The open source motion control software Machinekit has excellent Python bindings for different API. Machinetalk, the middleware stack, pymachinetalk, the client API for Machinetalk and the Python configuration API. Learn more at https://machinekoder.com/ and http://machinekit.io

1. Machinekit
ThePython
MachinetalkBindings
Alexander Rössler

2. 2
Overview
● Machinetalk
● pymachinetalk
● Applications
● Outlook

3. 3
Machinetalk

4. 4
Machinetalk
● Middleware
● Interaction between RT and non-RT
● Distributed setups
● License abstraction

5. 5
LauncherService
● launcher & launchercmd
● mklauncher
● Contact point
● Lists configurations
● Launches new instances

6. 6
ConfigService
● config
● configserver
● Distributes Uis
● Running configuration
UI 3
12345
UI 2
12345
UI 1
12345

7. 7
HalremoteService
● halrcomp & halrcmd
● haltalk
● Remote API
Real-time hostClient 1
Real-time environment
HAL instance
Haltalk
abcd
efgh
Client 2
12345

8. 8
ApplicationServices
● status, command, error, file, preview
● mkwrapper
● EMC interface

9. 9
ServiceDiscovery
● MDNS/DNS-SD
● .local
● Auto configuration
● Decentralized
● Multicast
● Unicast
Client
Service
Discovery
Service
Service
Discovery
Service
Service
Discovery
Service
Client

10. 10
ConnectionFlow
● Search for launcher services
● List instances
UI 3
12345
UI 2
12345
UI 1
12345

11. 11
ConnectionFlow
● Filter services
● Look for config
– Start instance
● Load UI
● Connect other services
UUID

12. 12
PyMachinetalk

13. 13
Threading
● Asynchronous
● Synchronous
● Locks and conditions

14. 14
dns_sd
● avahi & dbus
● gobject
● Service type
– _launcher._sub._machinekit._tcp
● Callbacks

15. 15
halremote
● Canonical to HAL userland component
● RemoteComponent
● Pin
SUBSUB SUB
PUB
Publish-Subscribe
REQ
REP
ROUTER
DEALER
REP REP
REQREQ
Router-Dealer

16. 16
application
● ApplicationStatus
● ApplicationCommand
● ApplicationError
● ApplicationFile

17. 17
Applications

18. 18
Outlook

19. 19
Outlook
● Launcher & config
● Documentation
● More examples
● Unit tests for Machinetalk
● …

20. 20
More InformationandCode
● https://github.com/strahlex/pymachinetalk

21. 21
Questions?