int hal_unbind(const char *comp_name)
{
CHECK_HALDATA();
CHECK_STRLEN(comp_name, HAL_NAME_LEN);
{
hal_comp_t *comp __attribute__((cleanup(halpr_autorelease_mutex)));
rtapi_mutex_get(&(hal_data->mutex));
comp = halpr_find_comp_by_name(comp_name);
if (comp == NULL) {
HALERR("no such component '%s'", comp_name);
return -EINVAL;
}
if (comp->type != TYPE_REMOTE) {
HALERR("component '%s' not a remote component (%d)",
comp_name, comp->type);
return -EINVAL;
}
if (comp->state != COMP_BOUND) {
HALERR("component '%s': state not bound (%d)",
comp_name, comp->state);
return -EINVAL;
}
comp->state = COMP_UNBOUND;
comp->last_unbound = (long int) time(NULL);
}
return 0;
}
int hal_release(const char *comp_name)
{
CHECK_HALDATA();
CHECK_STRLEN(comp_name, HAL_NAME_LEN);
{
hal_comp_t *comp __attribute__((cleanup(halpr_autorelease_mutex)));
rtapi_mutex_get(&(hal_data->mutex));
comp = halpr_find_comp_by_name(comp_name);
if (comp == NULL) {
HALERR("no such component '%s'", comp_name);
return -EINVAL;
}
if (comp->type != TYPE_REMOTE) {
HALERR("component '%s' not a remote component (%d)",
comp_name, comp->type);
return -EINVAL;
}
if (comp->pid == 0) {
HALERR("component '%s': component already disowned",
comp_name);
return -EINVAL;
}
if (comp->pid != getpid()) {
HALERR("component '%s': component owned by pid %d",
comp_name, comp->pid);
// return -EINVAL;
}
comp->pid = 0;
}
return 0;
}
int hal_bind(const char *comp_name)
{
if (hal_data == 0) {
hal_print_msg(RTAPI_MSG_ERR,
"HAL: ERROR: hal_bind called before hal_init\n");
return -EINVAL;
}
{
hal_comp_t *comp __attribute__((cleanup(halpr_autorelease_mutex)));
rtapi_mutex_get(&(hal_data->mutex));
comp = halpr_find_comp_by_name(comp_name);
if (comp == NULL) {
hal_print_msg(RTAPI_MSG_ERR,
"HAL: hal_bind(): no such component '%s'\n", comp_name);
return -EINVAL;
}
if (comp->type != TYPE_REMOTE) {
hal_print_msg(RTAPI_MSG_ERR,
"HAL: hal_bind(%s): not a remote componet (%d)\n",
comp_name, comp->type);
return -EINVAL;
}
if (comp->state != COMP_UNBOUND) {
hal_print_msg(RTAPI_MSG_ERR,
"HAL: hal_bind(%s): state not unbound (%d)\n",
comp_name, comp->state);
return -EINVAL;
}
comp->state = COMP_BOUND;
comp->last_bound = (long int) time(NULL);; // XXX ugly
}
return 0;
}
int
hal_comp_state_by_name(const char *name)
{
hal_comp_t *comp __attribute__((cleanup(halpr_autorelease_mutex)));
rtapi_mutex_get(&(hal_data->mutex));
comp = halpr_find_comp_by_name(name);
if (comp == NULL)
return -ENOENT;
return comp->state;
}
int hal_acquire(const char *comp_name, int pid)
{
if (hal_data == 0) {
hal_print_msg(RTAPI_MSG_ERR,
"HAL: ERROR: hal_acquire called before hal_init\n");
return -EINVAL;
}
{
hal_comp_t *comp __attribute__((cleanup(halpr_autorelease_mutex)));
rtapi_mutex_get(&(hal_data->mutex));
comp = halpr_find_comp_by_name(comp_name);
if (comp == NULL) {
hal_print_msg(RTAPI_MSG_ERR,
"HAL: hal_acquire(): no such component '%s'\n",
comp_name);
return -EINVAL;
}
if (comp->type != TYPE_REMOTE) {
hal_print_msg(RTAPI_MSG_ERR,
"HAL: hal_acquire(%s): not a remote component (%d)\n",
comp_name, comp->type);
return -EINVAL;
}
if (comp->state == COMP_BOUND) {
hal_print_msg(RTAPI_MSG_ERR,
"HAL: hal_acquire(%s): cant reown a bound component (%d)\n",
comp_name, comp->state);
return -EINVAL;
}
// let a comp be 'adopted away' from the RT environment
