Running milltask (or gcode interp) without python?

callmethod and Py_XDECREF

#define callmethod(o, m, f, ...) PyObject_CallMethod((o), (char*)(m), (char*)(f), ## __VA_ARGS__) void STRAIGHT_FEED(int line_number,                    double x, double y, double z,                    double a, double b, double c,                    double u, double v, double w) {     _pos_x=x; _pos_y=y; _pos_z=z;     _pos_a=a; _pos_b=b; _pos_c=c;     _pos_u=u; _pos_v=v; _pos_w=w;     if(metric) { x /= 25.4; y /= 25.4; z /= 25.4; u /= 25.4; v /= 25.4; w /= 25.4; }     maybe_new_line(line_number);     if(interp_error) return; #ifdef PYTHONO     PyObject *result =         callmethod(callback, "straight_feed", "fffffffff",                             x, y, z, a, b, c, u, v, w);     if(result == NULL) interp_error ++;     Py_XDECREF(result); #endif }

halcompile --lib=-lposemath --install mykinesmodule.c

#!/usr/bin/python3.7 #    This is 'halcompile', a tool to write HAL boilerplate #    Copyright 2006 Jeff Epler <jepler@unpythonic.net> # #    This program is free software; you can redistribute it and/or modify #    it under the terms of the GNU General Public License as published by #    the Free Software Foundation; either version 2 of the License, or #    (at your option) any later version. # #    This program is distributed in the hope that it will be useful, #    but WITHOUT ANY WARRANTY; without even the implied warranty of #    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the #    GNU General Public License for more details. # #    You should have received a copy of the GNU General Public License #    along with this program; if not, write to the Free Software #    Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA. # Begin -- grammar generated by Yapps from __future__ import print_function import sys, re from yapps import runtime global extra_libs extra_libs = " " class HalScanner(runtime.Scanner):     patterns = [         ('"FALSE"', re.compile('FALSE')),         ('"TRUE"', re.compile('TRUE')),         ('"false"', re.compile('false')),         ('"true"', re.compile('true')),         ('"no"', re.compile('no')),         ('"yes"', re.compile('yes')),         ('"nofp"', re.compile('nofp')),         ('"fp"', re.compile('fp')),         ('"="', re.compile('=')),         ('":"', re.compile(':')),         ('"\\]"', re.compile('\\]')),         ('"\\["', re.compile('\\[')),         ('"if"', re.compile('if')),         ('"modparam"', re.compile('modparam')),         ('"include"', re.compile('include')),         ('"author"', re.compile('author')),         ('"license"', re.compile('license')),         ('"description"', re.compile('description')),         ('"notes"', re.compile('notes')),         ('"see_also"', re.compile('see_also')),         ('"option"', re.compile('option')),         ('"variable"', re.compile('variable')),         ('"function"', re.compile('function')),         ('"param"', re.compile('param')),         ('"pin"', re.compile('pin')),         ('";"', re.compile(';')),         ('"component"', re.compile('component')),         ('"$"', re.compile('$')),         ('//.*', re.compile('//.*')),         ('/[*](.|\n)*?[*]/', re.compile('/[*](.|\n)*?[*]/')),         ('[ \t\r\n]+', re.compile('[ \t\r\n]+')),         ('END', re.compile(';;')),         ('PARAMDIRECTION', re.compile('rw|r')),         ('PINDIRECTION', re.compile('in|out|io')),         ('TYPE', re.compile('float|bit|signed|unsigned|u32|s32')),         ('NAME', re.compile('[a-zA-Z_][a-zA-Z0-9_]*')),         ('STARREDNAME', re.compile('[*]*[a-zA-Z_][a-zA-Z0-9_]*')),         ('HALNAME', re.compile('[#a-zA-Z_][-#a-zA-Z0-9_.]*')),         ('FPNUMBER', re.compile('-?([0-9]*\\.[0-9]+|[0-9]+\\.?)([Ee][+-]?[0-9]+)?f?')),         ('NUMBER', re.compile('0x[0-9a-fA-F]+|[+-]?[0-9]+')),         ('STRING', re.compile('"(\\.|[^\\"])*"')),         ('HEADER', re.compile('<.*?>')),         ('POP', re.compile('[-()+*/:?]|&&|\\|\\||personality|==|&|!=|<<|<|<=|>>|>|>=')),         ('TSTRING', re.compile('r?"""(\\.|\\\n|[^\\"]|"(?!"")|\n)*"""')),     ]     def __init__(self, str,*args,**kw):         runtime.Scanner.__init__(self,None,{'//.*':None,'/[*](.|\n)*?[*]/':None,'[ \t\r\n]+':None,},str,*args,**kw) class Hal(runtime.Parser):     Context = runtime.Context     def File(self, _parent=None):         _context = self.Context(_parent, self._scanner, 'File', [])         ComponentDeclaration = self.ComponentDeclaration(_context)         while self._peek('"$"', '"pin"', '"param"', '"function"', '"variable"', '"option"', '"see_also"', '"notes"', '"description"', '"license"', '"author"', '"include"', '"modparam"', context=_context) != '"$"':             Declaration = self.Declaration(_context)         self._scan('"$"', context=_context)         return True     def ComponentDeclaration(self, _parent=None):         _context = self.Context(_parent, self._scanner, 'ComponentDeclaration', [])         self._scan('"component"', context=_context)         NAME = self._scan('NAME', context=_context)         OptString = self.OptString(_context)         self._scan('";"', context=_context)         comp(NAME, OptString);     def Declaration(self, _parent=None):         _context = self.Context(_parent, self._scanner, 'Declaration', [])         _token = self._peek('"pin"', '"param"', '"function"', '"variable"', '"option"', '"see_also"', '"notes"', '"description"', '"license"', '"author"', '"include"', '"modparam"', context=_context)         if _token == '"pin"':             self._scan('"pin"', context=_context)             PINDIRECTION = self._scan('PINDIRECTION', context=_context)             TYPE = self._scan('TYPE', context=_context)             HALNAME = self._scan('HALNAME', context=_context)             OptArray = self.OptArray(_context)             OptSAssign = self.OptSAssign(_context)             OptPersonality = self.OptPersonality(_context)             OptString = self.OptString(_context)             self._scan('";"', context=_context)             pin(HALNAME, TYPE, OptArray, PINDIRECTION, OptString, OptSAssign, OptPersonality)         elif _token == '"param"':             self._scan('"param"', context=_context)             PARAMDIRECTION = self._scan('PARAMDIRECTION', context=_context)             TYPE = self._scan('TYPE', context=_context)             HALNAME = self._scan('HALNAME', context=_context)             OptArray = self.OptArray(_context)             OptSAssign = self.OptSAssign(_context)             OptPersonality = self.OptPersonality(_context)             OptString = self.OptString(_context)             self._scan('";"', context=_context)             param(HALNAME, TYPE, OptArray, PARAMDIRECTION, OptString, OptSAssign, OptPersonality)         elif _token == '"function"':             self._scan('"function"', context=_context)             NAME = self._scan('NAME', context=_context)             OptFP = self.OptFP(_context)             OptString = self.OptString(_context)             self._scan('";"', context=_context)             function(NAME, OptFP, OptString)         elif _token == '"variable"':             self._scan('"variable"', context=_context)             NAME = self._scan('NAME', context=_context)             STARREDNAME = self._scan('STARREDNAME', context=_context)             OptSimpleArray = self.OptSimpleArray(_context)             OptAssign = self.OptAssign(_context)             self._scan('";"', context=_context)             variable(NAME, STARREDNAME, OptSimpleArray, OptAssign)         elif _token == '"option"':             self._scan('"option"', context=_context)             NAME = self._scan('NAME', context=_context)             OptValue = self.OptValue(_context)             self._scan('";"', context=_context)             option(NAME, OptValue)         elif _token == '"see_also"':             self._scan('"see_also"', context=_context)             String = self.String(_context)             self._scan('";"', context=_context)             see_also(String)         elif _token == '"notes"':             self._scan('"notes"', context=_context)             String = self.String(_context)             self._scan('";"', context=_context)             notes(String)         elif _token == '"description"':             self._scan('"description"', context=_context)             String = self.String(_context)             self._scan('";"', context=_context)             description(String)         elif _token == '"license"':             self._scan('"license"', context=_context)             String = self.String(_context)             self._scan('";"', context=_context)             license(String)         elif _token == '"author"':             self._scan('"author"', context=_context)             String = self.String(_context)             self._scan('";"', context=_context)             author(String)         elif _token == '"include"':             self._scan('"include"', context=_context)             Header = self.Header(_context)             self._scan('";"', context=_context)             include(Header)         else: # == '"modparam"'             self._scan('"modparam"', context=_context)             NAME = self._scan('NAME', context=_context)             NAME1=NAME;             NAME = self._scan('NAME', context=_context)             OptSAssign = self.OptSAssign(_context)             OptString = self.OptString(_context)             self._scan('";"', context=_context)             modparam(NAME1, NAME, OptSAssign, OptString)     def Header(self, _parent=None):         _context = self.Context(_parent, self._scanner, 'Header', [])         _token = self._peek('STRING', 'HEADER', context=_context)         if _token == 'STRING':             STRING = self._scan('STRING', context=_context)             return STRING         else: # == 'HEADER'             HEADER = self._scan('HEADER', context=_context)             return HEADER     def String(self, _parent=None):         _context = self.Context(_parent, self._scanner, 'String', [])         _token = self._peek('TSTRING', 'STRING', context=_context)         if _token == 'TSTRING':             TSTRING = self._scan('TSTRING', context=_context)             return eval(TSTRING)         else: # == 'STRING'             STRING = self._scan('STRING', context=_context)             return eval(STRING)     def OptPersonality(self, _parent=None):         _context = self.Context(_parent, self._scanner, 'OptPersonality', [])         _token = self._peek('"if"', '";"', 'TSTRING', 'STRING', context=_context)         if _token == '"if"':             self._scan('"if"', context=_context)             Personality = self.Personality(_context)             return Personality         else: # in ['";"', 'TSTRING', 'STRING']             return None     def Personality(self, _parent=None):         _context = self.Context(_parent, self._scanner, 'Personality', [])         pp = []         while self._peek('NUMBER', 'POP', '"\\]"', '";"', 'TSTRING', 'STRING', context=_context) in ['NUMBER', 'POP']:             PersonalityPart = self.PersonalityPart(_context)             pp.append(PersonalityPart)         return " ".join(pp)     def PersonalityPart(self, _parent=None):         _context = self.Context(_parent, self._scanner, 'PersonalityPart', [])         _token = self._peek('NUMBER', 'POP', context=_context)         if _token == 'NUMBER':             NUMBER = self._scan('NUMBER', context=_context)             return NUMBER         else: # == 'POP'             POP = self._scan('POP', context=_context)             return POP     def OptSimpleArray(self, _parent=None):         _context = self.Context(_parent, self._scanner, 'OptSimpleArray', [])         _token = self._peek('"\\["', '";"', '"="', context=_context)         if _token == '"\\["':             self._scan('"\\["', context=_context)             NUMBER = self._scan('NUMBER', context=_context)             self._scan('"\\]"', context=_context)             return int(NUMBER)         else: # in ['";"', '"="']             return 0     def OptArray(self, _parent=None):         _context = self.Context(_parent, self._scanner, 'OptArray', [])         _token = self._peek('"\\["', '"="', '"if"', '";"', 'TSTRING', 'STRING', context=_context)         if _token == '"\\["':             self._scan('"\\["', context=_context)             NUMBER = self._scan('NUMBER', context=_context)             OptArrayPersonality = self.OptArrayPersonality(_context)             self._scan('"\\]"', context=_context)             return OptArrayPersonality and (int(NUMBER), OptArrayPersonality) or int(NUMBER)         else: # in ['"="', '"if"', '";"', 'TSTRING', 'STRING']             return 0     def OptArrayPersonality(self, _parent=None):         _context = self.Context(_parent, self._scanner, 'OptArrayPersonality', [])         _token = self._peek('":"', '"\\]"', context=_context)         if _token == '":"':             self._scan('":"', context=_context)             Personality = self.Personality(_context)             return Personality         else: # == '"\\]"'             return None     def OptString(self, _parent=None):         _context = self.Context(_parent, self._scanner, 'OptString', [])         _token = self._peek('TSTRING', 'STRING', '";"', context=_context)         if _token == 'TSTRING':             TSTRING = self._scan('TSTRING', context=_context)             return eval(TSTRING)         elif _token == 'STRING':             STRING = self._scan('STRING', context=_context)             return eval(STRING)         else: # == '";"'             return ''     def OptAssign(self, _parent=None):         _context = self.Context(_parent, self._scanner, 'OptAssign', [])         _token = self._peek('"="', '";"', context=_context)         if _token == '"="':             self._scan('"="', context=_context)             Value = self.Value(_context)             return Value;         else: # == '";"'             return None     def OptSAssign(self, _parent=None):         _context = self.Context(_parent, self._scanner, 'OptSAssign', [])         _token = self._peek('"="', '"if"', '";"', 'TSTRING', 'STRING', context=_context)         if _token == '"="':             self._scan('"="', context=_context)             SValue = self.SValue(_context)             return SValue;         else: # in ['"if"', '";"', 'TSTRING', 'STRING']             return None     def OptFP(self, _parent=None):         _context = self.Context(_parent, self._scanner, 'OptFP', [])         _token = self._peek('"fp"', '"nofp"', '";"', 'TSTRING', 'STRING', context=_context)         if _token == '"fp"':             self._scan('"fp"', context=_context)             return 1         elif _token == '"nofp"':             self._scan('"nofp"', context=_context)             return 0         else: # in ['";"', 'TSTRING', 'STRING']             return 1     def Value(self, _parent=None):         _context = self.Context(_parent, self._scanner, 'Value', [])         _token = self._peek('"yes"', '"no"', '"true"', '"false"', '"TRUE"', '"FALSE"', 'NAME', 'FPNUMBER', 'NUMBER', context=_context)         if _token == '"yes"':             self._scan('"yes"', context=_context)             return 1         elif _token == '"no"':             self._scan('"no"', context=_context)             return 0         elif _token == '"true"':             self._scan('"true"', context=_context)             return 1         elif _token == '"false"':             self._scan('"false"', context=_context)             return 0         elif _token == '"TRUE"':             self._scan('"TRUE"', context=_context)             return 1         elif _token == '"FALSE"':             self._scan('"FALSE"', context=_context)             return 0         elif _token == 'NAME':             NAME = self._scan('NAME', context=_context)             return NAME         elif _token == 'FPNUMBER':             FPNUMBER = self._scan('FPNUMBER', context=_context)             return float(FPNUMBER.rstrip("f"))         else: # == 'NUMBER'             NUMBER = self._scan('NUMBER', context=_context)             return