a python wrapper
This commit is contained in:
David Schleef
parent
92c625b1fc
commit
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4 changed files with 533 additions and 0 deletions
305
python/Makefile.pre.in
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305
python/Makefile.pre.in
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# Universal Unix Makefile for Python extensions
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# =============================================
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# Short Instructions
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# ------------------
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# 1. Build and install Python (1.5 or newer).
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# 2. "make -f Makefile.pre.in boot"
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# 3. "make"
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# You should now have a shared library.
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# Long Instructions
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# -----------------
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# Build *and install* the basic Python 1.5 distribution. See the
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# Python README for instructions. (This version of Makefile.pre.in
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# only withs with Python 1.5, alpha 3 or newer.)
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# Create a file Setup.in for your extension. This file follows the
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# format of the Modules/Setup.in file; see the instructions there.
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# For a simple module called "spam" on file "spammodule.c", it can
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# contain a single line:
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# spam spammodule.c
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# You can build as many modules as you want in the same directory --
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# just have a separate line for each of them in the Setup.in file.
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# If you want to build your extension as a shared library, insert a
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# line containing just the string
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# *shared*
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# at the top of your Setup.in file.
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# Note that the build process copies Setup.in to Setup, and then works
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# with Setup. It doesn't overwrite Setup when Setup.in is changed, so
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# while you're in the process of debugging your Setup.in file, you may
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# want to edit Setup instead, and copy it back to Setup.in later.
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# (All this is done so you can distribute your extension easily and
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# someone else can select the modules they actually want to build by
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# commenting out lines in the Setup file, without editing the
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# original. Editing Setup is also used to specify nonstandard
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# locations for include or library files.)
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# Copy this file (Misc/Makefile.pre.in) to the directory containing
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# your extension.
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# Run "make -f Makefile.pre.in boot". This creates Makefile
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# (producing Makefile.pre and sedscript as intermediate files) and
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# config.c, incorporating the values for sys.prefix, sys.exec_prefix
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# and sys.version from the installed Python binary. For this to work,
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# the python binary must be on your path. If this fails, try
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# make -f Makefile.pre.in Makefile VERSION=1.5 installdir=<prefix>
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# where <prefix> is the prefix used to install Python for installdir
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# (and possibly similar for exec_installdir=<exec_prefix>).
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# Note: "make boot" implies "make clobber" -- it assumes that when you
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# bootstrap you may have changed platforms so it removes all previous
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# output files.
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# If you are building your extension as a shared library (your
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# Setup.in file starts with *shared*), run "make" or "make sharedmods"
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# to build the shared library files. If you are building a statically
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# linked Python binary (the only solution of your platform doesn't
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# support shared libraries, and sometimes handy if you want to
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# distribute or install the resulting Python binary), run "make
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# python".
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# Note: Each time you edit Makefile.pre.in or Setup, you must run
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# "make Makefile" before running "make".
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# Hint: if you want to use VPATH, you can start in an empty
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# subdirectory and say (e.g.):
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# make -f ../Makefile.pre.in boot srcdir=.. VPATH=..
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# === Bootstrap variables (edited through "make boot") ===
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# The prefix used by "make inclinstall libainstall" of core python
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installdir= /usr/local
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# The exec_prefix used by the same
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exec_installdir=$(installdir)
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# Source directory and VPATH in case you want to use VPATH.
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# (You will have to edit these two lines yourself -- there is no
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# automatic support as the Makefile is not generated by
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# config.status.)
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srcdir= .
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VPATH= .
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# === Variables that you may want to customize (rarely) ===
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# (Static) build target
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TARGET= python
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# Installed python binary (used only by boot target)
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PYTHON= python
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# Add more -I and -D options here
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CFLAGS= $(OPT) -I$(INCLUDEPY) -I$(EXECINCLUDEPY) $(DEFS)
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# These two variables can be set in Setup to merge extensions.
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# See example[23].
