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hal: C++ API (hal.hh) and pybind11 bindings on the new HAL API #4251

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hal: C++ API (hal.hh) and pybind11 bindings on the new HAL API #4251

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87ff92b
hal: C++ API (hal.hh) and pybind11 bindings on the new HAL API
grandixximo Jul 20, 2026
17a648f
halpp: library init/exit and setps_common_cb string conversion
grandixximo Jul 20, 2026
e3472f0
halxx: second review round
grandixximo Jul 20, 2026
202386a
halxx: exempt HAL_PORT until the API break
grandixximo Jul 20, 2026
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1 change: 1 addition & 0 deletions debian/control.top.in
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Original file line number Diff line number Diff line change
Expand Up @@ -40,6 +40,7 @@ Build-Depends:
psmisc,
python3,
python3-dev,
python3-pybind11,
python3-tk,
python3-xlib,
tcl,
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35 changes: 19 additions & 16 deletions src/emc/task/taskclass.cc
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Expand Up @@ -40,23 +40,26 @@ using namespace linuxcnc;
********************************************************************/
int Task::iocontrol_hal_init(void)
{
iocontrol.add_pin("user-enable-out", hal_dir::OUT, iocontrol_data.user_enable_out);
iocontrol.add_pin("emc-enable-in", hal_dir::IN, iocontrol_data.emc_enable_in);
iocontrol.add_pin("user-request-enable", hal_dir::OUT, iocontrol_data.user_request_enable);
iocontrol.add_pin("coolant-mist", hal_dir::OUT, iocontrol_data.coolant_mist);
iocontrol.add_pin("coolant-flood", hal_dir::OUT, iocontrol_data.coolant_flood);
iocontrol.add_pin("tool-prep-pocket", hal_dir::OUT, iocontrol_data.tool_prep_pocket);
iocontrol.add_pin("tool-from-pocket", hal_dir::OUT, iocontrol_data.tool_from_pocket);
iocontrol.add_pin("tool-prep-index", hal_dir::OUT, iocontrol_data.tool_prep_index);
iocontrol.add_pin("tool-prep-number", hal_dir::OUT, iocontrol_data.tool_prep_number);
iocontrol.add_pin("tool-number", hal_dir::OUT, iocontrol_data.tool_number);
iocontrol.add_pin("tool-prepare", hal_dir::OUT, iocontrol_data.tool_prepare);
iocontrol.add_pin("tool-prepared", hal_dir::IN, iocontrol_data.tool_prepared);
iocontrol.add_pin("tool-change", hal_dir::OUT, iocontrol_data.tool_change);
iocontrol.add_pin("tool-changed", hal_dir::IN, iocontrol_data.tool_changed);
iocontrol.ready();
if (iocontrol.error < 0)
try {
iocontrol.add_pin("user-enable-out", hal_dir::OUT, iocontrol_data.user_enable_out);
iocontrol.add_pin("emc-enable-in", hal_dir::IN, iocontrol_data.emc_enable_in);
iocontrol.add_pin("user-request-enable", hal_dir::OUT, iocontrol_data.user_request_enable);
iocontrol.add_pin("coolant-mist", hal_dir::OUT, iocontrol_data.coolant_mist);
iocontrol.add_pin("coolant-flood", hal_dir::OUT, iocontrol_data.coolant_flood);
iocontrol.add_pin("tool-prep-pocket", hal_dir::OUT, iocontrol_data.tool_prep_pocket);
iocontrol.add_pin("tool-from-pocket", hal_dir::OUT, iocontrol_data.tool_from_pocket);
iocontrol.add_pin("tool-prep-index", hal_dir::OUT, iocontrol_data.tool_prep_index);
iocontrol.add_pin("tool-prep-number", hal_dir::OUT, iocontrol_data.tool_prep_number);
iocontrol.add_pin("tool-number", hal_dir::OUT, iocontrol_data.tool_number);
iocontrol.add_pin("tool-prepare", hal_dir::OUT, iocontrol_data.tool_prepare);
iocontrol.add_pin("tool-prepared", hal_dir::IN, iocontrol_data.tool_prepared);
iocontrol.add_pin("tool-change", hal_dir::OUT, iocontrol_data.tool_change);
iocontrol.add_pin("tool-changed", hal_dir::IN, iocontrol_data.tool_changed);
iocontrol.ready();
} catch(const std::exception &e) {
fprintf(stderr, "iocontrol_hal_init: %s\n", e.what());
return -1;
}
return 0;
}

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14 changes: 14 additions & 0 deletions src/hal/Submakefile
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Expand Up @@ -28,5 +28,19 @@ $(HALMODULE): $(call TOOBJS, $(HALMODULESRCS)) $(HALLIB)
$(ECHO) Linking python module $(notdir $@)
$(Q)$(CXX) $(LDFLAGS) -shared -o $@ $^

# pybind11 C++ bindings (hal.hh based)
# setps_util.c only exists in the tree with the HAL query API
HALPPSRCS := hal/halpybind.cc $(wildcard hal/utils/setps_util.c)
PYSRCS += $(HALPPSRCS)

# pybind11 headers: python3-pybind11 (system include) or pip user site
$(call TOOBJS, $(HALPPSRCS)): EXTRAFLAGS += $(shell python3 -m pybind11 --includes 2>/dev/null)

HALPP := ../lib/python/halpp.so
$(HALPP): $(call TOOBJS, $(HALPPSRCS)) $(HALLIB)
$(ECHO) Linking python module $(notdir $@)
$(Q)$(CXX) $(LDFLAGS) -shared -o $@ $^

TARGETS += $(HALLIB) ../lib/liblinuxcnchal.so.0
PYTARGETS += $(HALMODULE)
PYTARGETS += $(HALPP)
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