Machinekit - Current Status of Machinetalk
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The document provides an overview of MachineTalk, detailing its structure as a middleware solution for communication in MachineKit involving real-time environments, various APIs, and user interfaces. It describes multiple use cases, components, and applications while highlighting the integration of protobuf and ZeroMQ for optimized communication. Additionally, it discusses the status of pymachinetalk and improvements made in service discovery capabilities.
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HalremoteinFSMs
down
trying
Start
[Start]
/ Start Socket
/ Reset Heartbeat Liveness
/ Send Ping
/ Start Heartbeat Timer
Stop
[Stop]
/ Stop Heartbeat Timer
/ Stop Socket
up
Any Msg Received
[* Msg Received]
/ Reset Heartbeat Liveness
/ Reset Heartbeat Timer
Stop
[Stop]
/ Stop Heartbeat Timer
/ Stop Socket
Heartbeat Timeout
[Heartbeat Timeout]
/ Stop Socket
/ Start Socket
/ Reset Heartbeat Liveness
/ Send Ping
Heartbeat Timeout
[Heartbeat Timeout]
/ Stop Socket
/ Start Socket
/ Reset Heartbeat Liveness
/ Send Ping
Heartbeat Tick
[Heartbeat Tick]
/ Send Ping
Any Msg Sent
[* Msg Sent]
/ Reset Heartbeat Timer
Heartbeat Tick
[Heartbeat Tick]
/ Send Ping
Any Msg Received
[* Msg Received]
/ Reset Heartbeat Liveness
Any Msg Sent
[* Msg Sent]
/ Reset Heartbeat Timer
down
entry / Set Disconnected
exit / Set Connecting
trying
Connect
[Start]
/ Add Pins
/ Start Halrcmd Channel
Disconnect
[Stop]
/ Stop Halrcmd Channel
/ Stop Halrcomp Channel
/ Remove Pins
bind
Halrcmd Up
[Halrcmd State Up]
/ Bind Component
binding
Halrcomp Bind Msg Sent
[Halrcomp Bind Msg Sent]
syncing
No Bind
[No Bind]
/ Start Halrcomp Channel
Disconnect
[Stop]
/ Stop Halrcmd Channel
/ Stop Halrcomp Channel
/ Remove Pins
Halrcmd Trying
[Halrcmd State Trying] Bind Confirmed
[Halrcomp Bind Confirm Msg Received]
/ Start Halrcomp Channel
error
entry / Set Error
Bind Rejected
[Halrcomp Bind Reject Msg Received]
/ Stop Halrcmd Channel
Disconnect
[Stop]
/ Stop Halrcmd Channel
/ Stop Halrcomp Channel
/ Remove Pins
Halrcmd Trying
[Halrcmd State Trying]
/ Stop Halrcomp Channel
Sync Failed
[Halrcomp Error Msg Received]
/ Stop Halrcomp Channel
/ Stop Halrcmd Channel
synced
entry / Set Connected
Halrcomp Up
[Halrcomp State Up]
Disconnect
[Stop]
/ Stop Halrcmd Channel
/ Stop Halrcomp Channel
/ Remove Pins
Disconnect
[Stop]
/ Stop Halrcmd Channel
/ Stop Halrcomp Channel
/ Remove Pins
Halrcmd Trying
[Halrcmd State Trying]
/ Stop Halrcomp Channel
/ Unsync Pins
/ Set Timeout
Halrcomp Trying
[Halrcomp State Trying]
/ Unsync Pins
/ Set Timeout
Set Rejected
[Halrcomp Set Reject Msg Received]
/ Stop Halrcomp Channel
/ Stop Halrcmd Channel
Halrcomp Set Msg Sent
[Halrcomp Set Msg Sent]
down
trying
Start
[Start]
/ Start Socket
Stop
[Stop]
/ Stop Heartbeat Timer
/ Stop Socket
up
Full Update Received
[Full Update Msg Received]
/ Reset Heartbeat Liveness
/ Start Heartbeat Timer
Stop
[Stop]
/ Stop Heartbeat Timer
/ Stop Socket
Heartbeat Timeout
[Heartbeat Timeout]
/ Stop Heartbeat Timer
/ Stop Socket
/ Start Socket
Heartbeat Tick
[Heartbeat Tick]
/ Reset Heartbeat Timer
Any Msg Received
[* Msg Received]
/ Reset Heartbeat Liveness
/ Reset Heartbeat Timer](https://image.slidesharecdn.com/machinekit-currentstatusofmachinetalk-180921094308/85/Machinekit-Current-Status-of-Machinetalk-18-320.jpg)
Machinekit - Current Status of Machinetalk
- 2. 2 Overview ● Machinetalk Quick Intro ● Use in Machinekit ● Machinetalk GSL ● Machinetalk Generic ● Pymachinetalk
- 4. 4 Machinetalk ● Middleware ● Component Component↔ ● RT Userland↔ ● Local Remote↔ Application Application Middleware API Platform Technology API Communication Middleware API ... ...