int(NUMBER,0)     def SValue(self, _parent=None):         _context = self.Context(_parent, self._scanner, 'SValue', [])         _token = self._peek('"yes"', '"no"', '"true"', '"false"', '"TRUE"', '"FALSE"', 'NAME', 'FPNUMBER', 'NUMBER', context=_context)         if _token == '"yes"':             self._scan('"yes"', context=_context)             return "yes"         elif _token == '"no"':             self._scan('"no"', context=_context)             return "no"         elif _token == '"true"':             self._scan('"true"', context=_context)             return "true"         elif _token == '"false"':             self._scan('"false"', context=_context)             return "false"         elif _token == '"TRUE"':             self._scan('"TRUE"', context=_context)             return "TRUE"         elif _token == '"FALSE"':             self._scan('"FALSE"', context=_context)             return "FALSE"         elif _token == 'NAME':             NAME = self._scan('NAME', context=_context)             return NAME         elif _token == 'FPNUMBER':             FPNUMBER = self._scan('FPNUMBER', context=_context)             return FPNUMBER         else: # == 'NUMBER'             NUMBER = self._scan('NUMBER', context=_context)             return NUMBER     def OptValue(self, _parent=None):         _context = self.Context(_parent, self._scanner, 'OptValue', [])         _token = self._peek('"yes"', '"no"', '"true"', '"false"', '"TRUE"', '"FALSE"', 'NAME', 'FPNUMBER', 'NUMBER', 'TSTRING', 'STRING', '";"', context=_context)         if _token not in ['TSTRING', 'STRING', '";"']:             Value = self.Value(_context)             return Value         elif _token == 'TSTRING':             TSTRING = self._scan('TSTRING', context=_context)             return eval(TSTRING)         elif _token == 'STRING':             STRING = self._scan('STRING', context=_context)             return eval(STRING)         else: # == '";"'             return 1     def OptSValue(self, _parent=None):         _context = self.Context(_parent, self._scanner, 'OptSValue', [])         _token = self._peek('"yes"', '"no"', '"true"', '"false"', '"TRUE"', '"FALSE"', 'NAME', 'FPNUMBER', 'NUMBER', context=_context)         SValue = self.SValue(_context)         return SValue def parse(rule, text):     P = Hal(HalScanner(text))     return runtime.wrap_error_reporter(P, rule) # End -- grammar generated by Yapps import os, sys, tempfile, shutil, getopt, time BASE = os.path.abspath(os.path.join(os.path.dirname(sys.argv[0]), "..")) BINDIR = os.getenv('USER_MODULE_DIR', None) or os.path.join(BASE, "bin") sys.path.insert(0, os.path.join(BASE, "lib", "python")) MAX_USERSPACE_NAMES = 16 # for userspace (loadusr) components # NOTE: names are assigned dynamically for realtime components (loadrt) # Components that use 'personality' features statically allocate # memory based on MAX_PERSONALITIES (RTAPI_MP_ARRAY_INT) # The number can be set with the cmdline option -P|--personalities # Smaller values may be useful since the index of the personality # exported is computed modulo MAX_PERSONALITIES MAX_PERSONALITIES = 64 mp_decl_map = {'int': 'RTAPI_MP_INT', 'dummy': None} # These are symbols that comp puts in the global namespace of the C file it # creates.  The user is thus not allowed to add any symbols with these # names.  That includes not only global variables and functions, but also # HAL pins & parameters, because comp adds #defines with the names of HAL # pins & params. reserved_names = [ 'comp_id', 'fperiod', 'rtapi_app_main', 'rtapi_app_exit', 'extra_setup', 'extra_cleanup' ] def _parse(rule, text, filename=None):     global P, S     S = HalScanner(text, filename=filename)     P = Hal(S)     return runtime.wrap_error_reporter(P, rule) def parse(filename):     initialize()     f = open(filename).read()     if '\r' in f:         if require_unix_line_endings:             raise SystemExit("%s:0: Error: File contains DOS-style or Mac-style line endings." % filename)         else:             print("%s:0: Warning: File contains DOS-style or Mac-style line endings." % filename, file=sys.stderr)         f = open(filename, "rU").read()     a, b = f.split("\n;;\n", 1)     p = _parse('File', a + "\n\n", filename)     if not p: raise SystemExit(1)     if require_license:         if not finddoc('license'):             raise SystemExit("%s:0: License not specified" % filename)     return a, b dirmap = {'r': 'HAL_RO', 'rw': 'HAL_RW', 'in': 'HAL_IN', 'out': 'HAL_OUT', 'io': 'HAL_IO' } typemap = {'signed': 's32', 'unsigned': 'u32'} deprmap = {'s32': 'signed', 'u32': 'unsigned'} deprecated = ['s32', 'u32'] def initialize():     global functions, params, pins, options, comp_name, names, docs, variables     global modparams, includes     functions = []; params = []; pins = []; options = {}; variables = []     modparams = []; docs = []; includes = [];     comp_name = None     names = {} def Warn(msg, *args):     if args:         msg = msg % args     print("%s:%d: Warning: %s" % (S.filename, S.line, msg), file=sys.stderr) def Error(msg, *args):     if args:         msg = msg % args     raise runtime.SyntaxError(S.get_pos(), msg, None) def comp(name, doc):     docs.append(('component', name, doc))     global comp_name     if comp_name:         Error("Duplicate specification of component name")     comp_name = name; def description(doc):     docs.append(('descr', doc)); def license(doc):     docs.append(('license', doc)); def author(doc):     docs.append(('author', doc)); def see_also(doc):     docs.append(('see_also', doc)); def notes(doc):     docs.append(('notes', doc)); def type2type(type):     # When we start warning about s32/u32 this is where the warning goes     return typemap.get(type, type)      def checkarray(name, array):     hashes = len(re.findall("#+", name))     if array:         if hashes == 0: Error("Array name contains no #: %r" % name)         if hashes > 1: Error("Array name contains more than one block of #: %r" % name)     else:         if hashes > 0: Error("Non-array name contains #: %r" % name) def check_name_ok(name):     if name in reserved_names:         Error("Variable name %s is reserved" % name)     if name in names:         Error("Duplicate item name %s" % name) def pin(name, type, array, dir, doc, value, personality):     checkarray(name, array)     type = type2type(type)     check_name_ok(name)     docs.append(('pin', name, type, array, dir, doc, value, personality))     names[name] = None     pins.append((name, type, array, dir, value, personality)) def param(name, type, array, dir, doc, value, personality):     checkarray(name, array)     type = type2type(type)     check_name_ok(name)     docs.append(('param', name, type, array, dir, doc, value, personality))     names[name] = None     params.append((name, type, array, dir, value, personality)) def function(name, fp, doc):     check_name_ok(name)     docs.append(('funct', name, fp, doc))     names[name] = None     functions.append((name, fp)) def option(name, value):     if name in options:         Error("Duplicate option name %s" % name)     options[name] = value def variable(type, name, array, default):     check_name_ok(name)     names[name] = None     variables.append((type, name, array, default)) def modparam(type, name, default, doc):     check_name_ok(name)     names[name] = None     modparams.append((type, name, default, doc)) def include(value):     includes.append((value)) def removeprefix(s,p):     if s.startswith(p): return s[len(p):]     return s def to_hal(name):     name = re.sub("#+", lambda m: "%%0%dd" % len(m.group(0)), name)     return name.replace("_", "-").rstrip("-").rstrip(".") def to_c(name):     name = re.sub("[-._]*#+", "", name)     name = name.replace("#", "").replace(".", "_").replace("-", "_")     return re.sub("_+", "_", name) def prologue(f):     print("/* Autogenerated by %s on %s -- do not edit */" % (         sys.argv[0], time.asctime()), file=f)     print("""\ #include "rtapi.h" #ifdef