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halui.cc
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halui.cc
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/********************************************************************
* Description: halui.cc
* HAL User-Interface component.
* This file exports various UI related hal pins, and communicates
* with EMC through NML messages
*
* Derived from a work by Fred Proctor & Will Shackleford (emcsh.cc)
* some of the functions (sendFooBar() are adapted from there)
*
* Author: Alex Joni
* License: GPL Version 2
* System: Linux
*
* Copyright (c) 2006 All rights reserved.
*
* Last change:
********************************************************************/
#include <stdio.h>
#include <string.h>
#include <stdlib.h>
#include <sys/types.h>
#include <unistd.h>
#include <signal.h>
#include <math.h>
#include "hal.h" /* access to HAL functions/definitions */
#include "rtapi.h" /* rtapi_print_msg */
#include "rcs.hh"
#include "posemath.h" // PM_POSE, TO_RAD
#include "emc.hh" // EMC NML
#include "emc_nml.hh"
#include "emcglb.h" // EMC_NMLFILE, TRAJ_MAX_VELOCITY, etc.
#include "emccfg.h" // DEFAULT_TRAJ_MAX_VELOCITY
#include "inifile.hh" // INIFILE
#include "rcs_print.hh"
#include "nml_oi.hh"
#include "timer.hh"
#include <rtapi_string.h>
#include "tooldata.hh"
/* Using halui: see the man page */
static int axis_mask = 0;
#define JOGJOINT 1
#define JOGTELEOP 0
#define MDI_MAX 64
#pragma GCC diagnostic push
#if defined(__GNUC__) && (__GNUC__ > 4)
#pragma GCC diagnostic ignored "-Wignored-attributes"
#endif
#define HAL_FIELDS \
FIELD(hal_bit_t,machine_on) /* pin for setting machine On */ \
FIELD(hal_bit_t,machine_off) /* pin for setting machine Off */ \
FIELD(hal_bit_t,machine_is_on) /* pin for machine is On/Off */ \
FIELD(hal_bit_t,estop_activate) /* pin for activating EMC ESTOP */ \
FIELD(hal_bit_t,estop_reset) /* pin for resetting ESTOP */ \
FIELD(hal_bit_t,estop_is_activated) /* pin for status ESTOP is activated */ \
\
FIELD(hal_bit_t,mode_manual) /* pin for requesting manual mode */ \
FIELD(hal_bit_t,mode_is_manual) /* pin for manual mode is on */ \
FIELD(hal_bit_t,mode_auto) /* pin for requesting auto mode */ \
FIELD(hal_bit_t,mode_is_auto) /* pin for auto mode is on */ \
FIELD(hal_bit_t,mode_mdi) /* pin for requesting mdi mode */ \
FIELD(hal_bit_t,mode_is_mdi) /* pin for mdi mode is on */ \
FIELD(hal_bit_t,mode_teleop) /* pin for requesting teleop mode */ \
FIELD(hal_bit_t,mode_is_teleop) /* pin for teleop mode is on */ \
FIELD(hal_bit_t,mode_joint) /* pin for requesting joint mode */ \
FIELD(hal_bit_t,mode_is_joint) /* pin for joint mode is on */ \
\
FIELD(hal_bit_t,mist_on) /* pin for starting mist */ \
FIELD(hal_bit_t,mist_off) /* pin for stopping mist */ \
FIELD(hal_bit_t,mist_is_on) /* pin for mist is on */ \
FIELD(hal_bit_t,flood_on) /* pin for starting flood */ \
FIELD(hal_bit_t,flood_off) /* pin for stopping flood */ \
FIELD(hal_bit_t,flood_is_on) /* pin for flood is on */ \
FIELD(hal_bit_t,lube_on) /* pin for starting lube */ \
