int main( int argc, char *argv[] )
{
int used=0, NumRung;
static int old_level ;
bindtextdomain("linuxcnc", EMC2_PO_DIR);
setlocale(LC_MESSAGES,"");
setlocale(LC_CTYPE,"");
textdomain("linuxcnc");
old_level = rtapi_get_msg_level();
compId=hal_init("classicladder"); //emc
if (compId<0) return -1; //emc
signal(SIGTERM,do_exit); //emc
InitModbusMasterBeforeReadConf( );
if (ClassicLadder_AllocAll())
{
char ProjectLoadedOk=TRUE;
process_options (argc, argv);
if (nogui==TRUE)
{
rtapi_print(_("INFO CLASSICLADDER- No ladder GUI requested-Realtime runs till HAL closes.\n"));
ClassicLadder_InitAllDatas( );
ProjectLoadedOk = LoadProjectFiles( InfosGene->CurrentProjectFileName );
if (pathswitch){ strcpy( InfosGene->CurrentProjectFileName, NewPath ); }
InfosGene->LadderState = STATE_RUN;
ClassicLadder_FreeAll(TRUE);
hal_ready(compId);
hal_exit(compId);
return 0;
} else {
for(NumRung=0;NumRung<NBR_RUNGS;NumRung++) { if ( RungArray[NumRung].Used ) used++; }
if((used==0) || ( (argc - optind) != 0) )
{
ClassicLadder_InitAllDatas( );
ProjectLoadedOk = LoadProjectFiles( InfosGene->CurrentProjectFileName );
InitGtkWindows( argc, argv );
UpdateAllGtkWindows();
if (pathswitch){ strcpy( InfosGene->CurrentProjectFileName, NewPath ); }
UpdateWindowTitleWithProjectName( );
MessageInStatusBar( ProjectLoadedOk?_("Project loaded and running"):_("Project failed to load..."));
if (!ProjectLoadedOk)
{
ClassicLadder_InitAllDatas( );
if (modmaster) { PrepareModbusMaster( ); }
}
}else{
InitGtkWindows( argc, argv );
UpdateAllGtkWindows();
if (pathswitch){ strcpy( InfosGene->CurrentProjectFileName, NewPath ); }
UpdateWindowTitleWithProjectName( );
MessageInStatusBar(_("GUI reloaded with existing ladder program"));
if (modmaster) { PrepareModbusMaster( ); }
}
if (modslave) { InitSocketServer( 0/*UseUdpMode*/, ModbusServerPort/*PortNbr*/); }
InfosGene->LadderState = STATE_RUN;
hal_ready(compId);
gtk_main();
rtapi_print(_("INFO CLASSICLADDER- Ladder GUI closed. Realtime runs till HAL closes\n"));
ClassicLadder_FreeAll(TRUE);
hal_exit(compId);
return 0;
}
}
rtapi_print(_("ERROR CLASSICLADDER- Ladder memory allocation error\n"));
ClassicLadder_FreeAll(TRUE);
rtapi_set_msg_level(old_level);
hal_exit(compId);
return 0;
}
int rtapi_app_main(void) {
int result, i;
CopySizesInfosFromModuleParams();
compId = hal_init("classicladder_rt");
if(compId < 0) return compId;
rtapi_print("creating ladder-state\n");
result = hal_export_funct("classicladder.0.refresh",hal_task,0,1, 0, compId);
if(result < 0) {
error:
hal_exit(compId);
return result;
}
hal_state = hal_malloc(sizeof(hal_s32_t));
result = hal_param_s32_new("classicladder.ladder-state", HAL_RO, hal_state, compId);
if(result < 0) {
hal_exit(compId);
return result;
}
hal_inputs = hal_malloc(sizeof(hal_bit_t*) * numPhysInputs);
if(!hal_inputs) { result = -ENOMEM; goto error; }
hide_gui = hal_malloc(sizeof(hal_bit_t*));
if(!hide_gui) { result = -ENOMEM; goto error; }
hal_s32_inputs = hal_malloc(sizeof(hal_s32_t*) * numS32in);
if(!hal_s32_inputs) { result = -ENOMEM; goto error; }
hal_float_inputs = hal_malloc(sizeof(hal_float_t*) * numFloatIn);
if(!hal_float_inputs) { result = -ENOMEM; goto error; }
hal_outputs = hal_malloc(sizeof(hal_bit_t*) * numPhysOutputs);
if(!hal_outputs) { result = -ENOMEM; goto error; }
hal_s32_outputs = hal_malloc(sizeof(hal_s32_t*) * numS32out);
if(!hal_s32_outputs) { result = -ENOMEM; goto error; }
hal_float_outputs = hal_malloc(sizeof(hal_float_t*) * numFloatOut);
if(!hal_float_outputs) { result = -ENOMEM; goto error; }
for(i=0; i<numPhysInputs; i++) {
result = hal_pin_bit_newf(HAL_IN, &hal_inputs[i], compId,
"classicladder.0.in-%02d", i);
if(result < 0) goto error;
}
result = hal_pin_bit_newf(HAL_IN, &hide_gui[0], compId,
"classicladder.0.hide_gui");
if(result < 0) goto error;
for(i=0; i<numS32in; i++) {
result = hal_pin_s32_newf(HAL_IN, &hal_s32_inputs[i], compId,
"classicladder.0.s32in-%02d", i);
if(result < 0) goto error;
}
for(i=0; i<numFloatIn; i++) {
result = hal_pin_float_newf(HAL_IN, &hal_float_inputs[i], compId,
"classicladder.0.floatin-%02d", i);
if(result < 0) goto error;
}
for(i=0; i<numPhysOutputs; i++) {
result = hal_pin_bit_newf(HAL_OUT, &hal_outputs[i], compId,
"classicladder.0.out-%02d", i);
if(result < 0) goto error;
}
for(i=0; i<numS32out; i++) {
result = hal_pin_s32_newf(HAL_OUT, &hal_s32_outputs[i], compId,
"classicladder.0.s32out-%02d", i);
if(result < 0) goto error;
}
for(i=0; i<numFloatOut; i++) {
result = hal_pin_float_newf(HAL_OUT, &hal_float_outputs[i], compId,
"classicladder.0.floatout-%02d", i);
if(result < 0) goto error;
}
hal_ready(compId);
ClassicLadder_AllocAll( );
return 0;
}
