This documentation describes the hal python module, which provides a Python API for creating and accessing HAL pins and signals.

1. Basic usage

#!/usr/bin/env python3
import hal, time
h = hal.component("passthrough")
h.newpin("in", hal.HAL_FLOAT, hal.HAL_IN)
h.newpin("out", hal.HAL_FLOAT, hal.HAL_OUT)
h.ready()

2. Функции

component

+
The component itself is created by a call to the constructor hal.component. The arguments are the HAL component name and (optionally) the prefix used for pin and parameter names. If the prefix is not specified, the component name is used.
.Example

h = hal.component("passthrough")
newpin

+
Create new pin.
Arguments: pin name suffix, pin type, and pin direction. For parameters, the arguments are: parameter name suffix, parameter type, and parameter direction.
.Example:

h.newpin("in", hal.HAL_FLOAT, hal.HAL_IN)
ready

Tells the HAL system the component is initialized. Locks out adding pins.

unready

Allows a component to add pins after ready() has been called. One should call ready() on the component after.

component_exists

Does the specified component exist at this time.

Пример
hal.component_exists("testpanel")
component_is_ready

Is the specified component ready at this time.

Пример
hal.component_is_ready("testpanel")
get_msg_level

Get the current Realtime msg level.

set_msg_level

Set the current Realtime msg level. used for debugging information.

connect

Connect a pin to a signal.

Пример
hal.connect("pinname","signal_name")
disconnect

Disconnect a pin from a signal.

Пример
hal.disconnect("pinname")
get_value

Read a pin, param, or signal directly.

Пример
value = hal.get_value("iocontrol.0.emc-enable-in")
get_info_pins()

Returns a list of dicts of all system pins.

listOfDicts = hal.get_info_pins()
pinName1 = listOfDicts[0].get('NAME')
pinValue1 = listOfDicts[0].get('VALUE')
pinType1 = listOfDicts[0].get('TYPE')
pinDirection1 = listOfDicts[0].get('DIRECTION')
get_info_signals()

Returns a list of dicts of all system signals.

listOfDicts = hal.get_info_signals()
signalName1 = listOfDicts[0].get('NAME')
signalValue1 = listOfDicts[0].get('VALUE')
driverPin1 = listOfDicts[0].get('DRIVER')
get_info_params()

Returns a list of dicts of all system parameters.

listOfDicts = hal.get_info_params()
paramName1 = listOfDicts[0].get('NAME')
paramValue1 = listOfDicts[0].get('VALUE')
paramDirection1 = listOfDicts[0].get('DIRECTION')
new_sig

Create a new signal of the type specified.

Пример
hal.new_sig("signalname",hal.HAL_BIT)
pin_has_writer

Does the specified pin have a driving pin connected.
Returns True or False.

h.in.pin_has_writer()
get_name

Get the HAL object name.
Return a string.

h.in.get_name()
get_type

Get the HAL object’s type.
Returns an integer.

h.in.get_type()
get_dir

Get the HAL object direction type.
Returns an integer.

h.in.get_dir()
get

Get the HAL object value.

h.in.get()
set

Set the HAL object value.

h.out.set(10)
is_pin

Is the object a pin or parameter?
Returns True or False.

h.in.is_pin()
sampler_base

TODO

stream_base

TODO

stream

TODO

set_p

Set a pin value of any pin in the HAL system.

Пример
hal.set_p("pinname","10")
set_s

Set the value of any unconnected signal in the HAL system.

Пример
hal.set_s("signalname","10")