FIELD(hal_bit_t,lube_off) /* pin for stopping lube */ \
FIELD(hal_bit_t,lube_is_on) /* pin for lube is on */ \
\
FIELD(hal_bit_t,program_is_idle) /* pin for notifying user that program is idle */ \
FIELD(hal_bit_t,program_is_running) /* pin for notifying user that program is running */ \
FIELD(hal_bit_t,program_is_paused) /* pin for notifying user that program is paused */ \
FIELD(hal_bit_t,program_run) /* pin for running program */ \
FIELD(hal_bit_t,program_pause) /* pin for pausing program */ \
FIELD(hal_bit_t,program_resume) /* pin for resuming program */ \
FIELD(hal_bit_t,program_step) /* pin for running one line of the program */ \
FIELD(hal_bit_t,program_stop) /* pin for stopping the program */ \
FIELD(hal_bit_t,program_os_on) /* pin for setting optional stop on */ \
FIELD(hal_bit_t,program_os_off) /* pin for setting optional stop off */ \
FIELD(hal_bit_t,program_os_is_on) /* status pin that optional stop is on */ \
FIELD(hal_bit_t,program_bd_on) /* pin for setting block delete on */ \
FIELD(hal_bit_t,program_bd_off) /* pin for setting block delete off */ \
FIELD(hal_bit_t,program_bd_is_on) /* status pin that block delete is on */ \
\
FIELD(hal_u32_t,tool_number) /* pin for current selected tool */ \
FIELD(hal_float_t,tool_length_offset_x) /* current applied x tool-length-offset */ \
FIELD(hal_float_t,tool_length_offset_y) /* current applied y tool-length-offset */ \
FIELD(hal_float_t,tool_length_offset_z) /* current applied z tool-length-offset */ \
FIELD(hal_float_t,tool_length_offset_a) /* current applied a tool-length-offset */ \
FIELD(hal_float_t,tool_length_offset_b) /* current applied b tool-length-offset */ \
FIELD(hal_float_t,tool_length_offset_c) /* current applied c tool-length-offset */ \
FIELD(hal_float_t,tool_length_offset_u) /* current applied u tool-length-offset */ \
FIELD(hal_float_t,tool_length_offset_v) /* current applied v tool-length-offset */ \
FIELD(hal_float_t,tool_length_offset_w) /* current applied w tool-length-offset */ \
FIELD(hal_float_t,tool_diameter) /* current tool diameter (0 if no tool) */ \
\
ARRAY(hal_bit_t,spindle_start,EMCMOT_MAX_SPINDLES+1) /* pin for starting the spindle */ \
ARRAY(hal_bit_t,spindle_stop,EMCMOT_MAX_SPINDLES+1) /* pin for stopping the spindle */ \
ARRAY(hal_bit_t,spindle_is_on,EMCMOT_MAX_SPINDLES+1) /* status pin for spindle is on */ \
ARRAY(hal_bit_t,spindle_forward,EMCMOT_MAX_SPINDLES+1) /* pin for making the spindle go forward */ \
ARRAY(hal_bit_t,spindle_runs_forward,EMCMOT_MAX_SPINDLES+1) /* status pin for spindle running forward */ \
ARRAY(hal_bit_t,spindle_reverse,EMCMOT_MAX_SPINDLES+1) /* pin for making the spindle go reverse */ \
ARRAY(hal_bit_t,spindle_runs_backward,EMCMOT_MAX_SPINDLES+1) /* status pin for spindle running backward */ \
ARRAY(hal_bit_t,spindle_increase,EMCMOT_MAX_SPINDLES+1) /* pin for making the spindle go faster */ \
ARRAY(hal_bit_t,spindle_decrease,EMCMOT_MAX_SPINDLES+1) /* pin for making the spindle go slower */ \
\
ARRAY(hal_bit_t,spindle_brake_on,EMCMOT_MAX_SPINDLES) /* pin for activating spindle-brake */ \