RTAPI #include "rtapi_app.h" #endif #include "rtapi_string.h" #include "rtapi_errno.h" #include "hal.h" #include "rtapi_math64.h" static int comp_id; """, file=f)     for name in includes:         print("#include %s" % name, file=f)     names = {}     def q(s):         s = s.replace("\\", "\\\\")         s = s.replace("\"", "\\\"")         s = s.replace("\r", "\\r")         s = s.replace("\n", "\\n")         s = s.replace("\t", "\\t")         s = s.replace("\v", "\\v")         return '"%s"' % s     print("#ifdef MODULE_INFO", file=f)     for v in docs:         if not v: continue         v = ":".join(map(str, v))         print("MODULE_INFO(linuxcnc, %s);" % q(v), file=f)         license = finddoc('license')     if license and license[1]:         print("MODULE_LICENSE(\"%s\");" % license[1].split("\n")[0], file=f)     print("#endif // MODULE_INFO", file=f)     print("", file=f)     has_data = options.get("data")     has_array = False     has_personality = False     for name, type, array, dir, value, personality in pins:         if array: has_array = True         if isinstance(array, tuple): has_personality = True         if personality: has_personality = True     for name, type, array, dir, value, personality in params:         if array: has_array = True         if isinstance(array, tuple): has_personality = True         if personality: has_personality = True     for type, name, default, doc in modparams:         decl = mp_decl_map[type]         if decl:             print("%s %s" % (type, name), end=' ', file=f)             if default: print("= %s;" % default, file=f)             else: print(";", file=f)             print("%s(%s, %s);" % (decl, name, q(doc)), file=f)                  print("", file=f)     print("struct __comp_state {", file=f)     print("    struct __comp_state *_next;", file=f)     if has_personality:         print("    int _personality;", file=f)     for name, type, array, dir, value, personality in pins:         if array:             if isinstance(array, tuple): array = array[0]             print("    hal_%s_t *%s[%s];" % (type, to_c(name), array), file=f)         else:             print("    hal_%s_t *%s;" % (type, to_c(name)), file=f)         names[name] = 1     for name, type, array, dir, value, personality in params:         if array:             if isinstance(array, tuple): array = array[0]             print("    hal_%s_t %s[%s];" % (type, to_c(name), array), file=f)         else:             print("    hal_%s_t %s;" % (type, to_c(name)), file=f)         names[name] = 1     for type, name, array, value in variables:         if array:             print("    %s %s[%d];\n" % (type, name, array), file=f)         else:             print("    %s %s;\n" % (type, name), file=f)     if has_data:         print("    void *_data;", file=f)     print("};", file=f)     if options.get("userspace"):         print("#include <stdlib.h>", file=f)     print("struct __comp_state *__comp_first_inst=0, *__comp_last_inst=0;", file=f)          print("", file=f)     for name, fp in functions:         if name in names:             Error("Duplicate item name: %s" % name)         print("static void %s(struct __comp_state *__comp_inst, long period);" % to_c(name), file=f)         names[name] = 1     print("static int __comp_get_data_size(void);", file=f)     if options.get("extra_setup"):         print("static int extra_setup(struct __comp_state *__comp_inst, char *prefix, long extra_arg);", file=f)     if options.get("extra_cleanup"):         print("static void extra_cleanup(void);", file=f)     if not options.get("no_convenience_defines"):         print("#undef TRUE", file=f)         print("#define TRUE (1)", file=f)         print("#undef FALSE", file=f)         print("#define FALSE (0)", file=f)         print("#undef true", file=f)         print("#define true (1)", file=f)         print("#undef false", file=f)         print("#define false (0)", file=f)     print("", file=f)     if has_personality:         print("static int export(char *prefix, long extra_arg, long personality) {", file=f)     else:         print("static int export(char *prefix, long extra_arg) {", file=f)     if len(functions) > 0:         print("    char buf[HAL_NAME_LEN + 1];", file=f)     print("    int r = 0;", file=f)     if has_array:         print("    int j = 0;", file=f)     print("    int sz = sizeof(struct __comp_state) + __comp_get_data_size();", file=f)     print("    struct __comp_state *inst = hal_malloc(sz);", file=f)     print("    memset(inst, 0, sz);", file=f)     if has_data:         print("    inst->_data = (char*)inst + sizeof(struct __comp_state);", file=f)     if has_personality:         print("    inst->_personality = personality;", file=f)     if options.get("extra_setup"):         print("    r = extra_setup(inst, prefix, extra_arg);", file=f)         print("    if(r != 0) return r;", file=f)         # the extra_setup() function may have changed the personality         if has_personality:             print("    personality = inst->_personality;", file=f)     for name, type, array, dir, value, personality in pins:         if personality:             print("if(%s) {" % personality, file=f)         if array:             if isinstance(array, tuple):                 lim, cnt = array                 print("    if((%s) > (%s)) {" % (cnt, lim), file=f)                 print('        rtapi_print_msg(RTAPI_MSG_ERR,' \                                 '"Pin %s: Requested size %%d exceeds max size %%d\\n",'                                 '(int)%s, (int)%s);' % (name, cnt, lim), file=f)                 print("        return -ENOSPC;", file=f)                 print("    }", file=f)             else: cnt = array             print("    for(j=0; j < (%s); j++) {" % cnt, file=f)             print("        r = hal_pin_%s_newf(%s, &(inst->%s[j]), comp_id," % (                 type, dirmap[dir], to_c(name)), file=f)             print("            \"%%s%s\", prefix, j);" % to_hal("." + name), file=f)             print("        if(r != 0) return r;", file=f)             if value is not None:                 print("    *(inst->%s[j]) = %s;" % (to_c(name), value), file=f)             print("    }", file=f)         else:             print("    r = hal_pin_%s_newf(%s, &(inst->%s), comp_id," % (                 type, dirmap[dir], to_c(name)), file=f)             print("        \"%%s%s\", prefix);" % to_hal("." + name), file=f)             print("    if(r != 0) return r;", file=f)             if value is not None:                 print("    *(inst->%s) = %s;" % (to_c(name), value), file=f)         if personality:             print("}", file=f)     for name, type, array, dir, value, personality in params:         if personality:             print("if(%s) {" % personality, file=f)         if array:             if isinstance(array, tuple):                 lim, cnt = array                 print("    if((%s) > (%s)) {" % (cnt, lim), file=f)                 print('        rtapi_print_msg(RTAPI_MSG_ERR,' \                                 '"Parameter %s: Requested size %%d exceeds max size %%d\\n",'                                 '(int)%s, (int)%s);' % (name, cnt, lim), file=f)                 print("        return -ENOSPC;", file=f)                 print("    }", file=f)             else: cnt = array             print("    for(j=0; j < (%s); j++) {" % cnt, file=f)             print("        r = hal_param_%s_newf(%s, &(inst->%s[j]), comp_id," % (                 type, dirmap[dir], to_c(name)), file=f)             print("            \"%%s%s\", prefix, j);" % to_hal("." + name), file=f)             print("        if(r != 0) return r;", file=f)             if value is not None:                 print("    inst->%s[j] = %s;" % (to_c(name), value), file=f)             print("    }", file=f)         else:             print("    r = hal_param_%s_newf(%s, &(inst->%s), comp_id," % (                 type, dirmap[dir], to_c(name)), file=f)             print("        \"%%s%s\", prefix);" % to_hal("." + name), file=f)             if value is not None:                 print("    inst->%s = %s;" % (to_c(name), value), file=f)             print("    if(r != 0) return r;", file=f)         if personality:             print("}", file=f)     for type, name, array, value in variables:         if value is None: continue         if array:             print("    for(j=0; j < %s; j++) {" % array, file=f)             print("        inst->%s[j] = %s;" % (name, value), file=f)             print("    }", file=f)         else:             print("    inst->%s = %s;" % (name, value), file=f)     for name, fp in functions:         print("    rtapi_snprintf(buf, sizeof(buf), \"%%s%s\", prefix);"\             % to_hal("." + name), file=f)         print("    r = hal_export_funct(buf, (void(*)(void *inst, long))%s, inst, %s, 0, comp_id);" % (             to_c(name), int(fp)), file=f)         print("    if(r != 0) return r;", file=f)     print("    if(__comp_last_inst) __comp_last_inst->_next = inst;", file=f)     print("    __comp_last_inst = inst;", file=f)     print("    if(!