int hal_heap_addmem(size_t click)
{
size_t actual = RTAPI_ALIGN(click, RTAPI_CACHELINE);
HALDBG("extending arena by %zu bytes", actual);
if (hal_freemem() < HAL_HEAP_MINFREE) {
HALERR("can't extend arena - below minfree: %zu", hal_freemem());
return 0;
}
if (rtapi_heap_addmem(&hal_data->heap,
SHMPTR(hal_data->shmem_bot),
actual)) {
HALFAIL_RC(ENOMEM, "rtapi_heap_addmem(%zu) failed", actual);
}
hal_data->shmem_bot += actual;
return 0;
}
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;
}