ARRAY(hal_bit_t,spindle_brake_off, EMCMOT_MAX_SPINDLES) /* pin for deactivating spindle/brake */ \
ARRAY(hal_bit_t,spindle_brake_is_on, EMCMOT_MAX_SPINDLES) /* status pin that tells us if brake is on */ \
\
ARRAY(hal_bit_t,joint_home,EMCMOT_MAX_JOINTS+1) /* pin for homing one joint */ \
ARRAY(hal_bit_t,joint_unhome,EMCMOT_MAX_JOINTS+1) /* pin for unhoming one joint */ \
ARRAY(hal_bit_t,joint_is_homed,EMCMOT_MAX_JOINTS+1) /* status pin that the joint is homed */ \
ARRAY(hal_bit_t,joint_on_soft_min_limit,EMCMOT_MAX_JOINTS+1) /* status pin that the joint is on the software min limit */ \
ARRAY(hal_bit_t,joint_on_soft_max_limit,EMCMOT_MAX_JOINTS+1) /* status pin that the joint is on the software max limit */ \
ARRAY(hal_bit_t,joint_on_hard_min_limit,EMCMOT_MAX_JOINTS+1) /* status pin that the joint is on the hardware min limit */ \
ARRAY(hal_bit_t,joint_on_hard_max_limit,EMCMOT_MAX_JOINTS+1) /* status pin that the joint is on the hardware max limit */ \
ARRAY(hal_bit_t,joint_override_limits,EMCMOT_MAX_JOINTS+1) /* status pin that the joint is on the hardware max limit */ \
ARRAY(hal_bit_t,joint_has_fault,EMCMOT_MAX_JOINTS+1) /* status pin that the joint has a fault */ \
FIELD(hal_u32_t,joint_selected) /* status pin for the joint selected */ \
FIELD(hal_u32_t,axis_selected) /* status pin for the axis selected */ \
\
ARRAY(hal_bit_t,joint_nr_select,EMCMOT_MAX_JOINTS) /* nr. of pins to select a joint */ \
ARRAY(hal_bit_t,axis_nr_select,EMCMOT_MAX_AXIS) /* nr. of pins to select a axis */ \
\
ARRAY(hal_bit_t,joint_is_selected,EMCMOT_MAX_JOINTS) /* nr. of status pins for joint selected */ \
ARRAY(hal_bit_t,axis_is_selected,EMCMOT_MAX_AXIS) /* nr. of status pins for axis selected */ \
\
ARRAY(hal_float_t,axis_pos_commanded,EMCMOT_MAX_AXIS+1) /* status pin for commanded cartesian position */ \
ARRAY(hal_float_t,axis_pos_feedback,EMCMOT_MAX_AXIS+1) /* status pin for actual cartesian position */ \
ARRAY(hal_float_t,axis_pos_relative,EMCMOT_MAX_AXIS+1) /* status pin for relative cartesian position */ \
\
FIELD(hal_float_t,jjog_speed) /* pin for setting the jog speed (halui internal) */ \
ARRAY(hal_bit_t,jjog_minus,EMCMOT_MAX_JOINTS+1) /* pin to jog in positive direction */ \
ARRAY(hal_bit_t,jjog_plus,EMCMOT_MAX_JOINTS+1) /* pin to jog in negative direction */ \
ARRAY(hal_float_t,jjog_analog,EMCMOT_MAX_JOINTS+1) /* pin for analog jogging (-1..0..1) */ \
ARRAY(hal_float_t,jjog_increment,EMCMOT_MAX_JOINTS+1) /* Incremental jogging */ \
ARRAY(hal_bit_t,jjog_increment_plus,EMCMOT_MAX_JOINTS+1) /* Incremental jogging, positive direction */ \
ARRAY(hal_bit_t,jjog_increment_minus,EMCMOT_MAX_JOINTS+1) /* Incremental jogging, negative direction */ \
\
FIELD(hal_float_t,ajog_speed) /* pin for setting the jog speed (halui internal) */ \
ARRAY(hal_bit_t,ajog_minus,EMCMOT_MAX_AXIS+1) /* pin to jog in positive direction */ \
ARRAY(hal_bit_t,ajog_plus,EMCMOT_MAX_AXIS+1) /* pin to jog in negative direction */ \
ARRAY(hal_float_t,ajog_analog,EMCMOT_MAX_AXIS+1) /* pin for analog jogging (-1..0..1) */ \
