int rtapi_app_main(void) { int res = 0; comp_id = hal_init(name); if(comp_id < 0) return comp_id; vtable_id = hal_export_vtable(name, VTVERSION, &vtk, comp_id); if (vtable_id < 0) { rtapi_print_msg(RTAPI_MSG_ERR, "%s: ERROR: hal_export_vtable(%s,%d,%p) failed: %d\n", name, name, VTVERSION, &vtk, vtable_id ); return -ENOENT; } haldata = hal_malloc(sizeof(struct haldata)); if(!haldata) goto error; if((res = hal_pin_float_new("tripodkins.Bx", HAL_IO, &(haldata->bx), comp_id)) < 0) goto error; if((res = hal_pin_float_new("tripodkins.Cx", HAL_IO, &(haldata->cx), comp_id)) < 0) goto error; if((res = hal_pin_float_new("tripodkins.Cy", HAL_IO, &(haldata->cy), comp_id)) < 0) goto error; Bx = Cx = Cy = 1.0; hal_ready(comp_id); return 0; error: hal_exit(comp_id); return res; }
int rtapi_app_main(void) { int result; comp_id = hal_init(name); if(comp_id < 0) return comp_id; vtable_id = hal_export_vtable(name, VTVERSION, &vtk, comp_id); if (vtable_id < 0) { rtapi_print_msg(RTAPI_MSG_ERR, "%s: ERROR: hal_export_vtable(%s,%d,%p) failed: %d\n", name, name, VTVERSION, &vtk, vtable_id ); return -ENOENT; } haldata = hal_malloc(sizeof(struct haldata)); result = hal_pin_float_new("maxkins.pivot-length", HAL_IO, &(haldata->pivot_length), comp_id); if(result < 0) goto error; *(haldata->pivot_length) = 0.666; hal_ready(comp_id); return 0; error: hal_exit(comp_id); return result; }
int rtapi_app_main(void) { int res = 0; comp_id = hal_init(name); if (comp_id < 0) return comp_id; haldata = hal_malloc(sizeof(struct haldata)); if (((res = hal_pin_newf(HAL_FLOAT, HAL_IN, (void **) &(haldata->Tool_offset), comp_id, "%s.Tool-offset", name)) < 0) || ((res = hal_pin_newf(HAL_FLOAT, HAL_IN, (void **) &(haldata->Y_offset), comp_id, "%s.Y-offset", name)) < 0) || ((res = hal_pin_newf(HAL_FLOAT, HAL_IN, (void **) &(haldata->Z_offset), comp_id, "%s.Z-offset", name)) < 0)) goto error; vtable_id = hal_export_vtable(name, VTVERSION, &vtk, comp_id); if (vtable_id < 0) { rtapi_print_msg(RTAPI_MSG_ERR, "%s: ERROR: hal_export_vtable(%s,%d,%p) failed: %d\n", name, name, VTVERSION, &vtk, vtable_id ); return -ENOENT; } hal_ready(comp_id); return 0; error: hal_exit(comp_id); return res; }