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_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;
}