ARRAY(hal_float_t,ajog_increment,EMCMOT_MAX_AXIS+1) /* Incremental jogging */ \
ARRAY(hal_bit_t,ajog_increment_plus,EMCMOT_MAX_AXIS+1) /* Incremental jogging, positive direction */ \
ARRAY(hal_bit_t,ajog_increment_minus,EMCMOT_MAX_AXIS+1) /* Incremental jogging, negative direction */ \
\
FIELD(hal_float_t,jjog_deadband) /* pin for setting the jog analog deadband (where not to move) */ \
FIELD(hal_float_t,ajog_deadband) /* pin for setting the jog analog deadband (where not to move) */ \
\
FIELD(hal_s32_t,mv_counts) /* pin for the Max Velocity counting */ \
FIELD(hal_bit_t,mv_count_enable) /* pin for the Max Velocity counting enable */ \
FIELD(hal_bit_t,mv_direct_value) /* pin for enabling direct value option instead of counts */ \
FIELD(hal_float_t,mv_scale) /* scale for the Max Velocity counting */ \
FIELD(hal_float_t,mv_value) /* current Max Velocity value */ \
FIELD(hal_bit_t,mv_increase) /* pin for increasing the MV (+=scale) */ \
FIELD(hal_bit_t,mv_decrease) /* pin for decreasing the MV (-=scale) */ \
\
FIELD(hal_s32_t,fo_counts) /* pin for the Feed Override counting */ \
FIELD(hal_bit_t,fo_count_enable) /* pin for the Feed Override counting enable */ \
FIELD(hal_bit_t,fo_direct_value) /* pin for enabling direct value option instead of counts */ \
FIELD(hal_float_t,fo_scale) /* scale for the Feed Override counting */ \
FIELD(hal_float_t,fo_value) /* current Feed Override value */ \
FIELD(hal_bit_t,fo_increase) /* pin for increasing the FO (+=scale) */ \
FIELD(hal_bit_t,fo_decrease) /* pin for decreasing the FO (-=scale) */ \
FIELD(hal_bit_t,fo_reset) /* pin for resetting Feed Override */ \
\
FIELD(hal_s32_t,ro_counts) /* pin for the Feed Override counting */ \
FIELD(hal_bit_t,ro_count_enable) /* pin for the Feed Override counting enable */ \
FIELD(hal_bit_t,ro_direct_value) /* pin for enabling direct value option instead of counts */ \
FIELD(hal_float_t,ro_scale) /* scale for the Feed Override counting */ \
FIELD(hal_float_t,ro_value) /* current Feed Override value */ \
FIELD(hal_bit_t,ro_increase) /* pin ror increasing the FO (+=scale) */ \
FIELD(hal_bit_t,ro_decrease) /* pin for decreasing the FO (-=scale) */ \
FIELD(hal_bit_t,ro_reset) /* pin for resetting Feed Override */ \
\
ARRAY(hal_s32_t,so_counts,EMCMOT_MAX_SPINDLES+1) /* pin for the Spindle Speed Override counting */ \
ARRAY(hal_bit_t,so_count_enable,EMCMOT_MAX_SPINDLES+1) /* pin for the Spindle Speed Override counting enable */ \
ARRAY(hal_bit_t,so_direct_value,EMCMOT_MAX_SPINDLES+1) /* pin for enabling direct value option instead of counts */ \
ARRAY(hal_float_t,so_scale,EMCMOT_MAX_SPINDLES+1) /* scale for the Spindle Speed Override counting */ \
ARRAY(hal_float_t,so_value,EMCMOT_MAX_SPINDLES+1) /* current Spindle speed Override value */ \
ARRAY(hal_bit_t,so_increase,EMCMOT_MAX_SPINDLES+1) /* pin for increasing the SO (+=scale) */ \
ARRAY(hal_bit_t,so_decrease,EMCMOT_MAX_SPINDLES+1) /* pin for decreasing the SO (-=scale) */ \
ARRAY(hal_bit_t,so_reset,EMCMOT_MAX_SPINDLES+1) /* pin for resetting Spindle Speed Override */ \
