run.py

#!/usr/bin/env python

import sys
import os
import subprocess
import argparse
import time
from machinekit import launcher
from machinekit import config

os.chdir(os.path.dirname(os.path.realpath(__file__)))

parser = argparse.ArgumentParser(description='Linear axis motion with Machinekit')
parser.add_argument('-d', '--debug', help='Enable debug mode', action='store_true')

args = parser.parse_args()

if args.debug:
    launcher.set_debug_level(5)

if 'MACHINEKIT_INI' not in os.environ:  # export for package installs
    mkconfig = config.Config()
    os.environ['MACHINEKIT_INI'] = mkconfig.MACHINEKIT_INI

try:
    launcher.check_installation()
    launcher.cleanup_session()  # kill any running Machinekit instances
    launcher.load_bbio_file('paralell_cape2.bbio')  # load the BBIO pin overlay
    launcher.start_realtime()  # start Machinekit realtime environment
    launcher.load_hal_file('main.py')  # load the main HAL file
    launcher.register_exit_handler()  # enable on ctrl-C, needs to executed after HAL files

    launcher.ensure_mklauncher()  # ensure mklauncher is started

    launcher.start_process('configserver -n "Linear Axis" .')

    while True:
        launcher.check_processes()
        time.sleep(1)

except subprocess.CalledProcessError:
    launcher.end_session()
    sys.exit(1)

sys.exit(0)