this the way it should be used?
I know the hal.addf function, I would like to use it to
load function on threads. Is it possible to export
function from userspace components? I haven't found any
way of exporting functions from python
I would like to write something like that
#comp file
from
machinekit import
hal
comp=hal.component("name")
#comp.newpin...
def
foo():
comp["a"]=comp["b"]
hal.export(foo)
hal.loadusr("comp")
hal.addf("foo","servo-thread")
Can you please give me some advice?
mngr
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