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BASELIB=
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BASESETUP=
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# === Variables set by makesetup ===
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MODOBJS= _MODOBJS_
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MODLIBS= _MODLIBS_
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# === Definitions added by makesetup ===
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# === Variables from configure (through sedscript) ===
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VERSION= @VERSION@
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CC= @CC@
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LINKCC= @LINKCC@
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SGI_ABI= @SGI_ABI@
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OPT= @OPT@
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LDFLAGS= @LDFLAGS@
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LDLAST= @LDLAST@
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DEFS= @DEFS@
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LIBS= @LIBS@
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LIBM= @LIBM@
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LIBC= @LIBC@
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RANLIB= @RANLIB@
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MACHDEP= @MACHDEP@
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SO= @SO@
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LDSHARED= @LDSHARED@
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CCSHARED= @CCSHARED@
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LINKFORSHARED= @LINKFORSHARED@
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#@SET_CCC@
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# Install prefix for architecture-independent files
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prefix= /usr/local
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# Install prefix for architecture-dependent files
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exec_prefix= $(prefix)
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# Uncomment the following two lines for AIX
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#LINKCC= $(LIBPL)/makexp_aix $(LIBPL)/python.exp "" $(LIBRARY); $(PURIFY) $(CC)
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#LDSHARED= $(LIBPL)/ld_so_aix $(CC) -bI:$(LIBPL)/python.exp
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# === Fixed definitions ===
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# Shell used by make (some versions default to the login shell, which is bad)
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SHELL= /bin/sh
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# Expanded directories
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BINDIR= $(exec_installdir)/bin
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LIBDIR= $(exec_prefix)/lib
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MANDIR= $(installdir)/man
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INCLUDEDIR= $(installdir)/include
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SCRIPTDIR= $(prefix)/lib
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# Detailed destination directories
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BINLIBDEST= $(LIBDIR)/python$(VERSION)
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LIBDEST= $(SCRIPTDIR)/python$(VERSION)
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INCLUDEPY= $(INCLUDEDIR)/python$(VERSION)
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EXECINCLUDEPY= $(exec_installdir)/include/python$(VERSION)
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LIBP= $(exec_installdir)/lib/python$(VERSION)
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DESTSHARED= $(BINLIBDEST)/site-packages
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LIBPL= $(LIBP)/config
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PYTHONLIBS= $(LIBPL)/libpython$(VERSION).a
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MAKESETUP= $(LIBPL)/makesetup
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MAKEFILE= $(LIBPL)/Makefile
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CONFIGC= $(LIBPL)/config.c
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CONFIGCIN= $(LIBPL)/config.c.in
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SETUP= $(LIBPL)/Setup.thread $(LIBPL)/Setup.local $(LIBPL)/Setup
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SYSLIBS= $(LIBM) $(LIBC)
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ADDOBJS= $(LIBPL)/python.o config.o
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# Portable install script (configure doesn't always guess right)
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INSTALL= $(LIBPL)/install-sh -c
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# Shared libraries must be installed with executable mode on some systems;
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# rather than figuring out exactly which, we always give them executable mode.
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# Also, making them read-only seems to be a good idea...
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INSTALL_SHARED= ${INSTALL} -m 555
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# === Fixed rules ===
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# Default target. This builds shared libraries only
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default: sharedmods
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# Build everything
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all: static sharedmods
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# Build shared libraries from our extension modules
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sharedmods: $(SHAREDMODS)
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# Build a static Python binary containing our extension modules
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static: $(TARGET)
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$(TARGET): $(ADDOBJS) lib.a $(PYTHONLIBS) Makefile $(BASELIB)
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$(LINKCC) $(LDFLAGS) $(LINKFORSHARED) \
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$(ADDOBJS) lib.a $(PYTHONLIBS) \
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$(LINKPATH) $(BASELIB) $(MODLIBS) $(LIBS) $(SYSLIBS) \
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-o $(TARGET) $(LDLAST)
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install: sharedmods
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if test ! -d $(DESTSHARED) ; then \
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mkdir $(DESTSHARED) ; else true ; fi
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-for i in X $(SHAREDMODS); do \
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if test $$i != X; \
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then $(INSTALL_SHARED) $$i $(DESTSHARED)/$$i; \
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fi; \
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done
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# Build the library containing our extension modules
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lib.a: $(MODOBJS)
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-rm -f lib.a
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ar cr lib.a $(MODOBJS)
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-$(RANLIB) lib.a
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# This runs makesetup *twice* to use the BASESETUP definition from Setup
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config.c Makefile: Makefile.pre Setup $(BASESETUP) $(MAKESETUP)
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$(MAKESETUP) \
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-m Makefile.pre -c $(CONFIGCIN) Setup -n $(BASESETUP) $(SETUP)
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$(MAKE) -f Makefile do-it-again
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# Internal target to run makesetup for the second time
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do-it-again:
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$(MAKESETUP) \
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-m Makefile.pre -c $(CONFIGCIN) Setup -n $(BASESETUP) $(SETUP)
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# Make config.o from the config.c created by makesetup
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config.o: config.c
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$(CC) $(CFLAGS) -c config.c
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# Setup is copied from Setup.in *only* if it doesn't yet exist
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Setup:
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cp $(srcdir)/Setup.in Setup
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# Make the intermediate Makefile.pre from Makefile.pre.in
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Makefile.pre: Makefile.pre.in sedscript
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sed -f sedscript $(srcdir)/Makefile.pre.in >Makefile.pre
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# Shortcuts to make the sed arguments on one line
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P=prefix
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E=exec_prefix
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H=Generated automatically from Makefile.pre.in by sedscript.