- 5. 5 UseCase 1–Multi UI Single-Board Computer User Interface 1 User Interface 2 Machine Tool
- 7. 7 UseCase 3–InternalandExternal Single-Board Computer Workstation Smart Device Remote Pendant GCode Interpreter Task Controller Motion Controller HAL Web UI Web Bridge Machine Tool
- 8. 8 Parts Machinetalk ZeroMQ Protobuf DNS-SDovermDNS OS, Platform Technology Protocol Components Transport / Messaging Serialization Service Discovery Services
- 10. 10 Scope Remote UI API HALHaltalk Local UI API Motion Controller API Trajectory Planner Client 1 Real-Time Environment Real-Time Host 1 Task Executor GCode Interpreter Webtalk Bridge Client 2 MTMT MTMTMTMT ZeroMQ Protobuf Ring Buffers Real-Time Host 2 Real-Time Environment API HAL Userspace Application Fieldbus Client 3 Web App RB RB RB RB Websockets JSON/Protobuf WTWT Protobuf
- 11. 11 Services & Components Component Services Haltalk halrcmd, halrcomp, (halgroup) msgd log mklauncher launcher, launchercmd configserver config mkwrapper status, command, error, file previewmodule preview, previewcmd
- 12. 12 Close Up Application HAL Remote Component Client Remote Component HAL Instance Real-Time Environment Real-Time Host Haltalk HAL Remote Component halrcmd halrcomp ZeroMQ Protobuf API
- 13. 13 WhataboutNML? ● Replace with Machinetalk → not completed ● Major refactoring of the CNC Stack
- 14. 14 What’s the dealwith Machinetalk GSL?
- 15. 15 Reasons ● Not only Protobuf + ZMQ + DNS-SD/mDNS ● Knowledge embedded in code ● Repetitive across languages ● Protocols better formalized ● Protobuf Messages↔
- 16. 16 Imatix/GSL ● Model Oriented Programing ● Control Model + Generator XML Model .xml GSL Interpreter Generated Code .cpp, .py, ... GSL Template .gsl
- 17. 17 Example
- 18. 18 HalremoteinFSMs down trying Start [Start] / Start Socket / Reset Heartbeat Liveness / Send Ping / Start Heartbeat Timer Stop [Stop] / Stop Heartbeat Timer / Stop Socket up Any Msg Received [* Msg Received] / Reset Heartbeat Liveness / Reset Heartbeat Timer Stop [Stop] / Stop Heartbeat Timer / Stop Socket Heartbeat Timeout [Heartbeat Timeout] / Stop Socket / Start Socket / Reset Heartbeat Liveness / Send Ping Heartbeat Timeout [Heartbeat Timeout] / Stop Socket / Start Socket / Reset Heartbeat Liveness / Send Ping Heartbeat Tick [Heartbeat Tick] / Send Ping Any Msg Sent [* Msg Sent] / Reset Heartbeat Timer Heartbeat Tick [Heartbeat Tick] / Send Ping Any Msg Received [* Msg Received] / Reset Heartbeat Liveness Any Msg Sent [* Msg Sent] / Reset Heartbeat Timer down entry / Set Disconnected exit / Set Connecting trying Connect [Start] / Add Pins / Start Halrcmd Channel Disconnect [Stop] / Stop Halrcmd Channel / Stop Halrcomp Channel / Remove Pins bind Halrcmd Up [Halrcmd State Up] / Bind Component binding Halrcomp Bind Msg Sent [Halrcomp Bind Msg Sent] syncing No Bind [No Bind] / Start Halrcomp Channel Disconnect [Stop] / Stop Halrcmd Channel / Stop Halrcomp Channel / Remove Pins Halrcmd Trying [Halrcmd State Trying] Bind Confirmed [Halrcomp Bind Confirm Msg Received] / Start Halrcomp