\
FIELD(hal_bit_t,home_all) /* pin for homing all joints in sequence */ \
FIELD(hal_bit_t,abort) /* pin for aborting */ \
ARRAY(hal_bit_t,mdi_commands,MDI_MAX) \
\
FIELD(hal_float_t,units_per_mm) \
struct PTR {
template<class T>
struct field { typedef T *type; };
};
template<class T> struct NATIVE {};
template<> struct NATIVE<hal_bit_t> { typedef bool type; };
template<> struct NATIVE<hal_s32_t> { typedef rtapi_s32 type; };
template<> struct NATIVE<hal_u32_t> { typedef rtapi_u32 type; };
template<> struct NATIVE<hal_float_t> { typedef double type; };
struct VALUE {
template<class T> struct field { typedef typename NATIVE<T>::type type; };
};
template<class T>
struct halui_str_base
{
#define FIELD(t,f) typename T::template field<t>::type f;
#define ARRAY(t,f,n) typename T::template field<t>::type f[n];
HAL_FIELDS
#undef FIELD
#undef ARRAY
};
typedef halui_str_base<PTR> halui_str;
typedef halui_str_base<VALUE> local_halui_str;
#pragma GCC diagnostic pop
static halui_str *halui_data;
static local_halui_str old_halui_data;
static char *mdi_commands[MDI_MAX];
static int num_mdi_commands=0;
static int have_home_all = 0;
static int comp_id, done; /* component ID, main while loop */
static int num_axes = 0; //number of axes, taken from the INI [TRAJ] section
static int num_joints = 3; //number of joints, taken from the INI [KINS] section
static int num_spindles = 1; // number of spindles, [TRAJ]SPINDLES
static double maxFeedOverride=1;
static double maxMaxVelocity=1;
static double minSpindleOverride=0.0;
static double maxSpindleOverride=1.0;
static EMC_TASK_MODE_ENUM halui_old_mode = EMC_TASK_MODE_MANUAL;
static int halui_sent_mdi = 0;
// the NML channels to the EMC task
static RCS_CMD_CHANNEL *emcCommandBuffer = 0;
static RCS_STAT_CHANNEL *emcStatusBuffer = 0;
EMC_STAT *emcStatus = 0;
// the NML channel for errors
static NML *emcErrorBuffer = 0;
// the serial number to use.
static int emcCommandSerialNumber = 0;
// how long to wait for Task to report that it has received our command
static double receiveTimeout = 10.0;
// how long to wait for Task to finish running our command
static double doneTimeout = 60.;
static void quit(int sig)
{
done = 1;
}
static int emcTaskNmlGet()
{
int retval = 0;
// try to connect to EMC cmd
if (emcCommandBuffer == 0) {
emcCommandBuffer =
new RCS_CMD_CHANNEL(emcFormat, "emcCommand", "xemc",
emc_nmlfile);
if (!emcCommandBuffer->valid()) {
delete emcCommandBuffer;
emcCommandBuffer = 0;
retval = -1;
}
}
// try to connect to EMC status
if (emcStatusBuffer == 0) {
emcStatusBuffer =
new RCS_STAT_CHANNEL(emcFormat, "emcStatus", "xemc",
emc_nmlfile);
if (!emcStatusBuffer->valid()) {
delete emcStatusBuffer;
emcStatusBuffer = 0;
emcStatus = 0;
retval = -1;
} else {
emcStatus = (EMC_STAT *) emcStatusBuffer->get_address();
}
}
return retval;
}
static int emcErrorNmlGet()
{
int retval = 0;
if (emcErrorBuffer == 0) {
emcErrorBuffer =
new NML(nmlErrorFormat, "emcError", "xemc", emc_nmlfile);
if (!emcErrorBuffer->valid()) {
delete emcErrorBuffer;
emcErrorBuffer = 0;
