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"""hal library python interface using ctypes ffi interface"""
from ctypes import*
lib = CDLL('liblinuxcnchal.so')
lib.hal_malloc.restype = c_void_p
lib.hal_malloc.argtype = [c_long]
lib.hal_comp_name.restype = c_char_p
lib.hal_pin_new.argtypes = [c_char_p, c_int, c_int, c_void_p, c_int]
lib.hal_signal_new.argtypes = [c_char_p, c_int]
lib.hal_link.argtypes = [c_char_p, c_char_p]
lib.hal_port_read.argtypes = [c_int, c_char_p, c_uint]
lib.hal_port_read.restype = c_bool
lib.hal_port_peek.argtypes = [c_int, c_char_p, c_uint]
lib.hal_port_peek.restype = c_bool
lib.hal_port_peek_commit.argtypes = [c_int, c_char_p, c_uint]
lib.hal_port_peek.restype = c_bool
lib.hal_port_write.argtypes = [c_int, c_char_p, c_uint]
lib.hal_port_write.restype = c_bool
lib.hal_port_readable.argtypes = [c_int]
lib.hal_port_readable.restype = c_uint
lib.hal_port_writable.argtypes = [c_int]
lib.hal_port_writable.restype = c_uint
lib.hal_port_buffer_size.argtypes = [c_int]
lib.hal_port_buffer_size.restype = c_uint
lib.hal_port_clear.argtypes = [c_int]
lib.hal_port_wait_readable.argtypes = [POINTER(POINTER(c_int)), c_uint, c_int]
lib.hal_port_wait_writable.argtypes = [POINTER(POINTER(c_int)), c_uint, c_int]
class HalException(Exception):
"""An exception raised by hal library functions"""
pass
class halType:
BIT = 1
FLOAT = 2
SIGNED = 3
UNSIGNED = 4
PORT = 5
values = [BIT, FLOAT, SIGNED, UNSIGNED, PORT ]
typeConversion = { BIT : c_bool,
FLOAT : c_double,
SIGNED : c_int32,
UNSIGNED : c_uint32,
PORT : c_int }
class pinDir:
IN = 16
OUT = 32
IO = IN | OUT
values = [IN, OUT, IO]
class pin(object):
def __init__(self, component, name, type, dir, data_ptr):
self.comp = component
self.name = name
self.type = type
self.dir = dir
self.data_ptr = data_ptr
@property
def fullname(self):
return "{0}.{1}".format(self.comp.name, self.name)
@property
def value(self):
if self.type == halType.PORT:
raise HalException("cannot get value of PORT pin")
else:
return self.data_ptr.contents.contents.value
@value.setter
def value(self, val):
if self.type == halType.PORT:
raise HalException("cannot set value of PORT pin")
else:
self.data_ptr.contents.contents.value = val
class port(pin):
def __init__(self, component, name, type, dir, data_ptr):
pin.__init__(self, component, name, type, dir, data_ptr)
@property
def __port(self):
return self.data_ptr.contents.contents.value
def read(self, count):
if self.dir != pinDir.IN:
raise HalException("cannot read output port")
buff = create_string_buffer(count)
if not lib.hal_port_read(self.__port, buff, count):
return ''
else:
return buff.raw
def peek(self, count):
if self.dir != pinDir.IN:
raise HalException("cannot peek output port")
buff = create_string_buffer(count)
if not lib.hal_port_peek(self.__port, buff, count):
return ''
else:
return buff.raw
def peek_commit(self, count):
if self.dir != pinDir.IN:
raise HalException("cannot peek commit output port")
return lib.hal_port_peek_commit(self.__port, count)
def write(self, buff):
if self.dir != pinDir.OUT:
raise HalException("cannot write input port")
return lib.hal_port_write(self.__port, buff.encode(), len(buff))
def readable(self):
if self.dir != pinDir.IN:
raise HalException("cannot read output port")
return lib.hal_port_readable(self.__port)
def writable(self):
if self.dir != pinDir.OUT:
raise HalException("cannot write input port")
return lib.hal_port_writable(self.__port)
def size(self):
return lib.hal_port_buffer_size(self.__port)
def clear(self):
if self.dir != pinDir.IN:
raise HalException("cannot clear output port")
lib.hal_port_clear(self.__port)
def waitReadable(self, count):
if self.dir != pinDir.IN:
raise HalException("cannot read output port")
lib.hal_port_wait_readable(self.data_ptr, count, 0)
def waitWritable(self, count):
if self.dir != pinDir.OUT:
raise HalException("cannot write input port")
lib.hal_port_wait_writable(self.data_ptr, count, 0)
class component:
def __init__(self, name):
self.id = lib.hal_init(name.encode())
self.name = name
self.pins = {}
if self.id < 0:
raise HalException('failed to initialized component "{0}"'.format(name))
def __del__(self):
self.exit()
def exit(self):
if self.id > 0:
result = lib.hal_exit(self.id)
self.id = -1
if result < 0:
raise HalException('hal_exit failed with code {0}'.format(result))
def ready(self):
result = lib.hal_ready(self.id)
if result < 0:
raise HalException('hal_ready failed with code {0}'.format(result))
def name(self):
return lib.hal_comp_name(self.id)
def pinNew(self, name, type, dir):
if not type in halType.typeConversion:
raise HalException('failed to create pin "{0}". Unknown type {1}'.format(name, type))
if not dir in pinDir.values:
raise HalException('failed to create pin "{0}". Unknown dir {1}'.format(name, dir))
ctype = halType.typeConversion[type]
ptr = self.halMalloc(sizeof(c_void_p))
result = lib.hal_pin_new("{0}.{1}".format(self.name, name).encode(), type, dir, ptr, self.id)
if result < 0:
raise HalException('failed to create pin "{0}" with code {1}'.format(name, result))
if type == halType.PORT:
self.pins[name] = port(self, name, type, dir, cast(ptr, POINTER(POINTER(ctype))))
else:
self.pins[name] = pin(self, name, type, dir, cast(ptr, POINTER(POINTER(ctype))))
return self.pins[name]
def sigNew(self, name, type):
if not type in halType.values:
raise HalException('failed to create signal "{0}". Invalid type {1}'.format(name, type))
result = lib.hal_signal_new(name.encode(), type)
if result < 0:
raise HalException('failed to create signal "{0}" with code {1}'.format(name, result))
def sigLink(self, pin_name, sig_name):
result = lib.hal_link(pin_name.encode(), sig_name.encode())
if result < 0:
raise HalException('failed to link sig "{0}" to pin "{1}" with result {2}'.format(sig_name, pin_name, result))
def halMalloc(self, count):
ptr = lib.hal_malloc(count)
memset(ptr, 0, count)
return ptr
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