hal: Deprecate pyhal and move functionality into hal module

lib/python/hal.py

@@ -40,6 +40,10 @@ def __new__(cls, item):
     def _item_wrap(self, item):
         for f in ['get', 'set', 'get_type', 'get_name', 'get_dir', 'is_pin', '__repr__']:
             setattr(self, f, getattr(item, f))
+        # Only ports can use the extra methods
+        if _hal.HAL_PORT == item.get_type():
+            for f in ['write', 'read', 'peek', 'peek_commit', 'clear', 'size']:
+                setattr(self, f, getattr(item, f))
         return self
 
     def __init__(self, item):
@@ -69,4 +73,4 @@ def newparam(self, *a, **kw): return Param(_hal.component.newparam(self, *a, **k
 
     def getpin(self, *a, **kw): return Pin(_hal.component.getpin(self, *a, **kw))
     def getparam(self, *a, **kw): return Param(_hal.component.getparam(self, *a, **kw))
-    def getpins(self, *a, **kw): return _hal.component.getpins(self, *a, **kw)
+    def getpins(self, *a, **kw): return _hal.component.getpins(self, *a, **kw)

lib/python/pyhal.py

@@ -40,6 +40,23 @@
 lib.hal_port_wait_readable.argtypes = [POINTER(POINTER(c_int)), c_uint, c_int]
 lib.hal_port_wait_writable.argtypes = [POINTER(POINTER(c_int)), c_uint, c_int]
 
+import functools
+import inspect
+import warnings
+
+def pyhaldeprecate(reason):
+    def decorator(func):
+        @functools.wraps(func)
+        def warnfunc(*args, **kwargs):
+            warnings.simplefilter('always', DeprecationWarning)
+            warnings.warn("Use of deprecated class/function {} ({}).".format(func.__name__, reason),
+                category=DeprecationWarning, stacklevel=2)
+            warnings.simplefilter('default', DeprecationWarning)
+            return func(*args, **kwargs)
+        return warnfunc
+    return decorator
+
+
 class HalException(Exception):
     """An exception raised by hal library functions"""
     pass
@@ -95,6 +112,7 @@ def value(self, val):
             self.data_ptr.contents.contents.value = val
 
 
+@pyhaldeprecate("'pyhal' causes severe problems, has been replaced by 'hal' and will soon be removed")
 class port(pin):
     def __init__(self, component, name, type, dir, data_ptr):
         pin.__init__(self, component, name, type, dir, data_ptr)
@@ -169,6 +187,7 @@ def waitWritable(self, count):
 
 
 
+@pyhaldeprecate("'pyhal' causes severe problems, has been replaced by 'hal' and will soon be removed")
 class component:
     def __init__(self, name):
         self.id = lib.hal_init(name.encode())

lib/python/raster.py

@@ -3,7 +3,7 @@
 """
 from re import match
 from enum import Enum
-from pyhal import *
+import hal
 from struct import *
 import time
 
@@ -28,7 +28,7 @@ class RasterProgrammer(object):
     """
         The programmer component is used to program the realtime raster component
 
-        The raster component operates one line at a time. 
+        The raster component operates one line at a time.
 
         Example:
             Assuming rastering is done across the X axis.
@@ -38,7 +38,7 @@ class RasterProgrammer(object):
             Because positional data at the hal level is joint position the program must be relative
             to the current position that the machine is at when programming the line.
 
-            Because a port can become full each command waits until the port is available for writing. The commands will 
+            Because a port can become full each command waits until the port is available for writing. The commands will
             raise a ProgrammerException if too much time passes before the write completes. This is usually an indication
             that your PORT buffer isn't large enough
     """
@@ -53,41 +53,43 @@ def __init__(self, name):
                 enabled - BIT IN - link to the raster's enabled pin. Raster programmer uses this to wait on rasters activation
         """
         self.__timeout = 5.0
-        self.component = component(name)
-        self.port = self.component.pinNew("program", halType.PORT, pinDir.OUT)
-        self.faultCode = self.component.pinNew("fault-code", halType.SIGNED, pinDir.IN)
-        self.enabled = self.component.pinNew("enabled", halType.BIT, pinDir.IN)
-        self.run    = self.component.pinNew("run", halType.BIT, pinDir.OUT)
+        self.component = hal.component(name)
+        self.port = self.component.newpin("program", hal.HAL_PORT, hal.HAL_OUT)
+        self.faultCode = self.component.newpin("fault-code", hal.HAL_S32, hal.HAL_IN)
+        self.enabled = self.component.newpin("enabled", hal.HAL_BIT, hal.HAL_IN)
+        self.run    = self.component.newpin("run", hal.HAL_BIT, hal.HAL_OUT)
         self.component.ready()
-
         self.run.value = False
 
     def __del__(self):
-        self.component.exit()
+        if None != self.component:
+            self.component.exit()
 
     def exit(self):
         """unloads this programmer component from hal"""
         self.component.exit()
-
+        self.component = None
+
     def __waitEnabled(self, enabled):
         timeout = time.process_time() + self.__timeout
         while self.enabled.value != enabled:
+            time.sleep(0.001)
             if time.process_time() > timeout:
                 self.run.value = False
                 raise ProgrammerException("Raster failed to respond before the timeout was reached")
 
             if self.faultCode.value != FaultCodes.OK.value:
                 self.run.value = False
                 raise ProgrammerException("Raster faulted with error {0}".format(FaultCodes(self.faultCode.value)))
-        
+
     def begin(self, offset, bpp, ppu, count):
         """
             Sends the program begin command along with relevant parameters.
-            
+
             offset - The relative starting position that the incoming data starts. Data is always programmed from most negative on the axis to most positive.
             bpp - Bits per pixel in increments of 4 bits, up to 32 bits
             ppu - pixels per unit. The number of pixels per machine unit. count * dpu gives the total span of the raster line
-            count - the number of pixels that will be programmed on the line     
+            count - the number of pixels that will be programmed on the line
         """
         self.run.value = False
         self.__waitEnabled(False)

src/hal/hal.h

@@ -869,6 +869,7 @@ extern int hal_set_constructor(int comp_id, constructor make);
   command.
 */
 
+#define HAL_PORT_SIZE_MAX 65536
 
 /** hal_port_read reads count bytes from the port into dest.
     This function should only be called by the component that owns