// this is a tad hacky, should separate owner pid from RT/user distinction
if ((comp->pid !=0) &&
(comp->pid != global_data->rtapi_app_pid))
{
hal_print_msg(RTAPI_MSG_ERR,
"HAL: hal_acquire(%s): component already owned by pid %d\n",
comp_name, comp->pid);
return -EINVAL;
}
comp->pid = pid;
return comp->comp_id;
}
}
int hal_release(const char *comp_name)
{
if (hal_data == 0) {
hal_print_msg(RTAPI_MSG_ERR,
"HAL: ERROR: hal_release called before hal_init\n");
return -EINVAL;
}
{
hal_comp_t *comp __attribute__((cleanup(halpr_autorelease_mutex)));
rtapi_mutex_get(&(hal_data->mutex));
comp = halpr_find_comp_by_name(comp_name);
if (comp == NULL) {
hal_print_msg(RTAPI_MSG_ERR,
"HAL: hal_release(): no such component '%s'\n",
comp_name);
return -EINVAL;
}
if (comp->type != TYPE_REMOTE) {
hal_print_msg(RTAPI_MSG_ERR,
"HAL: hal_release(%s): not a remote componet (%d)\n",
comp_name, comp->type);
return -EINVAL;
}
if (comp->pid == 0) {
hal_print_msg(RTAPI_MSG_ERR,
"HAL: hal_release(%s): component already disowned\n",
comp_name);
return -EINVAL;
}
if (comp->pid != getpid()) {
hal_print_msg(RTAPI_MSG_WARN,
"HAL: hal_release(%s): component owned by pid %d\n",
comp_name, comp->pid);
// return -EINVAL;
}
comp->pid = 0;
}
return 0;
}
// return number of params in a component
int
halpr_param_count(const char *name)
{
hal_comp_t *comp;
hal_comp_t *owner;
int count = 0;
comp = halpr_find_comp_by_name(name);
if (comp == 0)
return -ENOENT;
int next = hal_data->param_list_ptr;
while (next != 0) {
hal_param_t *param = (hal_param_t *)SHMPTR(next);
owner = halpr_find_owning_comp(param->owner_id);
if (owner->comp_id == comp->comp_id)
count++;
next = param->next_ptr;
}
return count;
}
int hal_acquire(const char *comp_name, int pid)
{
CHECK_HALDATA();
CHECK_STRLEN(comp_name, HAL_NAME_LEN);
{
hal_comp_t *comp __attribute__((cleanup(halpr_autorelease_mutex)));
rtapi_mutex_get(&(hal_data->mutex));
comp = halpr_find_comp_by_name(comp_name);
if (comp == NULL) {
HALERR("no such component '%s'", comp_name);
return -EINVAL;
}
if (comp->type != TYPE_REMOTE) {
HALERR("component '%s' not a remote component (%d)",
comp_name, comp->type);
return -EINVAL;
}
if (comp->state == COMP_BOUND) {
HALERR("component '%s': cant reown a bound component (%d)",
comp_name, comp->state);
return -EINVAL;
}
// let a comp be 'adopted away' from the RT environment
// this is a tad hacky, should separate owner pid from RT/user distinction
if ((comp->pid !=0) &&
(comp->pid != global_data->rtapi_app_pid))
{
HALERR("component '%s': already owned by pid %d",
comp_name, comp->pid);
return -EINVAL;
}
comp->pid = pid;
return comp->comp_id;
}
}
// instantiation handlers
static int create_instance(const hal_funct_args_t *fa)
{
const int argc = fa_argc(fa);
const char **argv = fa_argv(fa);
#if 0
HALDBG("'%s' called, arg=%p argc=%d",
fa_funct_name(fa), fa_arg(fa), argc);
int i;
for (i = 0; i < argc; i++)
HALDBG(" argv[%d] = \"%s\"", i,argv[i]);
#endif
if (argc < 2) {
HALERR("need component name and instance name");
return -EINVAL;
}
const char *cname = argv[0];
const char *iname = argv[1];
hal_comp_t *comp = halpr_find_comp_by_name(cname);
if (!comp) {
HALERR("no such component '%s'", cname);
return -EINVAL;
}
if (!comp->ctor) {
HALERR("component '%s' not instantiable", cname);