__comp_first_inst) __comp_first_inst = inst;", file=f)     print("    return 0;", file=f)     print("}", file=f)     if options.get("count_function"):         print("static int get_count(void);", file=f)     if options.get("rtapi_app", 1):         if options.get("constructable") and not options.get("singleton"):             print("static int export_1(char *prefix, char *argstr) {", file=f)             print("    int arg = simple_strtol(argstr, NULL, 0);", file=f)             print("    return export(prefix, arg);", file=f)             print("}"   , file=f)         if not options.get("singleton") and not options.get("count_function") :             print("static int default_count=%s, count=0;" \                 % options.get("default_count", 1), file=f)             if options.get("userspace"):                 print("char *names[%d] = {0,};"%(MAX_USERSPACE_NAMES), file=f)             else:                 print("RTAPI_MP_INT(count, \"number of %s\");" % comp_name, file=f)                 print("char *names = \"\"; // comma separated names", file=f)                 print("RTAPI_MP_STRING(names, \"names of %s\");" % comp_name, file=f)         if has_personality:             init1 = str(int(options.get('default_personality', 0)))             init = ",".join([init1] * MAX_PERSONALITIES)             print("static int personality[%d] = {%s};" %(MAX_PERSONALITIES,init), file=f)             print("RTAPI_MP_ARRAY_INT(personality, %d, \"personality of each %s\");" %(MAX_PERSONALITIES,comp_name), file=f)             # Return personality value.             # If requested index exceeds MAX_PERSONALITIES, use modulo indexing and give message             print("""             static int p_value(char* cname, char *name, int idx) {                 int ans = personality[idx%%%d];                 if (idx >= %d) {             """%(MAX_PERSONALITIES,MAX_PERSONALITIES), file=f)             print("""                     if (name==NULL) {                         rtapi_print_msg(RTAPI_MSG_ERR,"%s: instance %d assigned personality=%d(=%#0x)\\n",                                         cname, idx, ans, ans);                     } else {                         rtapi_print_msg(RTAPI_MSG_ERR,"%s: name %s assigned personality=%d(=%#0x)\\n",                                         cname, name, ans, ans);                     }                 }                 return ans;             }             """, file=f)         print("int rtapi_app_main(void) {", file=f)         print("    int r = 0;", file=f)         if not options.get("singleton"):             print("    int i;", file=f)         if options.get("count_function"):             print("    int count = get_count();", file=f)         print("    comp_id = hal_init(\"%s\");" % comp_name, file=f)         print("    if(comp_id < 0) return comp_id;", file=f)         if options.get("singleton"):             if has_personality:                 print("    r = export(\"%s\", 0, personality[0]);" % \                         to_hal(removeprefix(comp_name, "hal_")), file=f)             else:                 print("    r = export(\"%s\", 0);" % \                         to_hal(removeprefix(comp_name, "hal_")), file=f)         elif options.get("count_function"):             print("    for(i=0; i<count; i++) {", file=f)             print("        char buf[HAL_NAME_LEN + 1];", file=f)             print("        rtapi_snprintf(buf, sizeof(buf), " \                                         "\"%s.%%d\", i);" % \                     to_hal(removeprefix(comp_name, "hal_")), file=f)             if has_personality:                 print("        r = export(buf, i, p_value(\"%s\", buf, i) );"%comp_name, file=f)             else:                 print("        r = export(buf, i);", file=f)             print("    }", file=f)         else:             print("    if(count && names[0]) {", file=f)             print("        rtapi_print_msg(RTAPI_MSG_ERR," \                             "\"count= and names= are mutually exclusive\\n\");", file=f)             print("        return -EINVAL;", file=f)             print("    }", file=f)             print("    if(!count && !names[0]) count = default_count;", file=f)             print("    if(count) {", file=f)             print("        for(i=0; i<count; i++) {", file=f)             print("            char buf[HAL_NAME_LEN + 1];", file=f)             print("            rtapi_snprintf(buf, sizeof(buf), " \                                         "\"%s.%%d\", i);" % \                     to_hal(removeprefix(comp_name, "hal_")), file=f)             if has_personality:                 print("            r = export(buf, i, p_value(\"%s\", buf, i) );"%comp_name, file=f)             else:                 print("            r = export(buf, i);", file=f)             print("            if(r != 0) break;", file=f)             print("       }", file=f)             print("    } else {", file=f)             if options.get("userspace"):                 print("        int max_names = sizeof(names)/sizeof(names[0]);", file=f)                 print("        for(i=0; (i < max_names) && names[i]; i++) {", file=f)                 print("            if (strlen(names[i]) < 1) {", file=f)                 print("                rtapi_print_msg(RTAPI_MSG_ERR, \"names[%d] is invalid (empty string)\\n\", i);", file=f)                 print("                r = -EINVAL;", file=f)                 print("                break;", file=f)                 print("            }", file=f)                 if has_personality:                     print("            r = export(names[i], i, p_value(\"%s\", names[i], i) );"%comp_name, file=f)                 else:                     print("            r = export(names[i], i);", file=f)                 print("            if(r != 0) break;", file=f)                 print("       }", file=f)                 print("    }", file=f)             else:                 print("        size_t i, j;", file=f)                 print("        int idx;", file=f)                 print("        char buf[HAL_NAME_LEN+1];", file=f)                 print("        const size_t length = strlen(names);", file=f)                 print("        for (i = j = idx = 0; i <= length; i++) {", file=f)                 print("            const char c = buf[j] = names[i];", file=f)                 print("            if ((c == ',') || (c == '\\0')) {", file=f)                 print("                buf[j] = '\\0';", file=f)                 if has_personality:                     print("                r = export(buf, idx, p_value(\"%s\", buf, idx) );"%comp_name, file=f)                 else:                     print("                r = export(buf, idx);", file=f)                 print("                if(r != 0) {break;}", file=f)                 print("                idx++;", file=f)                 print("                j = 0;", file=f)                 