Merge pull request #390 from the-snowwhite/py-fixes

Py fixes

Author: cdsteinkuehler

src/executables/mklauncher/src/mklauncher.py

@@ -18,7 +18,7 @@
 from operator import attrgetter
 
 from machinekit.hal import service
-from machinekit.hal import config
+#from machinekit.hal import config
 
 from google.protobuf.message import DecodeError
 from machinetalk.protobuf.message_pb2 import Container
@@ -637,10 +637,10 @@ def main():
     else:
         logger.setLevel(logging.INFO)
 
-    mkconfig = config.Config()
+    #mkconfig = config.Config()
     mkini = os.getenv("MACHINEKIT_INI")
     if mkini is None:
-        mkini = mkconfig.MACHINEKIT_INI
+        mkini = machinekit_hal_ini_file
     if not os.path.isfile(mkini):
         sys.stderr.write("MACHINEKIT_INI " + mkini + " does not exist\n")
         sys.exit(1)

src/libraries/config_service/src/configserver.py

@@ -9,8 +9,8 @@
 import argparse
 from six.moves import configparser
 
-from machinekit import service
-from machinekit import config
+from machinekit.hal.service import service
+#from machinekit import config
 
 from google.protobuf.message import DecodeError
 from machinetalk.protobuf.message_pb2 import Container
@@ -252,10 +252,10 @@ def main():
 
     debug = args.debug
 
-    mkconfig = config.Config()
+    #mkconfig = config.Config()
     mkini = os.getenv("MACHINEKIT_INI")
     if mkini is None:
-        mkini = mkconfig.MACHINEKIT_INI
+        mkini = machinekit_hal_ini_file
     if not os.path.isfile(mkini):
         sys.stderr.write("MACHINEKIT_INI " + mkini + " does not exist\n")
         sys.exit(1)

src/libraries/cyhal/examples/component.py

@@ -9,7 +9,7 @@
 
 
 import time
-import machinekit.hal.cyhal as hal
+import machinekit.hal.pyhal as hal
 
 c = hal.Component('zzz')
 p = c.newpin("p0", hal.HAL_S32, hal.HAL_OUT, init=42)

src/libraries/cyhal/examples/group.py

@@ -1,7 +1,7 @@
 
 # basic group example
 
-import machinekit.hal.cyhal as hal
+import machinekit.hal.pyhal as hal
 g2 = hal.Group("group1")
 s1 = hal.Signal("sigs32",   hal.HAL_S32)
 s2 = hal.Signal("sigfloat", hal.HAL_FLOAT)

src/libraries/cyhal/examples/heaptrace.py

@@ -4,7 +4,7 @@
 # HAL internals introspection - the hal_data descriptor
 # and shared memory heap
 
-import machinekit.hal.cyhal as hal
+import machinekit.hal.pyhal as hal
 
 hd = hal.HALData()
 hd.heap_flags = -1 # log RTAPI malloc/free operations

src/libraries/cyhal/examples/internal.py

@@ -4,7 +4,7 @@
 # HAL internals introspection - the hal_data descriptor
 # and shared memory heap
 
-import machinekit.hal.cyhal as hal
+import machinekit.hal.pyhal as hal
 
 hd = hal.HALData()
 hd.heap_flags = -1 # log RTAPI malloc/free operations

src/libraries/cyhal/examples/test_instance.py

@@ -1,6 +1,6 @@
 #!/usr/bin/env python3
 
-import machinekit.hal.cyhal as hal
+import machinekit.hal.pyhal as hal
 
 
 for name in hal.instances():

src/libraries/cyruntime/src/rtapi.pyx

@@ -1,9 +1,9 @@
 
-# RTAPI python bindings
+"""# RTAPI python bindings
 # shared memory
 # RT logger
 # rtapi_app command interface
-
+"""
 from rtapi cimport *
 
 from os import strerror, getpid
@@ -145,6 +145,7 @@ CS_NOT_LOADED = 0
 CS_NOT_RT = 1
 CS_RTLOADED_NOT_INSTANTIABLE = 2
 CS_RTLOADED_AND_INSTANTIABLE = 3
+""" enums for classify_comp """
 
 autoload = True  #  autoload components on newinst
 
@@ -158,6 +159,7 @@ def classify_comp(comp):
     if not c.has_ctor:
         return CS_RTLOADED_NOT_INSTANTIABLE
     return CS_RTLOADED_AND_INSTANTIABLE
+""" classifies a component for newinst"""
 
 
 class RTAPIcommand:

src/libraries/hal_glib/src/hal_glib.py

@@ -137,7 +137,7 @@ def is_pin(self):
 
 def enum(*sequential, **named):
     enums = dict(zip(sequential, range(len(sequential))), **named)
-    reverse = dict((value, key) for key, value in enums.iteritems())
+    reverse = dict((value, key) for key, value in enums.items())
     enums['reverse_mapping'] = reverse
     return type('Enum', (), enums)
 