return -EINVAL;
}
hal_inst_t *inst = halpr_find_inst_by_name(iname);
if (inst) {
HALERR("instance '%s' already exists", iname);
return -EBUSY;
}
return comp->ctor(iname, argc - 2, &argv[2]);
}
int hal_xinit(const int type,
const int userarg1,
const int userarg2,
const hal_constructor_t ctor,
const hal_destructor_t dtor,
const char *name)
{
int comp_id, retval;
rtapi_set_logtag("hal_lib");
CHECK_STRLEN(name, HAL_NAME_LEN);
// sanity: these must have been inited before by the
// respective rtapi.so/.ko module
CHECK_NULL(rtapi_switch);
if ((dtor != NULL) && (ctor == NULL)) {
HALERR("component '%s': NULL constructor doesnt make"
" sense with non-NULL destructor", name);
return -EINVAL;
}
// RTAPI initialisation already done
HALDBG("initializing component '%s' type=%d arg1=%d arg2=%d/0x%x",
name, type, userarg1, userarg2, userarg2);
if ((lib_module_id < 0) && (type != TYPE_HALLIB)) {
// if hal_lib not inited yet, do so now - recurse
#ifdef RTAPI
retval = hal_xinit(TYPE_HALLIB, 0, 0, NULL, NULL, "hal_lib");
#else
retval = hal_xinitf(TYPE_HALLIB, 0, 0, NULL, NULL, "hal_lib%ld",
(long) getpid());
#endif
if (retval < 0)
return retval;
}
// tag message origin field since ulapi autoload re-tagged them temporarily
rtapi_set_logtag("hal_lib");
/* copy name to local vars, truncating if needed */
char rtapi_name[RTAPI_NAME_LEN + 1];
char hal_name[HAL_NAME_LEN + 1];
rtapi_snprintf(hal_name, sizeof(hal_name), "%s", name);
rtapi_snprintf(rtapi_name, RTAPI_NAME_LEN, "HAL_%s", hal_name);
/* do RTAPI init */
comp_id = rtapi_init(rtapi_name);
if (comp_id < 0) {
HALERR("rtapi init(%s) failed", rtapi_name);
return -EINVAL;
}
// recursing? init HAL shm
if ((lib_module_id < 0) && (type == TYPE_HALLIB)) {
// recursion case, we're initing hal_lib
// get HAL shared memory from RTAPI
int shm_id = rtapi_shmem_new(HAL_KEY,
comp_id,
global_data->hal_size);
if (shm_id < 0) {
HALERR("hal_lib:%d failed to allocate HAL shm %x, rc=%d",
comp_id, HAL_KEY, shm_id);
rtapi_exit(comp_id);
return -EINVAL;
}
// retrieve address of HAL shared memory segment
void *mem;
retval = rtapi_shmem_getptr(shm_id, &mem, 0);
if (retval < 0) {
HALERR("hal_lib:%d failed to acquire HAL shm %x, id=%d rc=%d",
comp_id, HAL_KEY, shm_id, retval);
rtapi_exit(comp_id);
return -EINVAL;
}
// set up internal pointers to shared mem and data structure
hal_shmem_base = (char *) mem;
hal_data = (hal_data_t *) mem;
#ifdef RTAPI
// only on RTAPI hal_lib initialization:
// initialize up the HAL shm segment
retval = init_hal_data();
if (retval) {
HALERR("could not init HAL shared memory rc=%d", retval);
rtapi_exit(lib_module_id);
lib_module_id = -1;
return -EINVAL;
}
retval = hal_proc_init();
if (retval) {
HALERR("could not init /proc files");
rtapi_exit(lib_module_id);
lib_module_id = -1;
return -EINVAL;
}
#endif
// record hal_lib comp_id
lib_module_id = comp_id;
// and the HAL shm segmed id
lib_mem_id = shm_id;
}
// global_data MUST be at hand now:
HAL_ASSERT(global_data != NULL);
// paranoia
HAL_ASSERT(hal_shmem_base != NULL);
HAL_ASSERT(hal_data != NULL);
HAL_ASSERT(lib_module_id > -1);
HAL_ASSERT(lib_mem_id > -1);
if (lib_module_id < 0) {
HALERR("giving up");
return -EINVAL;
}
{
hal_comp_t *comp __attribute__((cleanup(halpr_autorelease_mutex)));
/* get mutex before manipulating the shared data */
