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Machinekit - The Python Machinetalk Bindings

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The open source motion control software Machinekit has excellent Python bindings for different API. Machinetalk, the middleware stack, pymachinetalk, the client API for Machinetalk and the Python configuration API.

Learn more at https://machinekoder.com/ and http://machinekit.io

Publié dans : Logiciels
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Machinekit - The Python Machinetalk Bindings

  1. 1. Machinekit ThePython MachinetalkBindings Alexander Rössler
  2. 2. 2 Overview ● Machinetalk ● pymachinetalk ● Applications ● Outlook
  3. 3. 3 Machinetalk
  4. 4. 4 Machinetalk ● Middleware ● Interaction between RT and non-RT ● Distributed setups ● License abstraction
  5. 5. 5 LauncherService ● launcher & launchercmd ● mklauncher ● Contact point ● Lists configurations ● Launches new instances
  6. 6. 6 ConfigService ● config ● configserver ● Distributes Uis ● Running configuration UI 3 12345 UI 2 12345 UI 1 12345
  7. 7. 7 HalremoteService ● halrcomp & halrcmd ● haltalk ● Remote API Real-time hostClient 1 Real-time environment HAL instance Haltalk abcd efgh Client 2 12345
  8. 8. 8 ApplicationServices ● status, command, error, file, preview ● mkwrapper ● EMC interface
  9. 9. 9 ServiceDiscovery ● MDNS/DNS-SD ● .local ● Auto configuration ● Decentralized ● Multicast ● Unicast Client Service Discovery Service Service Discovery Service Service Discovery Service Client
  10. 10. 10 ConnectionFlow ● Search for launcher services ● List instances UI 3 12345 UI 2 12345 UI 1 12345
  11. 11. 11 ConnectionFlow ● Filter services ● Look for config – Start instance ● Load UI ● Connect other services UUID
  12. 12. 12 PyMachinetalk
  13. 13. 13 Threading ● Asynchronous ● Synchronous ● Locks and conditions
  14. 14. 14 dns_sd ● avahi & dbus ● gobject ● Service type – _launcher._sub._machinekit._tcp ● Callbacks
  15. 15. 15 halremote ● Canonical to HAL userland component ● RemoteComponent ● Pin SUBSUB SUB PUB Publish-Subscribe REQ REP ROUTER DEALER REP REP REQREQ Router-Dealer
  16. 16. 16 application ● ApplicationStatus ● ApplicationCommand ● ApplicationError ● ApplicationFile
  17. 17. 17 Applications
  18. 18. 18 Outlook
  19. 19. 19 Outlook ● Launcher & config ● Documentation ● More examples ● Unit tests for Machinetalk ● …
  20. 20. 20 More InformationandCode ● https://github.com/strahlex/pymachinetalk
  21. 21. 21 Questions?

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