print("            } else {", file=f)                 print("                if (++j == (sizeof(buf) / sizeof(buf[0]))) {", file=f)                 print("                    buf[j - 1] = '\\0';", file=f)                 print("                    rtapi_print_msg(RTAPI_MSG_ERR,\"names: \\\"%s\\\" too long\\n\", buf);", file=f)                 print("                    r = -EINVAL;", file=f)                 print("                    break;", file=f)                 print("                }", file=f)                 print("            }", file=f)                 print("        }", file=f)                 print("    }", file=f)         if options.get("constructable") and not options.get("singleton"):             print("    hal_set_constructor(comp_id, export_1);", file=f)         print("    if(r) {", file=f)         if options.get("extra_cleanup"):             print("    extra_cleanup();", file=f)         print("        hal_exit(comp_id);", file=f)         print("    } else {", file=f)         print("        hal_ready(comp_id);", file=f)         print("    }", file=f)         print("    return r;", file=f)         print("}", file=f)         print("", file=f)         print("void rtapi_app_exit(void) {", file=f)         if options.get("extra_cleanup"):             print("    extra_cleanup();", file=f)         print("    hal_exit(comp_id);", file=f)         print("}", file=f)     if options.get("userspace"):         print("static void user_mainloop(void);", file=f)         if options.get("userinit"):             print("static void userinit(int argc, char **argv);", file=f)         if not options.get("singleton"):             print(""" int __comp_parse_count(int *argc, char **argv) {     int i;     for (i = 0; i < *argc; i ++) {         if (strncmp(argv[i], "count=", 6) == 0) {             errno = 0;             count = strtoul(&argv[i][6], NULL, 0);             for (; i+1 < *argc; i ++) {                 argv[i] = argv[i+1];             }             argv[i] = NULL;             (*argc)--;             if (errno == 0) {                 return 1;             }         }     }     return 0; } """, file=f)             print(""" int __comp_parse_names(int *argc, char **argv) {     int i;     for (i = 0; i < *argc; i ++) {         if (strncmp(argv[i], "names=", 6) == 0) {             char *p = &argv[i][6];             int j;             for (; i+1 < *argc; i ++) {                 argv[i] = argv[i+1];             }             argv[i] = NULL;             (*argc)--;             for (j = 0; j < %d; j ++) {                 names[j] = strtok(p, ",");                 p = NULL;                 if (names[j] == NULL) {                     return 1;                 }             }             return 1;         }     }     return 0; } """%MAX_USERSPACE_NAMES, file=f)         print("int argc=0; char **argv=0;", file=f)         print("int main(int argc_, char **argv_) {"    , file=f)         print("    argc = argc_; argv = argv_;", file=f)         if not options.get("singleton"):             print("    int found_count, found_names;", file=f)             print("    found_count = __comp_parse_count(&argc, argv);", file=f)             print("    found_names = __comp_parse_names(&argc, argv);", file=f)             print("    if (found_count && found_names) {", file=f)             print("        rtapi_print_msg(RTAPI_MSG_ERR, \"count= and names= are mutually exclusive\\n\");", file=f)             print("        return 1;", file=f)             print("    }", file=f)         if options.get("userinit", 0):             print("    userinit(argc, argv);", file=f)         print("", file=f)         print("    if(rtapi_app_main() < 0) return 1;", file=f)         print("    user_mainloop();", file=f)         print("    rtapi_app_exit();", file=f)         print("    return 0;", file=f)         print("}", file=f)     print("", file=f)     if not options.get("no_convenience_defines"):         print("#undef FUNCTION", file=f)         print("#define FUNCTION(name) static void name(struct __comp_state *__comp_inst, long period)", file=f)         print("#undef EXTRA_SETUP", file=f)         print("#define EXTRA_SETUP() static int extra_setup(struct __comp_state *__comp_inst, char *prefix, long extra_arg)", file=f)         print("#undef EXTRA_CLEANUP", file=f)         print("#define EXTRA_CLEANUP() static void extra_cleanup(void)", file=f)         print("#undef fperiod", file=f)         print("#define fperiod (period * 1e-9)", file=f)         for name, type, array, dir, value, personality in pins:             print("#undef %s" % to_c(name), file=f)             if array:                 if dir == 'in':                     print("#define %s(i) (0+*(__comp_inst->%s[i]))" % (to_c(name), to_c(name)), file=f)                 else:                     print("#define %s(i) (*(__comp_inst->%s[i]))" % (to_c(name), to_c(name)), file=f)             else:                 if dir == 'in':                     print("#define %s (0+*__comp_inst->%s)" % (to_c(name), to_c(name)), file=f)                 else:                     print("#define %s (*__comp_inst->%s)" % (to_c(name), to_c(name)), file=f)         for name, type, array, dir, value, personality in params:             print("#undef %s" % to_c(name), file=f)             if array:                 print("#define %s(i) (__comp_inst->%s[i])" % (to_c(name), to_c(name)), file=f)             else:                 print("#define %s (__comp_inst->%s)" % (to_c(name), to_c(name)), file=f)         for type, name, array, value in variables:             name = name.replace("*", "")             print("#undef %s" % name, file=f)             print("#define %s (__comp_inst->%s)" % (name, name), file=f)         if has_data:             print("#undef data", file=f)             print("#define data (*(%s*)(__comp_inst->_data))" % options['data'], file=f)         if has_personality:             print("#undef personality", file=f)             print("#define personality (__comp_inst->_personality)", file=f)         if options.get("userspace"):             print("#undef FOR_ALL_INSTS", file=f)             if options.get("singleton"):                 print("#define __comp_inst __comp_first_inst", file=f)                 print("#define FOR_ALL_INSTS()", file=f)             else:                 print("#define FOR_ALL_INSTS() struct __comp_state *__comp_inst; for(__comp_inst = __comp_first_inst; __comp_inst; __comp_inst = __comp_inst->_next)", file=f)     print("", file=f)     print("", file=f) def epilogue(f):     data = options.get('data')     print("", file=f)     if data:         print("static int __comp_get_data_size(void) { return sizeof(%s); }" % data, file=f)     else:         print("static int __comp_get_data_size(void) { return 0; }", file=f) INSTALL, COMPILE, PREPROCESS, DOCUMENT, INSTALLDOC, VIEWDOC, MODINC = range(7) modename = ("install", "compile", "preprocess", "document", "installdoc", "viewdoc", "print-modinc") modinc = None def find_modinc():     global modinc     if modinc: return modinc     d = os.path.abspath(os.path.dirname(os.path.dirname(sys.argv[0])))     for e in ['src', 'etc/linuxcnc', '/etc/linuxcnc', 'share/linuxcnc']:         e = os.path.join(d, e, 'Makefile.modinc')         if os.path.exists(e):             modinc = e             return e     raise SystemExit("Unable to locate Makefile.modinc") def build_usr(tempdir, filename, mode, origfilename):     binname = os.path.basename(os.path.splitext(filename)[0])     makefile = os.path.join(tempdir, "Makefile")     f = open(makefile, "w")     print("%s: %s" % (binname, filename), file=f)     print("\t$(CC) -I$(EMC2_HOME)/include -I/usr/include/linuxcnc -URTAPI -U__MODULE__ -DULAPI -Os %s -o $@ $< -Wl,-rpath,$(LIBDIR) -L$(LIBDIR) -llinuxcnchal %s" % (         options.get("extra_compile_args", ""),         options.get("extra_link_args", "")), file=f)     print("include %s" % find_modinc(), file=f)     f.close()     result = os.system("cd %s && make -S %s" % (tempdir, binname))     if result != 0:         raise SystemExit(os.WEXITSTATUS(result) or 1)     output = os.path.join(tempdir, binname)     if mode == INSTALL:         shutil.copy(output, os.path.join(BINDIR, binname))     elif mode == COMPILE:         shutil.copy(output, os.path.join(os.path.dirname(origfilename),binname)) def build_rt(tempdir, filename, mode, origfilename):     objname = os.path.basename(os.path.splitext(filename)[0] + ".o")     global extra_libs     makefile = os.path.join(tempdir, "Makefile")     f = open(makefile, "w")     print("creating temp compile dir " + tempdir )     print("obj-m += %s" % objname, file=f)     print("LDFLAGS += -L%s/lib %s " % (os.path.abspath('.'),  extra_libs) , file=f)     print("include %s" % find_modinc(), file=f)     print("EXTRA_CFLAGS += -lposemath -I%s" % os.path.abspath(os.path.dirname(origfilename)), file=f)     print("EXTRA_CFLAGS += -I%s" % os.path.abspath('.'), file=f)     f.close()     if mode == INSTALL:         target = "modules install"     else:         target = "modules"     print("cd %s && make -S %s" % (tempdir, target))     result = os.system("cd %s && make -S %s" % (tempdir, target))     if result != 0:         raise SystemExit(os.WEXITSTATUS(result) or 1)     if mode == COMPILE:         for extension in ".ko", ".so", ".o":             kobjname = os.path.splitext(filename)[0] + extension             if os.path.exists(kobjname):                 shutil.copy(kobjname, os.path.basename(kobjname))                 break         else:             raise SystemExit("Unable to copy module from temporary directory") def finddoc(section=None, name=None):     for item in docs:         if ((section == None or section == item[0]) and                 (name == None or name == item[1])): return item     return None def finddocs(section=None, name=None):     for item in docs:         if ((section == None or section == item[0]) and                 (name == None or name == item[1])):                     yield item def to_hal_man_unnumbered(s):     s = "%s.%s" % (comp_name, s)     s = s.replace("_", "-")     s = s.rstrip("-")     s = s.rstrip(".")     s = re.sub("#+", lambda m: "\\fI" + "M" * len(m.group(0)) + "\\fB", s)     # s = s.replace("-", "\\-")     return s def to_hal_man(s):     if options.get("singleton"):         s = "%s.%s" % (comp_name, s)     else:         s = "%s.\\fIN\\fB.%s" % (comp_name, s)     s = s.replace("_", "-")     s = s.rstrip("-")     s = s.rstrip(".")     s = re.sub("#+", lambda m: "\\fI" + "M" * len(m.group(0)) + "\\fB", s)     # s = s.replace("-", "\\-")     return s def document(filename, outfilename):     a, b = parse(filename)     if outfilename is None:         outfilename = os.path.splitext(filename)[0] + ".1" if options.get("userspace") else ".9"     f = open(outfilename, "w")     has_personality = False     for name, type, array, dir, value, personality in pins:         if personality: has_personality = True         if isinstance(array, tuple): has_personality = True     for name, type, array, dir, value, personality in params:         if personality: has_personality = True         if isinstance(array, tuple): has_personality = True     print(".TH %s \"%s\" \"%s\" \"LinuxCNC Documentation\" \"HAL Component\"" % (         comp_name.upper(), "1" if options.get("userspace") else "9",         time.strftime("%F")), file=f)     print(".de TQ\n.br\n.ns\n.TP \\\\$1\n..\n", file=f)     print(".SH NAME\n", file=f)     doc = finddoc('component')         if doc and doc[2]:         if '\n' in doc[2]:             firstline, rest = doc[2].split('\n', 1)         else:             firstline = doc[2]             rest = ''         print("%s \\- %s" % (doc[1], firstline), file=f)     else:         rest = ''         print("%s" % doc[1], file=f)     print(".SH SYNOPSIS", file=f)     if options.get("userspace"):         print(".B %s" % comp_name, file=f)     else:         if rest:             print(rest, file=f)         else:             print(".HP", file=f)             if options.get("singleton") or options.get("count_function"):                 if has_personality:                     print(".B loadrt %s personality=\\fIP\\fB" % comp_name, end='', file=f)                 else:                     print(".B loadrt %s" % comp_name, end='', file=f)             else:                 if has_personality:                     print(".B loadrt %s [count=\\fIN\\fB|names=\\fIname1\\fB[,\\fIname2...\\fB]] [personality=\\fIP,P,...\\fB]" % comp_name, end='', file=f)                 else:                     print(".B loadrt %s [count=\\fIN\\fB|names=\\fIname1\\fB[,\\fIname2...\\fB]]" % comp_name, end='', file=f)             for type, name, default, doc in modparams:                 print(" [%s=\\fIN\\fB]" % name, end='', file=f)             print("", file=f)             hasparamdoc = False             for type, name, default, doc in modparams:                 if doc: hasparamdoc = True             if hasparamdoc:                 print(".RS 4", file=f)                 for type, name, default, doc in modparams:                     print(".TP", file=f)                     print("\\fB%s\\fR" % name, end='', file=f)                     if default:                         print(" [default: %s]" % default, file=f)                     else:                         print("", file=f)                     print(doc, file=f)                 print(".RE", file=f)         if options.get("constructable") and not options.get("singleton"):             print(".PP\n.B newinst %s \\fIname\\fB" % comp_name, file=f)     doc = finddoc('descr')         if doc and doc[1]:         print(".SH DESCRIPTION\n", file=f)         print("%s" % doc[1], file=f)     if functions:         print(".SH FUNCTIONS", file=f)         for _, name, fp, doc in finddocs('funct'):             print(".TP", file=f)             print("\\fB%s\\fR" % to_hal_man(name), end='', file=f)             if fp:                 print(" (requires a floating-point thread)", file=f)             else:                 print("", file=f)             print(doc, file=f)     lead = ".TP"     print(".SH PINS", file=f)     for _, name, type, array, dir, doc, value, personality in finddocs('pin'):         print(lead, file=f)         print(".B %s\\fR" % to_hal_man(name), end=' ', file=f)         print(type, dir, end=' ', file=f)         if array:             sz = name.count("#")             if isinstance(array, tuple):                 print(" (%s=%0*d..%s)" % ("M" * sz, sz, 0, array[1]), end=' ', file=f)             else:                 print(" (%s=%0*d..%0*d)" % ("M" * sz, sz, 0, sz, array-1), end=' ', file=f)         if personality:             print(" [if %s]" % personality, end=' ', file=f)         if value:             print("\\fR(default: \\fI%s\\fR)" % value, file=f)         else:             print("\\fR", file=f)         if doc:             print(doc, file=f)             lead = ".TP"         else:             lead = ".TQ"     lead = ".TP"     if params:         print(".SH PARAMETERS", file=f)         for _, name, type, array, dir, doc, value, personality in finddocs('param'):             print(lead, file=f)             print(".B %s\\fR" % to_hal_man(name), end=' ', file=f)             print(type, dir, end=' ', file=f)             if array:                 sz = name.count("#")                 if isinstance(array, tuple):                     print(" (%s=%0*d..%s)" % ("M" * sz, sz, 0, array[1]), end=' ', file=f)                 else:                     print(" (%s=%0*d..