rtapi_mutex_get(&(hal_data->mutex));
/* make sure name is unique in the system */
if (halpr_find_comp_by_name(hal_name) != 0) {
/* a component with this name already exists */
HALERR("duplicate component name '%s'", hal_name);
rtapi_exit(comp_id);
return -EINVAL;
}
/* allocate a new component structure */
comp = halpr_alloc_comp_struct();
if (comp == 0) {
HALERR("insufficient memory for component '%s'", hal_name);
rtapi_exit(comp_id);
return -ENOMEM;
}
/* initialize the comp structure */
comp->userarg1 = userarg1;
comp->userarg2 = userarg2;
comp->comp_id = comp_id;
comp->type = type;
comp->ctor = ctor;
comp->dtor = dtor;
#ifdef RTAPI
comp->pid = 0;
#else /* ULAPI */
// a remote component starts out disowned
comp->pid = comp->type == TYPE_REMOTE ? 0 : getpid();
#endif
comp->state = COMP_INITIALIZING;
comp->last_update = 0;
comp->last_bound = 0;
comp->last_unbound = 0;
comp->shmem_base = hal_shmem_base;
comp->insmod_args = 0;
rtapi_snprintf(comp->name, sizeof(comp->name), "%s", hal_name);
/* insert new structure at head of list */
comp->next_ptr = hal_data->comp_list_ptr;
hal_data->comp_list_ptr = SHMOFF(comp);
}
// scope exited - mutex released
// finish hal_lib initialisation
// in ULAPI this will happen after the recursion on hal_lib%d unwinds
if (type == TYPE_HALLIB) {
#ifdef RTAPI
// only on RTAPI hal_lib initialization:
// export the instantiation support userfuncts
hal_export_xfunct_args_t ni = {
.type = FS_USERLAND,
.funct.u = create_instance,
.arg = NULL,
.owner_id = lib_module_id
};
if ((retval = hal_export_xfunctf( &ni, "newinst")) < 0)
return retval;
hal_export_xfunct_args_t di = {
.type = FS_USERLAND,
.funct.u = delete_instance,
.arg = NULL,
.owner_id = lib_module_id
};
if ((retval = hal_export_xfunctf( &di, "delinst")) < 0)
return retval;
#endif
retval = hal_ready(lib_module_id);
if (retval)
HALERR("hal_ready(%d) failed rc=%d", lib_module_id, retval);
else
HALDBG("%s initialization complete", hal_name);
return retval;
}
HALDBG("%s component '%s' id=%d initialized%s",
(ctor != NULL) ? "instantiable" : "legacy",
hal_name, comp_id,
(dtor != NULL) ? ", has destructor" : "");
return comp_id;
}
int hal_exit(int comp_id)
{
int *prev, next, comptype;
char name[HAL_NAME_LEN + 1];
CHECK_HALDATA();
HALDBG("removing component %d", comp_id);
{
hal_comp_t *comp __attribute__((cleanup(halpr_autorelease_mutex)));
/* grab mutex before manipulating list */
rtapi_mutex_get(&(hal_data->mutex));
/* search component list for 'comp_id' */
prev = &(hal_data->comp_list_ptr);
next = *prev;
if (next == 0) {
/* list is empty - should never happen, but... */
HALERR("no components defined");
return -EINVAL;
}
comp = SHMPTR(next);
while (comp->comp_id != comp_id) {
/* not a match, try the next one */
prev = &(comp->next_ptr);
next = *prev;
if (next == 0) {
/* reached end of list without finding component */
HALERR("no such component with id %d", comp_id);
return -EINVAL;
}
comp = SHMPTR(next);
}
// record type, since we're about to zap the comp in free_comp_struct()
comptype = comp->type;
/* save component name for later */
rtapi_snprintf(name, sizeof(name), "%s", comp->name);
/* get rid of the component */
free_comp_struct(comp);
// unlink the comp only now as free_comp_struct() must
// determine ownership of pins/params/functs and this
