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Machinekit - Build Real Time Systems with Python
This document provides an overview of Machinekit, an open source framework for building real-time control systems with Python. It discusses Machinekit's Hardware Abstraction Layer (HAL) and four Python APIs for configuring and running Machinekit, creating HAL components, interfacing with the CNC stack, and remotely controlling Machinekit. The document also covers supported platforms, tools, limitations, and applications of Machinekit as well as information for learning more.
Machinekit - Build Real Time Systems with Python
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- 2. 2 Overview ● Machinekit andHAL ● The 4 APIs ● Configure and Run ● Create HAL components ● Interface with the CNC stack ● Remote Control Machinekit
- 3. 3 AboutMe ● Alexander Rössler ●Embedded Systems ● All things Open Source ● 3D printing, CNC, robots, … ● “Solopreneur”
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- 5. 5 Machinekit Embedded Devices TabletsSmartphones Desktop ComputersCNCMachines Robots Quadcopters Machinekit 3D Printers Other Applications ?
- 6. 6 Architecture Overview Hardware Hardware AbstractionLayer (HAL) Motion Controller IO Controller Task Executor User Interface CNC Stack
- 7. 7 7404 abcd efgh Hardware AbstractionLayer ● Configuration –Components – Pins – Signals ● Real-Time ● Userland
- 8. 8 WhyMachinekitandnot…? ● RT madesimple ● Portable ● Future proof ● Runs on Linux ● Tools and GUIs
- 9. 9 Supported Plattforms ● DesktopLinux PC ● SBCs – BeagleBone (Black, Green, Blue, …) – Raspberry Pi 3 – Altera and Xilinx SoC/FPGA – … ● POSIX, PREEMPT_RT or Xenomai
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- 11. 11 The4 Python APIs 1)Python HAL and configuration API 2) Python HAL component API 3) Python linuxcnc API 4) pymachinetalk 5) ...
- 12. 12 Whatcanbedone withPython ● CreateHAL configurations ● Launch and manage Machinekit/HAL instances ● Create Userland HAL components ● Interface with CNC stack ● Remotely interact with HAL ● Extend GCode ● ... 7404 UI 1 12345 SDK
- 13. 13 Whatcan’tbe done Python ●Create new HAL RT components 7404
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- 15. 15 MachinekitModule ● import machinekit –config, launcher, hal, rtapi ● src/hal/cython ● lib/python/machinekit
- 16. 16 VeryBasicHALApplication ● run.py -Run file ● hal_basics.py – HAL config
- 17. 17 HALBasics input0 input1 input0 input1 output in0 in1 out button0 button1 led and2.demo anddemo main-thread HAL ComponentHAL Remote Component HAL Signals HAL Thread HAL Pins HAL Function
- 18. 18 Tools ● halcmd ● halmeter ●Halscope ● hal-graph
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- 20. 21 HALAPI ● import hal ●CPython module ● Lib/python/hal.py
- 21. 22 Simple HALComponent ● importhal ● Create pins ● Update pins in main loop ● custom_sum – in0 + in1 = out
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- 23. 25 Linuxcnc Module ● importlinuxcnc – stat, command, ini, positionlogger ● CPython module ● lib/python/linuxcnc.so
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- 25. 28 Pymachinetalk ● import machinetalk ●import pymachinetalk – dns_sd, halremote, application, ... ● Available on PyPI ● Python 3 and 2 ● Windows, Linux, Mac, ... UI 3 12345 UI 2 12345 UI 1 12345 Real-time hostent 1 Real-time environment HAL instance Haltalk 12345 UI 3 12345 UI 2 12345 UI 1 12345 UUID
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- 27. 30 HalremoteService ● halrcomp &halrcmd ● haltalk ● Remote API Real-time hostClient 1 Real-time environment HAL instance Haltalk abcd efgh Client 2 12345
- 28. 31 Applications ● Testing Machinetalk ●Remoting HAL ● CLIs and UIs ● Distritbuted HAL setups ● 3rd party plugins
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- 30. 33 More Information ● http://machinekit.io ●https://machinekoder.com ● Machinekit on Google Google Groups ● https://github.com/machinekit ● https://github.com/machinekoder/cookiecutter-machinekit-python-hal ●