// constructor - init all HAL pins, params, funct etc here
static int instantiate(const char *name, const int argc, const char**argv)
{
struct inst_data *ip;
// allocate a named instance, and some HAL memory for the instance data
int inst_id = hal_inst_create(name, comp_id,
sizeof(struct inst_data),
(void **)&ip);
if (inst_id < 0)
return -1;
// here ip is guaranteed to point to a blob of HAL memory of size sizeof(struct inst_data).
HALERR("inst=%s argc=%d\n", name, argc);
HALERR("instance parms: repeat=%d prefix='%s'", repeat, prefix);
HALERR("module parms: answer=%d text='%s'", answer, text);
// these pins/params/functs will be owned by the instance, and can be separately exited
int retval = export_halobjs(ip, inst_id, name);
// unittest: echo instance parameters into observer pins
if (!retval) {
*(ip->repeat_value) = repeat;
*(ip->prefix_len) = strlen(prefix);
}
return retval;
}
static int instantiate_lutn(const char *name,
const int argc,
const char**argv)
{
struct inst_data *ip;
int i, inst_id;
if ((inputs < 1) || (inputs > 5)) {
hal_print_msg(RTAPI_MSG_ERR,
"%s: invalid parameter inputs=%d, valid range=1..5",
name, inputs);
return -1;
}
if ((function == 0) || (function == -1)) {
hal_print_msg(RTAPI_MSG_ERR,
"%s: function=0x%x does not make sense",
name, function);
return -1;
}
if ((inst_id = hal_inst_create(name, comp_id,
sizeof(struct inst_data) + inputs * sizeof(hal_bit_t *),
(void **)&ip)) < 0)
return -1;
hal_print_msg(RTAPI_MSG_DBG,
"%s: name='%s' inputs=%d function=0x%x ip=%p",
__FUNCTION__, name, inputs, function, ip);
// record instance params
ip->inputs = inputs;
ip->function = function;
// export per-instance HAL objects
for (i = 0; i < ip->inputs; i++)
if (hal_pin_bit_newf(HAL_IN, &(ip->in[i]), inst_id, "%s.in%d", name, i))
return -1;
if (hal_pin_bit_newf(HAL_OUT, &(ip->out), inst_id, "%s.out", name))
return -1;
if (hal_export_functf(lutn, ip, 0, 0, inst_id, "%s.funct", name))
return -1;
return 0;
}
// init HAL objects
static int export_halobjs(struct inst_data *ip, int owner_id, const char *name)
{
if (rring) {
// if given, the ring MUST be a stream type
plug_args_t rargs = {
.type = PLUG_READER,
.flags = RINGTYPE_STREAM,
.ring_name = rring,
.owner_name = name
};
ip->rplug = halg_plug_new(1, &rargs);
if (ip->rplug == NULL)
return _halerrno;
}
if (wring) {
// this plug accepts any ring type
plug_args_t wargs = {
.type = PLUG_WRITER,
.flags = RINGTYPE_ANY,
.ring_name = wring,
.owner_name = name
};
ip->wplug = halg_plug_new(1, &wargs);
if (ip->wplug == NULL)
return _halerrno;
}
// exporting '<instname>.funct' as an extended thread function
// see lutn.c for a discussion of advantages
hal_export_xfunct_args_t xfunct_args = {
.type = FS_XTHREADFUNC,
.funct.x = funct,
.arg = ip, // the instance's HAL memory blob
.uses_fp = 1,
.reentrant = 0,
.owner_id = owner_id
};
return hal_export_xfunctf(&xfunct_args, "%s.funct", name);
}
// constructor - init all HAL pins, params, funct etc here
static int instantiate(const int argc, const char**argv)
{
// argv[0]: component name
const char *name = argv[1]; // instance name
struct inst_data *ip;
// allocate a named instance, and some HAL memory for the instance data
int inst_id = hal_inst_create(name, comp_id,
sizeof(struct inst_data),
(void **)&ip);
if (inst_id < 0)
return -1;
// here ip is guaranteed to point to a blob of HAL memory
// of size sizeof(struct inst_data).