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L=LINKFORSHARED
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# Make the sed script used to create Makefile.pre from Makefile.pre.in
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sedscript: $(MAKEFILE)
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sed -n \
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-e '1s/.*/1i\\/p' \
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-e '2s%.*%# $H%p' \
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-e '/^VERSION=/s/^VERSION=[ ]*\(.*\)/s%@VERSION[@]%\1%/p' \
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-e '/^CC=/s/^CC=[ ]*\(.*\)/s%@CC[@]%\1%/p' \
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-e '/^CCC=/s/^CCC=[ ]*\(.*\)/s%#@SET_CCC[@]%CCC=\1%/p' \
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-e '/^LINKCC=/s/^LINKCC=[ ]*\(.*\)/s%@LINKCC[@]%\1%/p' \
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-e '/^OPT=/s/^OPT=[ ]*\(.*\)/s%@OPT[@]%\1%/p' \
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-e '/^LDFLAGS=/s/^LDFLAGS=[ ]*\(.*\)/s%@LDFLAGS[@]%\1%/p' \
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-e '/^LDLAST=/s/^LDLAST=[ ]*\(.*\)/s%@LDLAST[@]%\1%/p' \
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-e '/^DEFS=/s/^DEFS=[ ]*\(.*\)/s%@DEFS[@]%\1%/p' \
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-e '/^LIBS=/s/^LIBS=[ ]*\(.*\)/s%@LIBS[@]%\1%/p' \
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-e '/^LIBM=/s/^LIBM=[ ]*\(.*\)/s%@LIBM[@]%\1%/p' \
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-e '/^LIBC=/s/^LIBC=[ ]*\(.*\)/s%@LIBC[@]%\1%/p' \
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-e '/^RANLIB=/s/^RANLIB=[ ]*\(.*\)/s%@RANLIB[@]%\1%/p' \
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-e '/^MACHDEP=/s/^MACHDEP=[ ]*\(.*\)/s%@MACHDEP[@]%\1%/p' \
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-e '/^SO=/s/^SO=[ ]*\(.*\)/s%@SO[@]%\1%/p' \
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-e '/^LDSHARED=/s/^LDSHARED=[ ]*\(.*\)/s%@LDSHARED[@]%\1%/p' \
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-e '/^CCSHARED=/s/^CCSHARED=[ ]*\(.*\)/s%@CCSHARED[@]%\1%/p' \
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-e '/^SGI_ABI=/s/^SGI_ABI=[ ]*\(.*\)/s%@SGI_ABI[@]%\1%/p' \
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-e '/^$L=/s/^$L=[ ]*\(.*\)/s%@$L[@]%\1%/p' \
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-e '/^$P=/s/^$P=\(.*\)/s%^$P=.*%$P=\1%/p' \
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-e '/^$E=/s/^$E=\(.*\)/s%^$E=.*%$E=\1%/p' \
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$(MAKEFILE) >sedscript
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echo "/^#@SET_CCC@/d" >>sedscript
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echo "/^installdir=/s%=.*%= $(installdir)%" >>sedscript
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echo "/^exec_installdir=/s%=.*%=$(exec_installdir)%" >>sedscript
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echo "/^srcdir=/s%=.*%= $(srcdir)%" >>sedscript
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echo "/^VPATH=/s%=.*%= $(VPATH)%" >>sedscript
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echo "/^LINKPATH=/s%=.*%= $(LINKPATH)%" >>sedscript
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echo "/^BASELIB=/s%=.*%= $(BASELIB)%" >>sedscript
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echo "/^BASESETUP=/s%=.*%= $(BASESETUP)%" >>sedscript
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# Bootstrap target
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boot: clobber
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VERSION=`$(PYTHON) -c "import sys; print sys.version[:3]"`; \
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installdir=`$(PYTHON) -c "import sys; print sys.prefix"`; \
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exec_installdir=`$(PYTHON) -c "import sys; print sys.exec_prefix"`; \
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$(MAKE) -f $(srcdir)/Makefile.pre.in VPATH=$(VPATH) srcdir=$(srcdir) \
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VERSION=$$VERSION \
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installdir=$$installdir \
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exec_installdir=$$exec_installdir \
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Makefile
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# Handy target to remove intermediate files and backups
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clean:
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-rm -f *.o *~
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# Handy target to remove everything that is easily regenerated
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clobber: clean
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-rm -f *.a tags TAGS config.c Makefile.pre $(TARGET) sedscript
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-rm -f *.so *.sl so_locations
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# Handy target to remove everything you don't want to distribute
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distclean: clobber
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-rm -f Makefile Setup
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1
python/Setup.in
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1
python/Setup.in
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@ -0,0 +1 @@
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comedi compy.c
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135
python/compy.c
Normal file
135
python/compy.c
Normal file
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/* Compy: COMedi PYthon interface
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* A simple hack sharded object for importing into Python
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* to start using Comedi drivers for Digital I/O
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*
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* Extensively referenced xxmodule.c and others from python distribution
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* misc comedi examples.