// requires access to the current comp, too
// since this is all under lock it should not matter
*prev = comp->next_ptr;
// add it to free list
comp->next_ptr = hal_data->comp_free_ptr;
hal_data->comp_free_ptr = SHMOFF(comp);
// scope exit - mutex released
}
// if unloading the hal_lib component, destroy HAL shm
if (comptype == TYPE_HALLIB) {
int retval;
/* release RTAPI resources */
retval = rtapi_shmem_delete(lib_mem_id, comp_id);
if (retval) {
HALERR("rtapi_shmem_delete(%d,%d) failed: %d",
lib_mem_id, comp_id, retval);
}
// HAL shm is history, take note ASAP
lib_mem_id = -1;
hal_shmem_base = NULL;
hal_data = NULL;;
retval = rtapi_exit(comp_id);
if (retval) {
HALERR("rtapi_exit(%d) failed: %d",
lib_module_id, retval);
}
// the hal_lib RTAPI module is history, too
// in theory we'd be back to square 1
lib_module_id = -1;
} else {
// the standard case
rtapi_exit(comp_id);
}
//HALDBG("component '%s' id=%d removed", name, comp_id);
return 0;
}
int hal_init_mode(const char *name, int type, int userarg1, int userarg2)
{
int comp_id;
char rtapi_name[RTAPI_NAME_LEN + 1];
char hal_name[HAL_NAME_LEN + 1];
// tag message origin field
rtapi_set_logtag("hal_lib");
if (name == 0) {
hal_print_msg(RTAPI_MSG_ERR, "HAL: ERROR: no component name\n");
return -EINVAL;
}
if (strlen(name) > HAL_NAME_LEN) {
hal_print_msg(RTAPI_MSG_ERR,
"HAL: ERROR: component name '%s' is too long\n", name);
return -EINVAL;
}
// rtapi initialisation already done
// since this happens through the constructor
hal_print_msg(RTAPI_MSG_DBG,
"HAL: initializing component '%s' type=%d arg1=%d arg2=%d/0x%x\n",
name, type, userarg1, userarg2, userarg2);
/* copy name to local vars, truncating if needed */
rtapi_snprintf(rtapi_name, RTAPI_NAME_LEN, "HAL_%s", name);
rtapi_snprintf(hal_name, sizeof(hal_name), "%s", name);
/* do RTAPI init */
comp_id = rtapi_init(rtapi_name);
if (comp_id < 0) {
hal_print_msg(RTAPI_MSG_ERR, "HAL: ERROR: rtapi init failed\n");
return -EINVAL;
}
// tag message origin field since ulapi autoload re-tagged them
rtapi_set_logtag("hal_lib");
#ifdef ULAPI
hal_rtapi_attach();
#endif
{
hal_comp_t *comp __attribute__((cleanup(halpr_autorelease_mutex)));
/* get mutex before manipulating the shared data */
rtapi_mutex_get(&(hal_data->mutex));
/* make sure name is unique in the system */
if (halpr_find_comp_by_name(hal_name) != 0) {
/* a component with this name already exists */
hal_print_msg(RTAPI_MSG_ERR,
"HAL: ERROR: duplicate component name '%s'\n", hal_name);
rtapi_exit(comp_id);
return -EINVAL;
}
/* allocate a new component structure */
comp = halpr_alloc_comp_struct();
if (comp == 0) {
/* couldn't allocate structure */
hal_print_msg(RTAPI_MSG_ERR,
"HAL: ERROR: insufficient memory for component '%s'\n", hal_name);
rtapi_exit(comp_id);
return -ENOMEM;
}
/* initialize the comp structure */
comp->userarg1 = userarg1;
comp->userarg2 = userarg2;
comp->comp_id = comp_id;
comp->type = type;
#ifdef RTAPI
comp->pid = 0; //FIXME revisit this
#else /* ULAPI */
// a remote component starts out disowned
comp->pid = comp->type == TYPE_REMOTE ? 0 : getpid(); //FIXME revisit this
#endif
comp->state = COMP_INITIALIZING;
comp->last_update = 0;
comp->last_bound = 0;
comp->last_unbound = 0;
comp->shmem_base = hal_shmem_base;
comp->insmod_args = 0;