HALDBG("inst=%s argc=%d\n", name, argc);
HALDBG("instance parms: rring=%s wring=%s", rring, wring);
// these pins/params/functs will be owned by the instance,
// and can be separately exited 'halcmd delinst <instancename>'
int retval = export_halobjs(ip, inst_id, name);
return retval;
}
// custom destructor
// pins, params, and functs are automatically deallocated by hal_exit(comp_id)
// regardless if a destructor is used or not (see below), so usually it is not
// needed
//
// however, some objects like vtables, rings, threads, signals are not owned by
// a component, hence cannot be automatically exited by hal_exit() even if desired
//
// interaction with such objects may require a custom destructor like below for
// cleanup actions
// NB: if a customer destructor is used, it is called
// - after the instance's functs have been removed from their respective threads
// (so a thread funct call cannot interact with the destructor any more)
// - any pins, params and plugs of this instance are still intact when the destructor is
// called, and they are automatically destroyed by the HAL library once the
// destructor returns
static int delete(const char *name, void *inst, const int inst_size)
{
HALDBG("inst=%s size=%d %p\n", name, inst_size, inst);
return 0;
}
int rtapi_app_main(void)
{
comp_id = hal_xinit(TYPE_RT, 0, 0, instantiate, delete, compname);
if (comp_id < 0)
return comp_id;
hal_ready(comp_id);
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;
}
static int instantiate_interpolate(const int argc, const char **argv)
{
const char *name = argv[1];
struct inst_data *ip;
int inst_id, i;
if ((inst_id = hal_inst_create(name, comp_id,
sizeof(struct inst_data) +
count * sizeof(struct joint),
(void **)&ip)) < 0)
return -1;
// instance-level values
ip->count = count;
// attach the command ringbuffer '<instancename>.traj' if it exists
// must be record mode
unsigned flags;
if (!hal_ring_attachf(&(ip->traj), &flags, "%s.traj", name)) {
if ((flags & RINGTYPE_MASK) != RINGTYPE_RECORD) {
HALERR("ring %s.traj not a record mode ring: mode=%d",name, flags & RINGTYPE_MASK);
return -EINVAL;
}
ip->traj.header->reader = inst_id; // we're the reader - advisory
} else {
HALERR("ring %s.traj does not exist", name);
return -EINVAL;
}
// per-instance objects
if (hal_pin_s32_newf(HAL_OUT, &(ip->serial), inst_id, "%s.serial", name) ||
hal_pin_u32_newf(HAL_IN, &(ip->degree), inst_id, "%s.degree", name) ||
hal_pin_bit_newf(HAL_IN, &(ip->jitter_correct), inst_id, "%s.jitter-correct", name) ||
hal_pin_float_newf(HAL_IN, &(ip->epsilon), inst_id, "%s.epsilon", name) ||
hal_pin_float_newf(HAL_OUT, &(ip->duration), inst_id, "%s.duration", name) ||
hal_pin_float_newf(HAL_OUT, &(ip->progress), inst_id, "%s.progress", name))
return -1;
*(ip->serial) = 0;
*(ip->degree) = 1;
*(ip->jitter_correct) = 0;
*(ip->epsilon) = 0;
*(ip->duration) = 0;
*(ip->progress) = 0;
ip->time_from_start = 0;
// per-joint objects
for (i = 0; i < ip->count; i++) {
struct joint *jp = &ip->joints[i];
if (hal_pin_float_newf(HAL_OUT, &(jp->end_pos), inst_id, "%s.%d.end-pos", name, i) ||
hal_pin_float_newf(HAL_OUT, &(jp->end_vel), inst_id, "%s.%d.end-vel", name, i) ||
hal_pin_float_newf(HAL_OUT, &(jp->end_acc), inst_id, "%s.%d.end-acc", name, i) ||
hal_pin_float_newf(HAL_OUT, &(jp->curr_pos), inst_id, "%s.%d.curr-pos", name, i) ||
hal_pin_float_newf(HAL_OUT, &(jp->curr_vel), inst_id, "%s.%d.curr-vel", name, i) ||
hal_pin_float_newf(HAL_OUT, &(jp->curr_acc), inst_id, "%s.%d.curr-acc", name, i) ||
hal_pin_bit_newf(HAL_OUT, &(jp->traj_busy), inst_id, "%s.%d.traj-busy", name, i))
return -1;
// set all pin values to zero
*(jp->end_pos) = 0;
*(jp->end_vel) = 0;
*(jp->end_acc) = 0;
*(jp->curr_pos) = 0;
*(jp->curr_vel) = 0;
*(jp->curr_acc) = 0;
*(jp->traj_busy) = false;
}
hal_export_xfunct_args_t xfunct_args = {
.type = FS_XTHREADFUNC,
.funct.x = update,
.arg = ip,
.uses_fp = 0,
.reentrant = 0,
.owner_id = inst_id
};
return hal_export_xfunctf(&xfunct_args, "%s.update", name);
}
static int delete_interpolate(const char *name, void *inst, const int inst_size)
{
struct inst_data *ip = (struct inst_data *) inst;
int retval;
if (ringbuffer_attached(&ip->traj)) {
if ((retval = hal_ring_detach(&ip->traj)) < 0) {
rtapi_print_msg(RTAPI_MSG_ERR,
"%s: hal_ring_detach(%s.traj) failed: %d\n",
compname, name, retval);
return retval;
}
ip->traj.header->reader = 0;
}
return 0;
}
int rtapi_app_main(void)
{
comp_id = hal_xinit(TYPE_RT, 0, 0,
(hal_constructor_t)instantiate_interpolate,
delete_interpolate,
compname);
if (comp_id < 0)
return comp_id;
hal_ready(comp_id);
return 0;
}
// init HAL objects
static int export_halobjs(struct inst_data *ip, int owner_id, const char *name)
{
if (hal_pin_float_newf(HAL_OUT, &ip->out, owner_id, "%s.out", name))
return -1;
if (hal_pin_float_newf(HAL_IN, &ip->in, owner_id, "%s.in", name))
return -1;
if (hal_param_s32_newf(HAL_RO, &ip->iter,owner_id, "%s.iter", name))
return -1;
// unittest observer pins, per instance
if (hal_pin_s32_newf(HAL_OUT, &ip->repeat_value, owner_id, "%s.repeat_value", name))
return -1;
if (hal_pin_s32_newf(HAL_OUT, &ip->prefix_len, owner_id, "%s.prefix_len", name))
return -1;
// exporting '<instname>.funct' as an extended thread function
// see lutn.c for a discussion of advantages
hal_export_xfunct_args_t xfunct_args = {
.type = FS_XTHREADFUNC,
.funct.x = funct,
.arg = ip, // the instance's HAL memory blob
.uses_fp = 1,
.reentrant = 0,
.owner_id = owner_id
};
return hal_export_xfunctf(&xfunct_args, "%s.funct", name);
}
// constructor - init all HAL pins, params, funct etc here
static int instantiate(const int argc, const char**argv)
{
// argv[0]: component name
const char *name = argv[1]; // instance name
struct inst_data *ip;
// allocate a named instance, and some HAL memory for the instance data
int inst_id = hal_inst_create(name, comp_id,
sizeof(struct inst_data),
(void **)&ip);
if (inst_id < 0)
return -1;
// here ip is guaranteed to point to a blob of HAL memory
// of size sizeof(struct inst_data).