Channel error entry / Set Error Bind Rejected [Halrcomp Bind Reject Msg Received] / Stop Halrcmd Channel Disconnect [Stop] / Stop Halrcmd Channel / Stop Halrcomp Channel / Remove Pins Halrcmd Trying [Halrcmd State Trying] / Stop Halrcomp Channel Sync Failed [Halrcomp Error Msg Received] / Stop Halrcomp Channel / Stop Halrcmd Channel synced entry / Set Connected Halrcomp Up [Halrcomp State Up] Disconnect [Stop] / Stop Halrcmd Channel / Stop Halrcomp Channel / Remove Pins Disconnect [Stop] / Stop Halrcmd Channel / Stop Halrcomp Channel / Remove Pins Halrcmd Trying [Halrcmd State Trying] / Stop Halrcomp Channel / Unsync Pins / Set Timeout Halrcomp Trying [Halrcomp State Trying] / Unsync Pins / Set Timeout Set Rejected [Halrcomp Set Reject Msg Received] / Stop Halrcomp Channel / Stop Halrcmd Channel Halrcomp Set Msg Sent [Halrcomp Set Msg Sent] down trying Start [Start] / Start Socket Stop [Stop] / Stop Heartbeat Timer / Stop Socket up Full Update Received [Full Update Msg Received] / Reset Heartbeat Liveness / Start Heartbeat Timer Stop [Stop] / Stop Heartbeat Timer / Stop Socket Heartbeat Timeout [Heartbeat Timeout] / Stop Heartbeat Timer / Stop Socket / Start Socket Heartbeat Tick [Heartbeat Tick] / Reset Heartbeat Timer Any Msg Received [* Msg Received] / Reset Heartbeat Liveness / Reset Heartbeat Timer
- 19. 19 Layering Channel Layer Implementation Layer Subscriber RpcClient «abstract» RemoteComponentBase RemoteComponent Composition Layer Model
- 21. 21 Addinga newLanguageBinding ● Find libs ● Write MVP ● Build a code generator ● Implement details Find Requirements Proof of Concept Generalize 1. 2. 3. Specialize 4.
- 22. 22 GSLConclusion ● Perfect for protocols ● Less repetitive ● Focus on good models ● Consistency across languages
- 23. 23 Applications ● QtQuickVcp ● pymachinetalk ● WebVCP (webtalk-ng) ● node-machinetalk (not in production)
- 24. 24 More ● Formal Verification - UPPAAL ● SCXML support
- 26. 26 Machinetalk Generic ● Generalizes – machinetalk-protobuf – machinetalk-gsl ● multiple “Machinetalks” can live side-by-side ● Adds project namespace/package ● Generate client and server base
- 27. 27 Howtouse ● Fork machinetalk-protobuf ● Fork machinetalk-gsl ● Change/add project name alias ● Implement your protocols ● Define your message structure ● Generate ● Implement
- 29. 29 Update ● Continued work ● Implemented mt-gsl ● Replaced avahi with zeroconf ● Easier to use serivce discovery ● Available via PyPI
- 30. 30 Example import time from pymachinetalk.dns_sd import ServiceDiscovery import pymachinetalk.halremote as halremote sd = ServiceDiscovery() rcomp = halremote.RemoteComponent('anddemo', debug=False) rcomp.newpin('button0', halremote.HAL_BIT, halremote.HAL_OUT) rcomp.newpin('button1', halremote.HAL_BIT, halremote.HAL_OUT) led_pin = rcomp.newpin('led', halremote.HAL_BIT, halremote.HAL_IN) sd.register(rcomp) sd.start() try: while True: if rcomp.connected: print('LED status %s' %s str(led_pin.value) time.sleep(0.5) except KeyboardInterrupt: pass sd.stop()
- 31. 31 Questions?