C++ (Cpp) export_encoder_pair Examples

Example #1

File: encoder_ratiov2.c Project: f1oat/machinekit

int rtapi_app_main(void)
{
    int retval;
    dlist_init_entry(&head);

    if ((comp_id = hal_xinit(TYPE_RT, 0, 0,
			     instantiate_encoder_pair,
			     delete_encoder_pair,
			     compname)) < 0)
	return comp_id;

    hal_export_xfunct_args_t u = {
        .type = FS_XTHREADFUNC,
        .funct.x = update,
        .arg = &head,
        .uses_fp = 1,
        .reentrant = 0,
        .owner_id = comp_id
    };
    if ((retval = hal_export_xfunctf(&u, "%s.update",
				     prefix)) < 0)
	return retval;

    hal_export_xfunct_args_t mp = {
        .type = FS_XTHREADFUNC,
        .funct.x = sample,
        .arg = &head,
        .uses_fp = 0,
        .reentrant = 0,
        .owner_id = comp_id
    };
    if ((retval = hal_export_xfunctf(&mp, "%s.sample",
				     prefix)) < 0)
	return retval;
    hal_ready(comp_id);
    return 0;
}


void rtapi_app_exit(void)
{
    hal_exit(comp_id);
}

static int instantiate_encoder_pair(const int argc, const char**argv)
{
    encoder_pair_t *p;
    int retval;
    int msg;
    const char* name;
    
    if(argc >= 2)
        name = argv[1];
    else
        HALFAIL_RC(EINVAL, "ERROR: insufficient args in argv");
    
    /* This function exports a lot of stuff, which results in a lot of
       logging if msg_level is at INFO or ALL. So we save the current value
       of msg_level and restore it later. */
    msg = rtapi_get_msg_level();

#ifndef  VERBOSE_SETUP
    rtapi_set_msg_level(RTAPI_MSG_WARN);
#endif

    if ((retval = hal_inst_create(name, comp_id, sizeof(encoder_pair_t), (void **)&p)) < 0)
	return retval;

    p->inst_id = retval;
    if ((retval = export_encoder_pair(name, p->inst_id, p)) != 0)
	HALFAIL_RC(retval, "%s: ERROR: export(%s) failed", compname, name);

    // append to instance list
    dlist_init_entry(&p->list);
    dlist_add_after(&p->list, &head);

    /* restore saved message level */
    rtapi_set_msg_level(msg);
    return 0;
}

Example #2

File: encoder_ratio.c Project: yishinli/emc2

int rtapi_app_main(void)
{
    int n, retval;

    /* test for number of channels */
    if ((num_chan <= 0) || (num_chan > MAX_CHAN)) {
	rtapi_print_msg(RTAPI_MSG_ERR,
	    "ENCODER_RATIO: ERROR: invalid num_chan: %d\n", num_chan);
	return -1;
    }
    /* have good config info, connect to the HAL */
    comp_id = hal_init("encoder_ratio");
    if (comp_id < 0) {
	rtapi_print_msg(RTAPI_MSG_ERR, "ENCODER_RATIO: ERROR: hal_init() failed\n");
	return -1;
    }
    /* allocate shared memory for encoder data */
    encoder_pair_array = hal_malloc(num_chan * sizeof(encoder_pair_t));
    if (encoder_pair_array == 0) {
	rtapi_print_msg(RTAPI_MSG_ERR,
	    "ENCODER_RATIO: ERROR: hal_malloc() failed\n");
	hal_exit(comp_id);
	return -1;
    }
    /* set up each encoder pair */
    for (n = 0; n < num_chan; n++) {
	/* export all vars */
	retval = export_encoder_pair(n, &(encoder_pair_array[n]));
	if (retval != 0) {
	    rtapi_print_msg(RTAPI_MSG_ERR,
		"ENCODER_RATIO: ERROR: counter %d var export failed\n", n);
	    hal_exit(comp_id);
	    return -1;
	}
	/* init encoder pair */
	encoder_pair_array[n].master_state = 0;
	encoder_pair_array[n].slave_state = 0;
	encoder_pair_array[n].master_increment = 0;
	encoder_pair_array[n].slave_increment = 0;
	encoder_pair_array[n].raw_error = 0;
	encoder_pair_array[n].output_scale = 1.0;
	*(encoder_pair_array[n].error) = 0.0;
    }
    /* export functions */
    retval = hal_export_funct("encoder-ratio.sample", sample,
	encoder_pair_array, 0, 0, comp_id);
    if (retval != 0) {
	rtapi_print_msg(RTAPI_MSG_ERR,
	    "ENCODER_RATIO: ERROR: sample funct export failed\n");
	hal_exit(comp_id);
	return -1;
    }
    retval = hal_export_funct("encoder-ratio.update", update,
	encoder_pair_array, 1, 0, comp_id);
    if (retval != 0) {
	rtapi_print_msg(RTAPI_MSG_ERR,
	    "ENCODER_RATIO: ERROR: update funct export failed\n");
	hal_exit(comp_id);
	return -1;
    }
    rtapi_print_msg(RTAPI_MSG_INFO,
	"ENCODER_RATIO: installed %d encoder_ratio blocks\n", num_chan);
    hal_ready(comp_id);
    return 0;
}