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*
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* Blaine Lee Copyright 11/2000 Licence LGPL 2.0
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*
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* V 0.3 changed to tuple parsing & added version number __version__()
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* V 0.21 Resynced with sorce that had printstats debugging code in it
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* V 0.2 Added card number, so that multiple cards are supported
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* V 0.1 First release, only 'trig' type transfers are supported
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*
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*/
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#include <Python.h>
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#include <stdio.h> /* for printf() */
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#include <comedilib.h>
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#define maxcards 4
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static short trigdata;
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static comedi_t *compy_it[maxcards];
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static comedi_trig trig;
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static int trigchan[2];
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static printstats=1;
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/*******************************/
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static PyObject *
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compy_open(self, args)
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PyObject *self;
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PyObject *args;
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{
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const char *filen;
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int card;
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if (!PyArg_ParseTuple(args, "isi", &card, &filen, &printstats))
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return NULL;
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if ((card < 0) || (card >= maxcards))
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return NULL;
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if(printstats)
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printf("compy open '%s'\n",filen);
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compy_it[card]=comedi_open(filen);
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trig.data=&trigdata;
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trig.mode=0;
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trig.flags=0;
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trig.n_chan=1;
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trig.chanlist=trigchan;
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trig.n=1;
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trig.trigsrc=TRIG_NOW;
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trig.data_len=1;
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return Py_BuildValue("i", 1);
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}
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static PyObject *
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compy_trig(self, args)
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PyObject *self;
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PyObject *args;
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{
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int dev, chan, data;
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int card;
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if (!PyArg_ParseTuple(args, "(iii)i", &card, &dev, &chan, &data))
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return NULL;
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if ((card < 0) || (card >= maxcards))
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return NULL;
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if(printstats)
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printf("compy trig card %d dev %d chanel %d val %d\n",card,dev,chan,data);
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trig.subdev=dev;
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trig.chanlist[0]=chan;
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trig.data[0]=data;
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comedi_trigger(compy_it[card],&trig);
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return Py_BuildValue("i", trig.data[0]);
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}
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static PyObject *
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compy_close(self, args)
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PyObject *self;
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PyObject *args;
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{
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int card;
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if (!PyArg_ParseTuple(args, "i", &card))
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return NULL;
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||||
if ((card < 0) || (card >= maxcards))
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return NULL;
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if(printstats)
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printf("compy close %d\n",card);
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comedi_close(compy_it[card]);
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return Py_BuildValue("i", 1);
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}
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#define Version 3
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static PyObject *
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compy_version(self, args)
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PyObject *self;
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||||
PyObject *args;
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{
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if(printstats)
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printf("Compy version %d\n",Version);
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||||
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||||
return Py_BuildValue("i", Version);
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||||
}
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/* List of functions defined in the module */
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static PyMethodDef compy_methods[] = {
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{"open", compy_open, METH_VARARGS},
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{"trig", compy_trig, METH_VARARGS},
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{"close", compy_close, METH_VARARGS},
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{"__version__", compy_version, METH_VARARGS},
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{NULL, NULL} /* sentinel */
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};
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||||
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||||
/* Initialization function for the module (*must* be called initxx) */
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||||
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||||
DL_EXPORT(void)
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initcompy()
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||||
{
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||||
/* Create the module and add the functions */
|
||||
(void) Py_InitModule("compy", compy_methods);
