From 3fcd155c48d3e5fddc73bd0c8f835efe25e54ad8 Mon Sep 17 00:00:00 2001 From: David Schleef Date: Mon, 28 May 2001 02:49:11 +0000 Subject: [PATCH] a python wrapper --- python/Makefile.pre.in | 305 +++++++++++++++++++++++++++++++++++++++++ python/Setup.in | 1 + python/compy.c | 135 ++++++++++++++++++ python/sample.py | 92 +++++++++++++ 4 files changed, 533 insertions(+) create mode 100644 python/Makefile.pre.in create mode 100644 python/Setup.in create mode 100644 python/compy.c create mode 100755 python/sample.py diff --git a/python/Makefile.pre.in b/python/Makefile.pre.in new file mode 100644 index 0000000..6d9190d --- /dev/null +++ b/python/Makefile.pre.in @@ -0,0 +1,305 @@ +# Universal Unix Makefile for Python extensions +# ============================================= + +# Short Instructions +# ------------------ + +# 1. Build and install Python (1.5 or newer). +# 2. "make -f Makefile.pre.in boot" +# 3. "make" +# You should now have a shared library. + +# Long Instructions +# ----------------- + +# Build *and install* the basic Python 1.5 distribution. See the +# Python README for instructions. (This version of Makefile.pre.in +# only withs with Python 1.5, alpha 3 or newer.) + +# Create a file Setup.in for your extension. This file follows the +# format of the Modules/Setup.in file; see the instructions there. +# For a simple module called "spam" on file "spammodule.c", it can +# contain a single line: +# spam spammodule.c +# You can build as many modules as you want in the same directory -- +# just have a separate line for each of them in the Setup.in file. + +# If you want to build your extension as a shared library, insert a +# line containing just the string +# *shared* +# at the top of your Setup.in file. + +# Note that the build process copies Setup.in to Setup, and then works +# with Setup. It doesn't overwrite Setup when Setup.in is changed, so +# while you're in the process of debugging your Setup.in file, you may +# want to edit Setup instead, and copy it back to Setup.in later. +# (All this is done so you can distribute your extension easily and +# someone else can select the modules they actually want to build by +# commenting out lines in the Setup file, without editing the +# original. Editing Setup is also used to specify nonstandard +# locations for include or library files.) + +# Copy this file (Misc/Makefile.pre.in) to the directory containing +# your extension. + +# Run "make -f Makefile.pre.in boot". This creates Makefile +# (producing Makefile.pre and sedscript as intermediate files) and +# config.c, incorporating the values for sys.prefix, sys.exec_prefix +# and sys.version from the installed Python binary. For this to work, +# the python binary must be on your path. If this fails, try +# make -f Makefile.pre.in Makefile VERSION=1.5 installdir= +# where is the prefix used to install Python for installdir +# (and possibly similar for exec_installdir=). + +# Note: "make boot" implies "make clobber" -- it assumes that when you +# bootstrap you may have changed platforms so it removes all previous +# output files. + +# If you are building your extension as a shared library (your +# Setup.in file starts with *shared*), run "make" or "make sharedmods" +# to build the shared library files. If you are building a statically +# linked Python binary (the only solution of your platform doesn't +# support shared libraries, and sometimes handy if you want to +# distribute or install the resulting Python binary), run "make +# python". + +# Note: Each time you edit Makefile.pre.in or Setup, you must run +# "make Makefile" before running "make". + +# Hint: if you want to use VPATH, you can start in an empty +# subdirectory and say (e.g.): +# make -f ../Makefile.pre.in boot srcdir=.. VPATH=.. + + +# === Bootstrap variables (edited through "make boot") === + +# The prefix used by "make inclinstall libainstall" of core python +installdir= /usr/local + +# The exec_prefix used by the same +exec_installdir=$(installdir) + +# Source directory and VPATH in case you want to use VPATH. +# (You will have to edit these two lines yourself -- there is no +# automatic support as the Makefile is not generated by +# config.status.) +srcdir= . +VPATH= . + +# === Variables that you may want to customize (rarely) === + +# (Static) build target +TARGET= python + +# Installed python binary (used only by boot target) +PYTHON= python + +# Add more -I and -D options here +CFLAGS= $(OPT) -I$(INCLUDEPY) -I$(EXECINCLUDEPY) $(DEFS) + +# These two variables can be set in Setup to merge extensions. +# See example[23]. +BASELIB= +BASESETUP= + +# === Variables set by makesetup === + +MODOBJS= _MODOBJS_ +MODLIBS= _MODLIBS_ + +# === Definitions added by makesetup === + +# === Variables from configure (through sedscript) === + +VERSION= @VERSION@ +CC= @CC@ +LINKCC= @LINKCC@ +SGI_ABI= @SGI_ABI@ +OPT= @OPT@ +LDFLAGS= @LDFLAGS@ +LDLAST= @LDLAST@ +DEFS= @DEFS@ +LIBS= @LIBS@ +LIBM= @LIBM@ +LIBC= @LIBC@ +RANLIB= @RANLIB@ +MACHDEP= @MACHDEP@ +SO= @SO@ +LDSHARED= @LDSHARED@ +CCSHARED= @CCSHARED@ +LINKFORSHARED= @LINKFORSHARED@ +#@SET_CCC@ + +# Install prefix for architecture-independent files +prefix= /usr/local + +# Install prefix for architecture-dependent files +exec_prefix= $(prefix) + +# Uncomment the following two lines for AIX +#LINKCC= $(LIBPL)/makexp_aix $(LIBPL)/python.exp "" $(LIBRARY); $(PURIFY) $(CC) +#LDSHARED= $(LIBPL)/ld_so_aix $(CC) -bI:$(LIBPL)/python.exp + +# === Fixed definitions === + +# Shell used by make (some versions default to the login shell, which is bad) +SHELL= /bin/sh + +# Expanded directories +BINDIR= $(exec_installdir)/bin +LIBDIR= $(exec_prefix)/lib +MANDIR= $(installdir)/man +INCLUDEDIR= $(installdir)/include +SCRIPTDIR= $(prefix)/lib + +# Detailed destination directories +BINLIBDEST= $(LIBDIR)/python$(VERSION) +LIBDEST= $(SCRIPTDIR)/python$(VERSION) +INCLUDEPY= $(INCLUDEDIR)/python$(VERSION) +EXECINCLUDEPY= $(exec_installdir)/include/python$(VERSION) +LIBP= $(exec_installdir)/lib/python$(VERSION) +DESTSHARED= $(BINLIBDEST)/site-packages + +LIBPL= $(LIBP)/config + +PYTHONLIBS= $(LIBPL)/libpython$(VERSION).a + +MAKESETUP= $(LIBPL)/makesetup +MAKEFILE= $(LIBPL)/Makefile +CONFIGC= $(LIBPL)/config.c +CONFIGCIN= $(LIBPL)/config.c.in +SETUP= $(LIBPL)/Setup.thread $(LIBPL)/Setup.local $(LIBPL)/Setup + +SYSLIBS= $(LIBM) $(LIBC) + +ADDOBJS= $(LIBPL)/python.o config.o + +# Portable install script (configure doesn't always guess right) +INSTALL= $(LIBPL)/install-sh -c +# Shared libraries must be installed with executable mode on some systems; +# rather than figuring out exactly which, we always give them executable mode. +# Also, making them read-only seems to be a good idea... +INSTALL_SHARED= ${INSTALL} -m 555 + +# === Fixed rules === + +# Default target. This builds shared libraries only +default: sharedmods + +# Build everything +all: static sharedmods + +# Build shared libraries from our extension modules +sharedmods: $(SHAREDMODS) + +# Build a static Python binary containing our extension modules +static: $(TARGET) +$(TARGET): $(ADDOBJS) lib.a $(PYTHONLIBS) Makefile $(BASELIB) + $(LINKCC) $(LDFLAGS) $(LINKFORSHARED) \ + $(ADDOBJS) lib.a $(PYTHONLIBS) \ + $(LINKPATH) $(BASELIB) $(MODLIBS) $(LIBS) $(SYSLIBS) \ + -o $(TARGET) $(LDLAST) + +install: sharedmods + if test ! -d $(DESTSHARED) ; then \ + mkdir $(DESTSHARED) ; else true ; fi + -for i in X $(SHAREDMODS); do \ + if test $$i != X; \ + then $(INSTALL_SHARED) $$i $(DESTSHARED)/$$i; \ + fi; \ + done + +# Build the library containing our extension modules +lib.a: $(MODOBJS) + -rm -f lib.a + ar cr lib.a $(MODOBJS) + -$(RANLIB) lib.a + +# This runs makesetup *twice* to use the BASESETUP definition from Setup +config.c Makefile: Makefile.pre Setup $(BASESETUP) $(MAKESETUP) + $(MAKESETUP) \ + -m Makefile.pre -c $(CONFIGCIN) Setup -n $(BASESETUP) $(SETUP) + $(MAKE) -f Makefile do-it-again + +# Internal target to run makesetup for the second time +do-it-again: + $(MAKESETUP) \ + -m Makefile.pre -c $(CONFIGCIN) Setup -n $(BASESETUP) $(SETUP) + +# Make config.o from the config.c created by makesetup +config.o: config.c + $(CC) $(CFLAGS) -c config.c + +# Setup is copied from Setup.in *only* if it doesn't yet exist +Setup: + cp $(srcdir)/Setup.in Setup + +# Make the intermediate Makefile.pre from Makefile.pre.in +Makefile.pre: Makefile.pre.in sedscript + sed -f sedscript $(srcdir)/Makefile.pre.in >Makefile.pre + +# Shortcuts to make the sed arguments on one line +P=prefix +E=exec_prefix +H=Generated automatically from Makefile.pre.in by sedscript. +L=LINKFORSHARED + +# Make the sed script used to create Makefile.pre from Makefile.pre.in +sedscript: $(MAKEFILE) + sed -n \ + -e '1s/.*/1i\\/p' \ + -e '2s%.*%# $H%p' \ + -e '/^VERSION=/s/^VERSION=[ ]*\(.*\)/s%@VERSION[@]%\1%/p' \ + -e '/^CC=/s/^CC=[ ]*\(.*\)/s%@CC[@]%\1%/p' \ + -e '/^CCC=/s/^CCC=[ ]*\(.*\)/s%#@SET_CCC[@]%CCC=\1%/p' \ + -e '/^LINKCC=/s/^LINKCC=[ ]*\(.*\)/s%@LINKCC[@]%\1%/p' \ + -e '/^OPT=/s/^OPT=[ ]*\(.*\)/s%@OPT[@]%\1%/p' \ + -e '/^LDFLAGS=/s/^LDFLAGS=[ ]*\(.*\)/s%@LDFLAGS[@]%\1%/p' \ + -e '/^LDLAST=/s/^LDLAST=[ ]*\(.*\)/s%@LDLAST[@]%\1%/p' \ + -e '/^DEFS=/s/^DEFS=[ ]*\(.*\)/s%@DEFS[@]%\1%/p' \ + -e '/^LIBS=/s/^LIBS=[ ]*\(.*\)/s%@LIBS[@]%\1%/p' \ + -e '/^LIBM=/s/^LIBM=[ ]*\(.*\)/s%@LIBM[@]%\1%/p' \ + -e '/^LIBC=/s/^LIBC=[ ]*\(.*\)/s%@LIBC[@]%\1%/p' \ + -e '/^RANLIB=/s/^RANLIB=[ ]*\(.*\)/s%@RANLIB[@]%\1%/p' \ + -e '/^MACHDEP=/s/^MACHDEP=[ ]*\(.*\)/s%@MACHDEP[@]%\1%/p' \ + -e '/^SO=/s/^SO=[ ]*\(.*\)/s%@SO[@]%\1%/p' \ + -e '/^LDSHARED=/s/^LDSHARED=[ ]*\(.*\)/s%@LDSHARED[@]%\1%/p' \ + -e '/^CCSHARED=/s/^CCSHARED=[ ]*\(.*\)/s%@CCSHARED[@]%\1%/p' \ + -e '/^SGI_ABI=/s/^SGI_ABI=[ ]*\(.*\)/s%@SGI_ABI[@]%\1%/p' \ + -e '/^$L=/s/^$L=[ ]*\(.*\)/s%@$L[@]%\1%/p' \ + -e '/^$P=/s/^$P=\(.*\)/s%^$P=.*%$P=\1%/p' \ + -e '/^$E=/s/^$E=\(.*\)/s%^$E=.*%$E=\1%/p' \ + $(MAKEFILE) >sedscript + echo "/^#@SET_CCC@/d" >>sedscript + echo "/^installdir=/s%=.*%= $(installdir)%" >>sedscript + echo "/^exec_installdir=/s%=.*%=$(exec_installdir)%" >>sedscript + echo "/^srcdir=/s%=.*%= $(srcdir)%" >>sedscript + echo "/^VPATH=/s%=.*%= $(VPATH)%" >>sedscript + echo "/^LINKPATH=/s%=.*%= $(LINKPATH)%" >>sedscript + echo "/^BASELIB=/s%=.*%= $(BASELIB)%" >>sedscript + echo "/^BASESETUP=/s%=.*%= $(BASESETUP)%" >>sedscript + +# Bootstrap target +boot: clobber + VERSION=`$(PYTHON) -c "import sys; print sys.version[:3]"`; \ + installdir=`$(PYTHON) -c "import sys; print sys.prefix"`; \ + exec_installdir=`$(PYTHON) -c "import sys; print sys.exec_prefix"`; \ + $(MAKE) -f $(srcdir)/Makefile.pre.in VPATH=$(VPATH) srcdir=$(srcdir) \ + VERSION=$$VERSION \ + installdir=$$installdir \ + exec_installdir=$$exec_installdir \ + Makefile + +# Handy target to remove intermediate files and backups +clean: + -rm -f *.o *~ + +# Handy target to remove everything that is easily regenerated +clobber: clean + -rm -f *.a tags TAGS config.c Makefile.pre $(TARGET) sedscript + -rm -f *.so *.sl so_locations + + +# Handy target to remove everything you don't want to distribute +distclean: clobber + -rm -f Makefile Setup diff --git a/python/Setup.in b/python/Setup.in new file mode 100644 index 0000000..1f08c79 --- /dev/null +++ b/python/Setup.in @@ -0,0 +1 @@ +comedi compy.c diff --git a/python/compy.c b/python/compy.c new file mode 100644 index 0000000..7c54e2a --- /dev/null +++ b/python/compy.c @@ -0,0 +1,135 @@ +/* Compy: COMedi PYthon interface +* A simple hack sharded object for importing into Python +* to start using Comedi drivers for Digital I/O +* +* Extensively referenced xxmodule.c and others from python distribution +* misc comedi examples. +* +* Blaine Lee Copyright 11/2000 Licence LGPL 2.0 +* +* V 0.3 changed to tuple parsing & added version number __version__() +* V 0.21 Resynced with sorce that had printstats debugging code in it +* V 0.2 Added card number, so that multiple cards are supported +* V 0.1 First release, only 'trig' type transfers are supported +* +*/ + +#include +#include /* for printf() */ +#include + +#define maxcards 4 + +static short trigdata; +static comedi_t *compy_it[maxcards]; +static comedi_trig trig; +static int trigchan[2]; +static printstats=1; + +/*******************************/ +static PyObject * +compy_open(self, args) + PyObject *self; + PyObject *args; +{ + const char *filen; + int card; + + if (!PyArg_ParseTuple(args, "isi", &card, &filen, &printstats)) + return NULL; + if ((card < 0) || (card >= maxcards)) + return NULL; + + if(printstats) + printf("compy open '%s'\n",filen); + + compy_it[card]=comedi_open(filen); + + trig.data=&trigdata; + trig.mode=0; + trig.flags=0; + trig.n_chan=1; + trig.chanlist=trigchan; + trig.n=1; + trig.trigsrc=TRIG_NOW; + trig.data_len=1; + + return Py_BuildValue("i", 1); +} + +static PyObject * +compy_trig(self, args) + PyObject *self; + PyObject *args; +{ + int dev, chan, data; + int card; + + if (!PyArg_ParseTuple(args, "(iii)i", &card, &dev, &chan, &data)) + return NULL; + if ((card < 0) || (card >= maxcards)) + return NULL; + if(printstats) + printf("compy trig card %d dev %d chanel %d val %d\n",card,dev,chan,data); + + trig.subdev=dev; + trig.chanlist[0]=chan; + trig.data[0]=data; + + comedi_trigger(compy_it[card],&trig); + + return Py_BuildValue("i", trig.data[0]); +} + +static PyObject * +compy_close(self, args) + PyObject *self; + PyObject *args; +{ + int card; + + if (!PyArg_ParseTuple(args, "i", &card)) + return NULL; + if ((card < 0) || (card >= maxcards)) + return NULL; + if(printstats) + printf("compy close %d\n",card); + comedi_close(compy_it[card]); + + return Py_BuildValue("i", 1); +} + +#define Version 3 + +static PyObject * +compy_version(self, args) + PyObject *self; + PyObject *args; +{ + if(printstats) + printf("Compy version %d\n",Version); + + return Py_BuildValue("i", Version); +} + + +/* List of functions defined in the module */ + +static PyMethodDef compy_methods[] = { + {"open", compy_open, METH_VARARGS}, + {"trig", compy_trig, METH_VARARGS}, + {"close", compy_close, METH_VARARGS}, + {"__version__", compy_version, METH_VARARGS}, + {NULL, NULL} /* sentinel */ +}; + +/* Initialization function for the module (*must* be called initxx) */ + +DL_EXPORT(void) +initcompy() +{ + /* Create the module and add the functions */ + (void) Py_InitModule("compy", compy_methods); +} + + diff --git a/python/sample.py b/python/sample.py new file mode 100755 index 0000000..a95c5b2 --- /dev/null +++ b/python/sample.py @@ -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) + -- 2.26.2