rtapi_snprintf(comp->name, sizeof(comp->name), "%s", hal_name);
/* insert new structure at head of list */
comp->next_ptr = hal_data->comp_list_ptr;
hal_data->comp_list_ptr = SHMOFF(comp);
}
// scope exited - mutex released
/* done */
hal_print_msg(RTAPI_MSG_DBG,
"HAL: component '%s' initialized, ID = %02d\n", hal_name, comp_id);
return comp_id;
}
int hal_compile_comp(const char *name, hal_compiled_comp_t **ccomp)
{
hal_compiled_comp_t *tc;
int pincount = 0;
CHECK_HALDATA();
CHECK_STRLEN(name, HAL_NAME_LEN);
{
hal_comp_t *comp __attribute__((cleanup(halpr_autorelease_mutex)));
int next, n;
hal_comp_t *owner;
hal_pin_t *pin;
rtapi_mutex_get(&(hal_data->mutex));
if ((comp = halpr_find_comp_by_name(name)) == NULL) {
HALERR("no such component '%s'", name);
return -EINVAL;
}
// array sizing: count pins owned by this component
next = hal_data->pin_list_ptr;
n = 0;
while (next != 0) {
pin = SHMPTR(next);
owner = halpr_find_owning_comp(pin->owner_id);
if (owner->comp_id == comp->comp_id) {
if (!(pin->flags & PIN_DO_NOT_TRACK))
n++;
pincount++;
}
next = pin->next_ptr;
}
if (n == 0) {
HALERR("component %s has no pins to watch for changes",
name);
return -EINVAL;
}
// a compiled comp is a userland/per process memory object
if ((tc = malloc(sizeof(hal_compiled_comp_t))) == NULL)
return -ENOMEM;
memset(tc, 0, sizeof(hal_compiled_comp_t));
tc->comp = comp;
tc->n_pins = n;
// alloc pin array
if ((tc->pin = malloc(sizeof(hal_pin_t *) * tc->n_pins)) == NULL)
return -ENOMEM;
// alloc tracking value array
if ((tc->tracking =
malloc(sizeof(hal_data_u) * tc->n_pins )) == NULL)
return -ENOMEM;
// alloc change bitmap
if ((tc->changed =
malloc(RTAPI_BITMAP_BYTES(tc->n_pins))) == NULL)
return -ENOMEM;
memset(tc->pin, 0, sizeof(hal_pin_t *) * tc->n_pins);
memset(tc->tracking, 0, sizeof(hal_data_u) * tc->n_pins);
RTAPI_ZERO_BITMAP(tc->changed,tc->n_pins);
// fill in pin array
n = 0;
next = hal_data->pin_list_ptr;
while (next != 0) {
pin = SHMPTR(next);
owner = halpr_find_owning_comp(pin->owner_id);
if ((owner->comp_id == comp->comp_id) &&
!(pin->flags & PIN_DO_NOT_TRACK))
tc->pin[n++] = pin;
next = pin->next_ptr;
}
assert(n == tc->n_pins);
tc->magic = CCOMP_MAGIC;
*ccomp = tc;
}
HALDBG("ccomp '%s': %d pins, %d tracked", name, pincount, tc->n_pins);
return 0;
}
int hal_retrieve_pinstate(const char *comp_name,
hal_retrieve_pins_callback_t callback,
void *cb_data)
{
int next;
int nvisited = 0;
int result;
hal_comp_t *comp = NULL;
hal_comp_t *owner;
hal_pinstate_t pinstate;
CHECK_HALDATA();
CHECK_STRLEN(comp_name, HAL_NAME_LEN);
{
hal_pin_t *pin __attribute__((cleanup(halpr_autorelease_mutex)));
/* get mutex before accessing shared data */
rtapi_mutex_get(&(hal_data->mutex));
if (comp_name != NULL) {
comp = halpr_find_comp_by_name(comp_name);
if (comp == NULL) {
HALERR("no such component '%s'", comp_name);
return -EINVAL;
}
}
// either comp == NULL, so visit all pins
// or comp != NULL, in which case visit only this
// component's pins
// walk the pinlist
next = hal_data->pin_list_ptr;
while (next != 0) {
pin = SHMPTR(next);
owner = halpr_find_owning_comp(pin->owner_id);
if (!comp_name || (owner->comp_id == comp->comp_id)) {
nvisited++;
/* this is the right comp */
if (callback) {
// fill in the details:
// NB: cover remote link case!
