Issue running python script

[Jamanji2002]

Hi, new user to both GitHub and Linux so forgive if this is a simple issue to solve. I'm doing a uni project trying to make a scara robot, i have a pokeys57cnc and am tying to run it using Linuxcnc but when i try running the the python script i get this,

~/LinuxCnC_PokeysLibComp$ python3 -m pokeys_py
Traceback (most recent call last):
File "", line 198, in _run_module_as_main
File "", line 88, in _run_code
File "/home/nick/LinuxCnC_PokeysLibComp/pokeys_py/main.py", line 13, in
main()
File "/home/nick/LinuxCnC_PokeysLibComp/pokeys_py/main.py", line 9, in main
run_ui_setup_tool()
File "/home/nick/LinuxCnC_PokeysLibComp/pokeys_py/init.py", line 339, in run_ui_setup_tool
lib = ctypes.CDLL("/usr/lib/linuxcnc/modules/PoKeysLib.so")
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
File "/usr/lib/python3.11/ctypes/init.py", line 376, in init
self._handle = _dlopen(self._name, mode)
^^^^^^^^^^^^^^^^^^^^^^^^^
OSError: /usr/lib/linuxcnc/modules/PoKeysLib.so: cannot open shared object file: No such file or directory

I'm using a new installation of Linux downloaded straight from linuxcnc's website, followed the guide provided on this page but got held up with various issues most of which i solved, i got to this error and was unable to fix it. any help with this and steps beyond are much appreciated as I have no idea what I'm doing.

[zarfld]

hi , please point me to where you have been instructed to use python implementation? this is the second time - i got issues for that - but that part is not functional and "work in progress" i think i have to update documentation based on that. (there isa GUI planned and i had some ideas how to solve)

[Jamanji2002]

Apologies, it was my interpretation that it was part of the installation process found on the main page of the github post, "installation", then "running the ui setup tool" as i had assumed it was a step by step, if that not the case, how do i proceed with using the libary? Apologies again if this is very straight forward, im a first year mech engineer so this is well out of my wheel house.

[zarfld]

... no thats totallyfine i just needed to find the place were the wrong instructions are placed. (i tried to use some copilot agent for first implementation of side features, which is sometimes does overestimate his imlpelemations :-/ )

[zarfld]

#309 (comment) related issue

[zarfld]

Readme edit done.

[Jamanji2002]

Awesome, thanks for the clarification.
I think the main hurdle for new users like me is installation/usage. Would you be willing to provide a short usage guide, or confirm/correct the steps below? Not a full LinuxCNC or Pokeys manual, just the specifics of using your library to connect the two.

From what I’ve pieced together (partly with ChatGPT), the workflow seems to be:

1. Install the components (using your instructions).

2. Verify with halcmd list comp.

3. Create/edit a LinuxCNC machine config to generate .ini and .hal files.

4. Edit the .hal file to add:
   loadrt pokeys
   addf pokeys.update servo-thread
   source pokeys_homing.hal

5. Map pins inside the .hal file, e.g.:
   net xstep => pokeys.stepgen.0.step
   net xdir => pokeys.stepgen.0.dir
   ensuring these match the wiring.

6. Confirm machine operation (e.g. X-axis responds correctly).

I’ve been stuck at step 4, so if this flow is wrong, would you be open to sharing the correct sequence? A brief “from install to working HAL integration” guide would really help make this more accessible.

Thanks again for your work and quick replies. This seems to be the only tool of its kind. The main reason I am using a Pokeys board over a Mesa is its availability and cost. Having an official, correct walkthrough would really enhance accessibility of pokeys boards, and really reinforces them as a viable alternative to Mesa boards.

[zarfld]

Thats a valid Point, until now i did Not expect that IT was used already. I think i will have to write some short description (but in your description: use loadusr instead of loadrt - as this repo holds the userspace comp using the pokeyslib. In a seperaten repo i'm Working to get the pokeyslib Realtime capable but thats Not ready for use yet)

[zarfld]

Maybe my examples may Help in the meanwhile?

[Jamanji2002]

An example would be awesome

[zarfld]

the main HAL file is: https://github.com/zarfld/LinuxCnc_PokeysLibComp/blob/main/DM542_XXYZ_mill/Pokeys_DM542_XXYZ_mill.hal which i use for my XXYZ - Mill https://github.com/zarfld/LinuxCnc_PokeysLibComp/blob/main/DM542_XXYZ_mill/Pokeys57CNC_DM542_XXYZ_mill.ini with pokeys57CNC and for simulation with Pokeys57E i use https://github.com/zarfld/LinuxCnc_PokeysLibComp/blob/main/DM542_XXYZ_mill/Pokeys57E_DM542_XXYZ_mill.ini . for kbd48CNC i created a seperate HAL https://github.com/zarfld/LinuxCnc_PokeysLibComp/blob/main/DM542_XXYZ_mill/kbd48CNC.hal as well as for homing component https://github.com/zarfld/LinuxCnc_PokeysLibComp/blob/main/DM542_XXYZ_mill/pokeys_homing.hal

[zarfld]

not to forget: in postgui_call_list i put the part where it writest the pokeys related INI settings to the co9rresppnsign HAL-parameters https://github.com/zarfld/LinuxCnc_PokeysLibComp/blob/main/DM542_XXYZ_mill/postgui_call_list.hal

[zarfld]

for seperate HAL files: this section of INI specifies which HAL files are being load