Widget Control

from PyQt5 import QtWidgets, QtGui, QtCore

import hal, linuxcnc

class TestWidget(QtWidgets.QWidget):
    def __init__(self, halcomp, parent=None):
        super().__init__(parent)
        self.halcomp = hal.component("mytest")
        self.halcomp.newpin("test-widget-out", hal.HAL_BIT, hal.HAL_OUT)
        self.init_ui()
        self.halcomp.ready()

    def init_ui(self):
        self.setWindowTitle("Test Widget")
        self.setGeometry(300, 300, 250, 150)

        self.layout = QtWidgets.QVBoxLayout()
        self.setLayout(self.layout)

        self.test_direct = QtWidgets.QPushButton("Test Direct")
        self.test_direct.setCheckable(True)
        def set_pin(data):
            self.halcomp["test-widget-out"] = data
        self.test_direct.clicked.connect(set_pin)

        self.layout.addWidget(self.test_direct)

        self.test_hal = QtWidgets.QPushButton("Test HAL")
        self.test_hal.clicked.connect(lambda: hal.set_p("halui.mode.teleop", "true"))
        self.layout.addWidget(self.test_hal)
        self.show()


    def closeEvent(self, event):
        event.accept()
        self.halcomp.exit()


if __name__ == "__main__":
    app = QtWidgets.QApplication([])
    w = TestWidget(None)
    app.exec_()