@@ -226,7 +226,7 @@ def __init__(self,
 
     def start(self):
         # start resolution for the missing URI's
-        for key, uri in self.services.iteritems():
+        for key, uri in self.services.items():
             if not uri:
                 if self.remote:
                     if not self.sda:
@@ -407,7 +407,7 @@ def bind(self):
         self.tx.type = MT_HALRCOMP_BIND
         c = self.tx.comp.add()
         c.name = self.name
-        for pin_name,pin in self.pinsbyname.iteritems():
+        for pin_name,pin in self.pinsbyname.items():
             p = c.pin.add()
             p.name = self.name +  "." + pin_name
             p.type = pin.get_type()

src/libraries/launcher/src/launcher.py

@@ -1,10 +1,14 @@
+
+"""# Launcher python bindings
+# launch and stop processes
+"""
 import os
 import shlex
 import sys
 from time import *
 import subprocess
 import signal
-from machinekit.hal import compat
+from machinekit.hal.cycompat import compat
 
 _processes = []
 _realtime_started = False
@@ -16,6 +20,7 @@ def end_session():
     stop_processes()
     if _realtime_started:  # Stop realtime only when explicitly started
         stop_realtime()
+"""# ends a running Machinekit session"""
 
 
 # checks wheter a single command is available or not
@@ -25,13 +30,15 @@ def check_command(command):
     if process.returncode != 0:
         print(command + ' not found, check Machinekit installation')
         sys.exit(1)
+"""# checks wheter a single command is available or not"""
 
 
 # checks the whole Machinekit installation
 def check_installation():
     commands = ['realtime', 'configserver', 'halcmd', 'haltalk']
     for command in commands:
         check_command(command)
+"""# checks the whole Machinekit installation"""
 
 
 # checks for a running session and cleans it up if necessary
@@ -56,6 +63,7 @@ def cleanup_session():
             except OSError:
                 pass
         sys.stdout.write('done\n')
+"""# checks for a running session and cleans it up if necessary"""
 
 
 # starts a command, waits for termination and checks the output
@@ -64,6 +72,7 @@ def check_process(command):
     sys.stdout.flush()
     subprocess.check_call(command, shell=True)
     sys.stdout.write('done\n')
+"""# starts a command, waits for termination and checks the output"""
 
 
 # starts and registers a process
@@ -79,6 +88,7 @@ def start_process(command, check=True, wait=1.0):
             raise subprocess.CalledProcessError(process.returncode, command, None)
     _processes.append(process)
     sys.stdout.write('done\n')
+"""# starts and registers a process"""
 
 
 # stops a registered process by its name
@@ -91,6 +101,7 @@ def stop_process(command):
             os.killpg(process.pid, signal.SIGTERM)
             process.wait()
             sys.stdout.write('done\n')
+"""# stops a registered process by its name"""
 
 
 # stops all registered processes
@@ -101,6 +112,7 @@ def stop_processes():
         os.killpg(process.pid, signal.SIGTERM)
         process.wait()
         sys.stdout.write('done\n')
+"""# stops all registered processes"""
 
 
 # loads a HAL configuration file
@@ -110,14 +122,15 @@ def load_hal_file(filename, ini=None):
 
     _, ext = os.path.splitext(filename)
     if ext == '.py':
-        from machinekit import rtapi
+        from machinekit.hal.cyruntime import rtapi
 
         if not rtapi.__rtapicmd:
             rtapi.init_RTAPI()
         if ini is not None:
-            from machinekit import config
+            #from machinekit import config
 
-            config.load_ini(ini)
+            #config.load_ini(ini)
+            ini = machinekit_hal_ini_file
         with open(filename, 'r') as f:
             data = compile(f.read(), filename, 'exec')
             globals_ = {}
@@ -260,6 +273,7 @@ def _exit_handler(signum, frame):
 # set the Machinekit debug level
 def set_debug_level(level):
     os.environ['DEBUG'] = str(level)
+"""# set the Machinekit debug level"""
 
 
 # set the Machinekit ini