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.

1. Machinekit
BuildReal-TimeSystemswithPython
Alexander Rössler

2. 2
Overview
● Machinekit and HAL
● 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”

4. 4
MachinekitandHAL

5. 5
Machinekit
Embedded Devices
TabletsSmartphones
Desktop ComputersCNC Machines
Robots Quadcopters
Machinekit
3D Printers
Other Applications
?

6. 6
Architecture Overview
Hardware
Hardware Abstraction Layer (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 made simple
● Portable
● Future proof
● Runs on Linux
● Tools and GUIs

9. 9
Supported Plattforms
● Desktop Linux PC
● SBCs
– BeagleBone (Black, Green, Blue, …)
– Raspberry Pi 3
– Altera and Xilinx SoC/FPGA
– …
● POSIX, PREEMPT_RT or Xenomai

10. 10
The 4APIs

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
● Create HAL 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

14. 14
ConfigureandRun

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 Component HAL Remote Component
HAL Signals
HAL Thread
HAL Pins
HAL Function

18. 18
Tools
● halcmd
● halmeter
● Halscope
● hal-graph

19. 20
Create HAL
Components

20. 21
HALAPI
● import hal
● CPython module
● Lib/python/hal.py

21. 22
Simple HALComponent
● import hal
● Create pins
● Update pins in main loop
● custom_sum
– in0 + in1 = out

22. 24
Interfacewiththe
CNCStack

23. 25
Linuxcnc Module
● import linuxcnc
– stat, command, ini, positionlogger
● CPython module
● lib/python/linuxcnc.so

24. 27
RemoteControl
Machinekit

25. 28
Pymachinetalk
● import machinetalk
● import pymachinetalk
– dns_sd, halremote, application, ...
● Available on PyPI
● Python 3 and 2
● Windows, Linux, Mac, ...
UI 3
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UI 2
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UI 1
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Real-time hostent 1
Real-time environment
HAL instance
Haltalk
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UI 3
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UI 2
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UI 1
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UUID

26. 29
Machinetalk
Machinetalk
ZeroMQ
Protobuf
DNS-SDovermDNS
OS, platform technology

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

29. 32
Questions?

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
●