Hi,
I am trying to build userspace hal components, and I am trying to build
them with python.
I can find a lot of examples in the repository calling
machinekit.rtapi.loadrt, but I have the vague idea of using
machinekit.hal.loadusr
Until now the only solution i have found is something structured like this
#comp file
from machinekit import hal
comp=hal.component("name")
comp.newpin("a", HAL.IN , HAL.BIT)
while 1:
comp["a"]=comp["b"]
time.sleep(1)
and loading
hal.loadusr("comp")
Is this the way it should be used?
I know the hal.addf function, I would like to use it to load function on
threads. Is it possible to export function from userspace components? I
haven't found any way of exporting functions from python
I would like to write something like that
#comp file
from machinekit import hal
comp=hal.component("name")
#comp.newpin...
def foo():
comp["a"]=comp["b"]
hal.export(foo)
hal.loadusr("comp")
hal.addf("foo","servo-thread")
Can you please give me some advice?
mngr
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