HALINFO("inst=%s argc=%d\n", name, argc);
HALINFO("instance parms: repeat=%d prefix='%s'", repeat, prefix);
HALINFO("module parms: answer=%d text='%s'", answer, text);
// example - parse newinst arguments getopt-style:
// straight from: http://www.informit.com/articles/article.aspx?p=175771&seqNum=3
int do_all, do_help, do_verbose; /* flag variables */
char *myfile;
struct option longopts[] = {
{ "all", no_argument, & do_all, 1 },
{ "file", required_argument, NULL, 'f' },
{ "help", no_argument, & do_help, 1 },
{ "verbose", no_argument, & do_verbose, 1 },
{ 0, 0, 0, 0 }
};
int c;
while ((c = getopt_long(argc, argv, ":f:", longopts, NULL)) != -1) {
switch (c) {
case 'f':
myfile = optarg;
break;
case 0: // getopt_long() set a variable, just keep going
break;
case ':': // missing option argument
HALERR("%s: option `-%c' requires an argument\n",
argv[1], optopt);
break;
case '?':
default: // invalid option
HALERR("%s: option `-%c' is invalid, ignored",
argv[1], optopt);
break;
}
}
HALINFO("do_all=%d do_help=%d do_verbose=%d myfile=%s",
do_all, do_help, do_verbose, myfile);
// these pins/params/functs will be owned by the instance,
// and can be separately exited via 'halcmd delinst <instancename>'
int retval = export_halobjs(ip, inst_id, name);
// unittest: echo instance parameters into observer pins
if (!retval) {
*(ip->repeat_value) = repeat;
*(ip->prefix_len) = strlen(prefix);
}
return retval;
}
// custom destructor
// pins, params, and functs are automatically deallocated by hal_exit(comp_id)
// regardless if a destructor is used or not (see below), so usually it is not
// needed
//
// however, some objects like vtables, rings, threads, signals are not owned by
// a component, hence cannot be automatically exited by hal_exit() even if desired
//
// interaction with such objects may require a custom destructor like below for
// cleanup actions
// NB: if a customer destructor is used, it is called
// - after the instance's functs have been removed from their respective threads
// (so a thread funct call cannot interact with the destructor any more)
// - any pins and params of this instance are still intact when the destructor is
// called, and they are automatically destroyed by the HAL library once the
// destructor returns
static int delete(const char *name, void *inst, const int inst_size)
{
HALERR("inst=%s size=%d %p\n", name, inst_size, inst);
HALERR("instance parms: repeat=%d prefix='%s'", repeat, prefix);
HALERR("module parms: answer=%d text='%s'", answer, text);
return 0;
}
int rtapi_app_main(void)
{
HALERR("instance parms: repeat=%d prefix='%s'", repeat, prefix);
HALERR("module parms: answer=%d text='%s'", answer, text);
// to use default destructor, use NULL instead of delete
comp_id = hal_xinit(TYPE_RT, 0, 0, instantiate, delete, compname);
if (comp_id < 0)
return comp_id;
#if 0
// this is how an 'instance' would have been done in the legacy way
struct inst_data *ip = hal_malloc(sizeof(struct inst_data));
// these pins/params/functs will be owned by the component
// NB: this 'instance' cannot be exited, and no new one created on the fly
if (export_halobjs(ip, comp_id, "foo"))
return -1;
#endif
// unittest only, see nosetests/unittest_instbindings.py and
// nosetests/unittest_icomp.py
// purpose: echo module params into observer pins
// (cant set pins to strings, so just echo the string length)
if ((cd = export_observer_pins(comp_id, compname)) == NULL)
return -1;
*(cd->answer_value) = answer;
*(cd->text_len) = strlen(text);
hal_ready(comp_id);
return 0;
}