retval = -1;
}
}
return retval;
}
static int tryNml()
{
double end;
int good;
#define RETRY_TIME 10.0 // seconds to wait for subsystems to come up
#define RETRY_INTERVAL 1.0 // seconds between wait tries for a subsystem
if ((emc_debug & EMC_DEBUG_NML) == 0) {
set_rcs_print_destination(RCS_PRINT_TO_NULL); // inhibit diag
// messages
}
end = RETRY_TIME;
good = 0;
do {
if (0 == emcTaskNmlGet()) {
good = 1;
break;
}
esleep(RETRY_INTERVAL);
end -= RETRY_INTERVAL;
} while (end > 0.0);
if ((emc_debug & EMC_DEBUG_NML) == 0) {
set_rcs_print_destination(RCS_PRINT_TO_STDOUT); // inhibit diag
// messages
}
if (!good) {
return -1;
}
if ((emc_debug & EMC_DEBUG_NML) == 0) {
set_rcs_print_destination(RCS_PRINT_TO_NULL); // inhibit diag
// messages
}
end = RETRY_TIME;
good = 0;
do {
if (0 == emcErrorNmlGet()) {
good = 1;
break;
}
esleep(RETRY_INTERVAL);
end -= RETRY_INTERVAL;
} while (end > 0.0);
if ((emc_debug & EMC_DEBUG_NML) == 0) {
set_rcs_print_destination(RCS_PRINT_TO_STDOUT); // inhibit diag
// messages
}
if (!good) {
return -1;
}
return 0;
#undef RETRY_TIME
#undef RETRY_INTERVAL
}
static int updateStatus()
{
NMLTYPE type;
if (0 == emcStatus || 0 == emcStatusBuffer) {
rtapi_print("halui: %s: no status buffer\n", __func__);
return -1;
}
if (!emcStatusBuffer->valid()) {
rtapi_print("halui: %s: status buffer is not valid\n", __func__);
return -1;
}
switch (type = emcStatusBuffer->peek()) {
case -1:
// error on CMS channel
rtapi_print("halui: %s: error peeking status buffer\n", __func__);
return -1;
break;
case 0: // no new data
case EMC_STAT_TYPE: // new data
break;
default:
rtapi_print("halui: %s: unknown error peeking status buffer\n", __func__);
return -1;
break;
}
return 0;
}
#define EMC_COMMAND_DELAY 0.1 // how long to sleep between checks
static int emcCommandWaitDone()
{
double end;
for (end = 0.0; end < doneTimeout; end += EMC_COMMAND_DELAY) {
updateStatus();
int serial_diff = emcStatus->echo_serial_number - emcCommandSerialNumber;
if (serial_diff < 0) {
continue;
}
if (serial_diff > 0) {
return 0;
}
if (emcStatus->status == RCS_DONE) {
return 0;
}
if (emcStatus->status == RCS_ERROR) {
return -1;
}
esleep(EMC_COMMAND_DELAY);
}
return -1;
}
static int emcCommandSend(RCS_CMD_MSG & cmd)
{
// write command
if (emcCommandBuffer->write(&cmd)) {
rtapi_print("halui: %s: error writing to Task\n", __func__);
return -1;
}
emcCommandSerialNumber = cmd.serial_number;
// wait for receive
double end;
for (end = 0.0; end < receiveTimeout; end += EMC_COMMAND_DELAY) {
updateStatus();
int serial_diff = emcStatus->echo_serial_number - emcCommandSerialNumber;
if (serial_diff >= 0) {
return 0;
}
esleep(EMC_COMMAND_DELAY);
}
rtapi_print("halui: %s: no echo from Task after %.3f seconds\n", __func__, receiveTimeout);
return -1;
}
static void thisQuit()
{
//don't forget the big HAL sin ;)
hal_exit(comp_id);
if(emcCommandBuffer) { delete emcCommandBuffer; emcCommandBuffer = 0; }
if(emcStatusBuffer) { delete emcStatusBuffer; emcStatusBuffer = 0; }
if(emcErrorBuffer) { delete emcErrorBuffer; emcErrorBuffer = 0; }
