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#!/usr/bin/env python
# vim: sts=4 sw=4 et
"""
This module allows the creation of userspace HAL components in Python.
This includes pins and parameters of the various HAL types.
Typical usage:
import hal, time
h = hal.component("component-name")
# create pins and parameters with calls to h.newpin and h.newparam
h.newpin("in", hal.HAL_FLOAT, hal.HAL_IN)
h.newpin("out", hal.HAL_FLOAT, hal.HAL_OUT)
h.ready() # mark the component as 'ready'
try:
while 1:
# act on changed input pins; update values on output pins
time.sleep(1)
h['out'] = h['in']
except KeyboardInterrupt: pass
When the component is requested to exit with 'halcmd unload', a
KeyboardInterrupt exception will be raised.
"""
import _hal
from _hal import *
class _ItemWrap(object):
def __new__(cls, item):
if not isinstance(item, _hal.item):
raise TypeError("Constructor argument must be _hal.item: %s" % type(item))
self = object.__new__(cls)
return self._item_wrap(item)
def _item_wrap(self, item):
for f in ['get', 'set', 'get_type', 'get_name', 'get_dir', 'is_pin', '__repr__']:
setattr(self, f, getattr(item, f))
return self
def __init__(self, item):
self._item = item
name = property(lambda s: s._item.get_name())
type = property(lambda s: s._item.get_type())
dir = property(lambda s: s._item.get_dir())
value = property(lambda s: s._item.get(), lambda s,v: s._item.set(v))
class Pin(_ItemWrap):
def __init__(self, item):
_ItemWrap.__init__(self, item)
if not item.is_pin():
raise TypeError("Must be constructed from pin object")
class Param(_ItemWrap):
def __init__(self, item):
_ItemWrap.__init__(self, item)
if item.is_pin():
raise TypeError("Must be constructed from param object")
class component(_hal.component):
def newpin(self, *a, **kw): return Pin(_hal.component.newpin(self, *a, **kw))
def newparam(self, *a, **kw): return Param(_hal.component.newparam(self, *a, **kw))
def getpin(self, *a, **kw): return Pin(_hal.component.getpin(self, *a, **kw))
def getparam(self, *a, **kw): return Param(_hal.component.getparam(self, *a, **kw))
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