%0*d)" % ("M" * sz, sz, 0, sz, array-1), end=' ', file=f)             if personality:                 print(" [if %s]" % personality, end=' ', file=f)             if value:                 print("\\fR(default: \\fI%s\\fR)" % value, file=f)             else:                 print("\\fR", file=f)             if doc:                 print(doc, file=f)                 lead = ".TP"             else:                 lead = ".TQ"     doc = finddoc('see_also')         if doc and doc[1]:         print(".SH SEE ALSO\n", file=f)         print("%s" % doc[1], file=f)     doc = finddoc('notes')         if doc and doc[1]:         print(".SH NOTES\n", file=f)         print("%s" % doc[1], file=f)     doc = finddoc('author')         if doc and doc[1]:         print(".SH AUTHOR\n", file=f)         print("%s" % doc[1], file=f)     doc = finddoc('license')         if doc and doc[1]:         print(".SH LICENSE\n", file=f)         print("%s" % doc[1], file=f) def process(filename, mode, outfilename):     tempdir = tempfile.mkdtemp()     try:         if outfilename is None:             if mode == PREPROCESS:                 outfilename = os.path.splitext(filename)[0] + ".c"             else:                 outfilename = os.path.join(tempdir,                     os.path.splitext(os.path.basename(filename))[0] + ".c")         a, b = parse(filename)         base_name = os.path.splitext(os.path.basename(outfilename))[0]         if comp_name != base_name:             raise SystemExit("Component name (%s) does not match filename (%s)" % (comp_name, base_name))         f = open(outfilename, "w")         if options.get("userinit") and not options.get("userspace"):             print("Warning: comp '%s' sets 'userinit' without 'userspace', ignoring" % filename, file=sys.stderr)         if options.get("userspace"):             if functions:                 raise SystemExit("Userspace components may not have functions")         if not pins:             raise SystemExit("Component must have at least one pin")         prologue(f)         lineno = a.count("\n") + 3         if options.get("userspace"):             if functions:                 raise SystemExit("May not specify functions with a userspace component.")             f.write("#line %d \"%s\"\n" % (lineno, filename))             f.write(b)         else:             if not functions or "FUNCTION" in b:                 f.write("#line %d \"%s\"\n" % (lineno, filename))                 f.write(b)             elif len(functions) == 1:                 f.write("FUNCTION(%s) {\n" % functions[0][0])                 f.write("#line %d \"%s\"\n" % (lineno, filename))                 f.write(b)                 f.write("}\n")             else:                 raise SystemExit("Must use FUNCTION() when more than one function is defined")         epilogue(f)         f.close()         if mode != PREPROCESS:             if options.get("userspace"):                 build_usr(tempdir, outfilename, mode, filename)             else:                 build_rt(tempdir, outfilename, mode, filename)     finally:         shutil.rmtree(tempdir) def usage(exitval=0):     print("""%(name)s: Build, compile, and install LinuxCNC HAL components Usage:            %(name)s [--compile|--preprocess|--document|--view-doc] compfile...     [sudo] %(name)s [--install|--install-doc] compfile...            %(name)s --compile --userspace cfile...     [sudo] %(name)s --install --userspace cfile...     [sudo] %(name)s --install --userspace pyfile...            %(name)s --print-modinc Option to set maximum 'personalities' items:     --personalities=integer_value   (default is %(dflt)d) """ % {'name': os.path.basename(sys.argv[0]),'dflt':MAX_PERSONALITIES})     raise SystemExit(exitval) def main():     global extra_libs     global require_license     global MAX_USERSPACE_NAMES     global MAX_PERSONALITIES     require_license = True     global require_unix_line_endings     require_unix_line_endings = False     mode = PREPROCESS     outfile = None     userspace = False     try:         opts, args = getopt.getopt(sys.argv[1:], "Uluijcpdo:h?P:",                            ['unix', 'lib=', 'install', 'compile', 'preprocess', 'outfile=',                             'document', 'help', 'userspace', 'install-doc',                             'view-doc', 'require-license', 'print-modinc',                             'personalities='])     except getopt.GetoptError:         usage(1)     for k, v in opts:         if k in ("-l", "--lib"):             extra_libs = extra_libs + " " + v             print( "-------------- " + v )         if k in ("-U", "--unix"):             require_unix_line_endings = True         if k in ("-u", "--userspace"):             userspace = True         if k in ("-i", "--install"):             mode = INSTALL         if k in ("-c", "--compile"):             mode = COMPILE         if k in ("-p", "--preprocess"):             mode = PREPROCESS         if k in ("-d", "--document"):             mode = DOCUMENT         if k in ("-j", "--install-doc"):             mode = INSTALLDOC         if k in ("-j", "--view-doc"):             mode = VIEWDOC         if k in ("--print-modinc",):             mode = MODINC         if k in ("-l", "--require-license"):             require_license = True         if k in ("-o", "--outfile"):             if len(args) != 1:                 raise SystemExit("Cannot specify -o with multiple input files")             outfile = v         if k in ("-P", "--personalities"):             try:                 MAX_PERSONALITIES = int(v)                 print("MAX_PERSONALITIES=%d"%(MAX_PERSONALITIES))             except Exception as detail:                 raise SystemExit("Bad value for -P (--personalities)=",v,"\n",detail)         if k in ("-?", "-h", "--help"):             usage(0)     if outfile and mode != PREPROCESS and mode != DOCUMENT:         raise SystemExit("Can only specify -o when preprocessing or documenting")     if mode == MODINC:         if args:             raise SystemExit(                 "Can not specify input files when using --print-modinc")         print(find_modinc())         return 0     for f in args:         try:             basename = os.path.basename(os.path.splitext(f)[0])             if f.endswith(".comp") and mode == DOCUMENT:                 document(f, outfile)                         elif f.endswith(".comp") and mode == VIEWDOC:                 tempdir = tempfile.mkdtemp()                 try:                     outfile = os.path.join(tempdir, basename + ".9")                     document(f, outfile)                     os.spawnvp(os.P_WAIT, "man", ["man", outfile])                 finally:                     shutil.rmtree(tempdir)             elif f.endswith(".comp") and mode == INSTALLDOC:                 manpath = os.path.join(BASE, "share/man/man9")                 if not os.path.isdir(manpath):                     manpath = os.path.join(BASE, "docs/man/man9")                 outfile = os.path.join(manpath, basename + ".9")                 print("INSTALLDOC", outfile)                 document(f, outfile)                         elif f.endswith(".comp"):                 process(f, mode, outfile)             elif f.endswith(".py") and mode == INSTALL:                 lines = open(f).readlines()                 if lines[0].startswith("#!"): del lines[0]                 lines[0] = "#!%s\n" % sys.executable                 outfile = os.path.join(BINDIR, basename)                 try: os.unlink(outfile)                 except os.error: pass                 open(outfile, "w").writelines(lines)                 os.chmod(outfile, 0o555)             elif f.endswith(".c") and mode != PREPROCESS:                 initialize()                 tempdir = tempfile.mkdtemp()                 try:                     shutil.copy(f, tempdir)                     if userspace:                         build_usr(tempdir, os.path.join(tempdir, os.path.basename(f)), mode, f)                     else:                         build_rt(tempdir, os.path.join(tempdir, os.path.basename(f)), mode, f)                 finally:                     print                     shutil.rmtree(tempdir)             else:                 raise SystemExit("Unrecognized file type for mode %s: %r" % (modename[mode], f))         except Exception as e:             try:                 if outfile is not None: os.unlink(outfile)             except: # os.error:                 pass             raise if __name__ == '__main__':     main() # vim:sw=4:sts=4:et