|
||||
}
|
||||
|
||||
|
||||
92
python/sample.py
Executable file
92
python/sample.py
Executable file
|
|
@ -0,0 +1,92 @@
|
|||
#! /usr/bin/env python
|
||||
|
||||
# Sample.py sample code to use python with comedi via the compy interface.
|
||||
# Compy: COMedi PYthon interface
|
||||
#
|
||||
# Blaine Lee Copyright 11/2000 Licence GPL 2.0
|
||||
#
|
||||
# V0 hacked out of working code for others to look at.
|
||||
|
||||
############# imports
|
||||
import os
|
||||
import stat
|
||||
import time
|
||||
import compy # important if you want to use compy
|
||||
from string import *
|
||||
|
||||
# this project uses 3 advantech PCM-3730's
|
||||
# 8 isolated outputs on dev 0
|
||||
# 8 isolated inputs on dev 3
|
||||
# 8 ttl outputs each on dev 1 & 2 not used
|
||||
# 8 ttl inputs each on dev 4 & 5 not used
|
||||
|
||||
compypath0 = "/dev/comedi0" # a little abstraction
|
||||
compypath1 = "/dev/comedi1"
|
||||
compypath2 = "/dev/comedi2"
|
||||
|
||||
# ************ I/O definitions
|
||||
SolderSOV = (0,0,1)
|
||||
Work0SOV = (0,0,2) # input card 0, dev 0, channel 2
|
||||
Work1SOV = (0,0,3)
|
||||
Move1SOV = (0,0,4)
|
||||
BlowSOV = (0,0,5)
|
||||
SolderDn = (0,3,2)
|
||||
SolderUp = (0,3,3)
|
||||
Work0In = (0,3,4)
|
||||
Work0Out = (0,3,5)
|
||||
SolderPresent0 = (0,3,6)
|
||||
Work1In = (1,3,0)
|
||||
Work1Out = (1,3,1)
|
||||
SolderPresent1 = (1,3,2)
|
||||
MoveAt1 = (1,3,3)
|
||||
MoveAt0 = (1,3,4)
|
||||
PalmL = (2,3,0)
|
||||
PalmR = (2,3,1) # input card 2, dev 3, channel 1
|
||||
PartPres0 = (2,3,2)
|
||||
PartPres1 = (2,3,3)
|
||||
|
||||
compyif = compy.trig # got rid of old work around of compy v2
|
||||
# all new code should use compy.trig directly!!!
|
||||
|
||||
# *********************************************
|
||||
def inout(SOV, Sin, Sout, Ppres, Head ):
|
||||
"A task to manage one arm of a 'ping-pong' machine"
|
||||
global SolderNow
|
||||
compyif(SOV,0) # reset
|
||||
SolderNow[Head] = 0
|
||||
while 1:
|
||||
while not compyif(Sout,0): # wait until out and ready
|
||||
time.sleep(.001)
|
||||
while compyif(Ppres,0): # Wait for part to be removed
|
||||
time.sleep(.001)
|
||||
while not compyif(Ppres,0): # Wait for part to be replaced
|
||||
time.sleep(.001)
|
||||
while compyif(PalmL,0) or compyif(PalmR,0): # palms must not be blocked
|
||||
time.sleep(.001)
|
||||
while (not compyif(PalmL,0)) or (not compyif(PalmR,0)): # wait for palms
|
||||
time.sleep(.001)
|
||||
SolderNow[Head] = 1 # signal that this side will be ready soon
|
||||
compyif(SOV,1) # go in
|
||||
while not compyif(Sin,0): # wait for in
|
||||
time.sleep(.001)
|
||||
SolderNow[Head] = 2
|
||||
while SolderNow[Head]: # wait for process
|
||||
time.sleep(.001)
|
||||
# Of course this won't exit, you don't have the other tasks that run
|
||||
# the machine!!!!
|
||||
compyif(SOV,0) # go out
|
||||
|
||||
|
||||
# ************ comedi setup
|
||||
compy.open(0,compypath0,0)
|
||||
compy.open(1,compypath1,0)
|
||||
compy.open(2,compypath2,0)
|
||||
|
||||
compyif(SolderSOV,0) # solder up
|
||||
|
||||
inout(Work0SOV,Work0In,Work0Out,PartPres0,0)
|
||||
|
||||
compy.close(0)
|
||||
compy.close(1)
|
||||
compy.close(2)
|
||||
|
||||
Loading…
Add table
Reference in a new issue