pinstate.value = SHMPTR(pin->data_ptr_addr);
pinstate.type = pin->type;
pinstate.dir = pin->dir;
pinstate.epsilon = hal_data->epsilon[pin->eps_index];
pinstate.flags = pin->flags;
strncpy(pinstate.name, pin->name, sizeof(pin->name));
strncpy(pinstate.owner_name, owner->name, sizeof(owner->name));
result = callback(&pinstate, cb_data);
if (result < 0) {
// callback signaled an error, pass that back up.
return result;
} else if (result > 0) {
// callback signaled 'stop iterating'.
// pass back the number of visited pins so far.
return nvisited;
} else {
// callback signaled 'OK to continue'
// fall through
}
} else {
// null callback passed in,
// just count pins
// nvisited already bumped above.
}
}
/* no match, try the next one */
next = pin->next_ptr;
}
HALDBG("hal_retrieve_pinstate: visited %d pins", nvisited);
/* if we get here, we ran through all the pins, so return count */
return nvisited;
}
}
int hal_compile_comp(const char *name, hal_compiled_comp_t **ccomp)
{
hal_compiled_comp_t *tc;
int pincount = 0;
if (!name) {
hal_print_msg(RTAPI_MSG_ERR,
"HAL:%d ERROR: hal_compile_comp() called with NULL name\n",
rtapi_instance);
return -EINVAL;
}
{
hal_comp_t *comp __attribute__((cleanup(halpr_autorelease_mutex)));
int next, n;
hal_comp_t *owner;
hal_pin_t *pin;
rtapi_mutex_get(&(hal_data->mutex));
if ((comp = halpr_find_comp_by_name(name)) == NULL) {
hal_print_msg(RTAPI_MSG_ERR,
"HAL:%d ERROR: hal_comp_compile(%s): no such comp\n",
rtapi_instance, name);
return -EINVAL;
}
// array sizing: count pins owned by this component
next = hal_data->pin_list_ptr;
n = 0;
while (next != 0) {
pin = SHMPTR(next);
owner = SHMPTR(pin->owner_ptr);
if (owner->comp_id == comp->comp_id) {
if (!(pin->flags & PIN_DO_NOT_TRACK))
n++;
pincount++;
}
next = pin->next_ptr;
}
if (n == 0) {
hal_print_msg(RTAPI_MSG_ERR,
"ERROR: component %s has no pins to watch for changes\n",
name);
return -EINVAL;
}
// a compiled comp is a userland/per process memory object
if ((tc = malloc(sizeof(hal_compiled_comp_t))) == NULL)
return -ENOMEM;
memset(tc, 0, sizeof(hal_compiled_comp_t));
tc->comp = comp;
tc->n_pins = n;
// alloc pin array
if ((tc->pin = malloc(sizeof(hal_pin_t *) * tc->n_pins)) == NULL)
return -ENOMEM;
// alloc tracking value array
if ((tc->tracking =
malloc(sizeof(hal_data_u) * tc->n_pins )) == NULL)
return -ENOMEM;
// alloc change bitmap
if ((tc->changed =
malloc(RTAPI_BITMAP_BYTES(tc->n_pins))) == NULL)
return -ENOMEM;
memset(tc->pin, 0, sizeof(hal_pin_t *) * tc->n_pins);
memset(tc->tracking, 0, sizeof(hal_data_u) * tc->n_pins);
RTAPI_ZERO_BITMAP(tc->changed,tc->n_pins);
// fill in pin array
n = 0;
next = hal_data->pin_list_ptr;
while (next != 0) {
pin = SHMPTR(next);
owner = SHMPTR(pin->owner_ptr);
if ((owner->comp_id == comp->comp_id) &&
!(pin->flags & PIN_DO_NOT_TRACK))
tc->pin[n++] = pin;
next = pin->next_ptr;
}
assert(n == tc->n_pins);
tc->magic = CCOMP_MAGIC;
*ccomp = tc;
}
hal_print_msg(RTAPI_MSG_DBG, "hal_compile_comp(%s): %d pins, %d tracked",
name, pincount, tc->n_pins);
return 0;
}