exit(0);
}
static enum {
LINEAR_UNITS_CUSTOM = 1,
LINEAR_UNITS_AUTO,
LINEAR_UNITS_MM,
LINEAR_UNITS_INCH,
LINEAR_UNITS_CM
} linearUnitConversion = LINEAR_UNITS_AUTO;
static enum {
ANGULAR_UNITS_CUSTOM = 1,
ANGULAR_UNITS_AUTO,
ANGULAR_UNITS_DEG,
ANGULAR_UNITS_RAD,
ANGULAR_UNITS_GRAD
} angularUnitConversion = ANGULAR_UNITS_AUTO;
#define CLOSE(a,b,eps) ((a)-(b) < +(eps) && (a)-(b) > -(eps))
#define LINEAR_CLOSENESS 0.0001
#define ANGULAR_CLOSENESS 0.0001
#define CM_PER_MM 0.1
#define GRAD_PER_DEG (100.0/90.0)
#define RAD_PER_DEG TO_RAD // from posemath.h
int halui_export_pin_IN_bit(hal_bit_t **pin, const char *name)
{
int retval;
retval = hal_pin_bit_new(name, HAL_IN, pin, comp_id);
if (retval < 0) {
rtapi_print_msg(RTAPI_MSG_ERR,"HALUI: ERROR: halui pin %s export failed with err=%i\n", name, retval);
hal_exit(comp_id);
return -1;
}
return 0;
}
int halui_export_pin_IN_s32(hal_s32_t **pin, const char *name)
{
int retval;
retval = hal_pin_s32_new(name, HAL_IN, pin, comp_id);
if (retval < 0) {
rtapi_print_msg(RTAPI_MSG_ERR,"HALUI: ERROR: halui pin %s export failed with err=%i\n", name, retval);
hal_exit(comp_id);
return -1;
}
return 0;
}
int halui_export_pin_IN_float(hal_float_t **pin, const char *name)
{
int retval;
retval = hal_pin_float_new(name, HAL_IN, pin, comp_id);
if (retval < 0) {
rtapi_print_msg(RTAPI_MSG_ERR,"HALUI: ERROR: halui pin %s export failed with err=%i\n", name, retval);
hal_exit(comp_id);
return -1;
}
return 0;
}
int halui_export_pin_OUT_bit(hal_bit_t **pin, const char *name)
{
int retval;
retval = hal_pin_bit_new(name, HAL_OUT, pin, comp_id);
if (retval < 0) {
rtapi_print_msg(RTAPI_MSG_ERR,"HALUI: ERROR: halui pin %s export failed with err=%i\n", name, retval);
hal_exit(comp_id);
return -1;
}
return 0;
}
/********************************************************************
*
* Description: halui_hal_init(void)
*
* Side Effects: Exports HAL pins.
*
* Called By: main
********************************************************************/
int halui_hal_init(void)
{
int retval;
int joint;
int spindle;
int axis_num;
/* STEP 1: initialise the hal component */
comp_id = hal_init("halui");
if (comp_id < 0) {
rtapi_print_msg(RTAPI_MSG_ERR,
"HALUI: ERROR: hal_init() failed\n");
return -1;
}
/* STEP 2: allocate shared memory for halui data */
halui_data = (halui_str *) hal_malloc(sizeof(halui_str));
if (halui_data == 0) {
rtapi_print_msg(RTAPI_MSG_ERR,
"HALUI: ERROR: hal_malloc() failed\n");
hal_exit(comp_id);
return -1;
}
/* STEP 3a: export the out-pin(s) */
retval = hal_pin_float_newf(HAL_OUT, &(halui_data->units_per_mm), comp_id, "halui.machine.units-per-mm");
if (retval < 0) return retval;
retval = halui_export_pin_OUT_bit(&(halui_data->machine_is_on), "halui.machine.is-on");
if (retval < 0) return retval;
retval = halui_export_pin_OUT_bit(&(halui_data->estop_is_activated), "halui.estop.is-activated");
if (retval < 0) return retval;
retval = halui_export_pin_OUT_bit(&(halui_data->mode_is_manual), "halui.mode.is-manual");
if (retval < 0) return retval;
retval = halui_export_pin_OUT_bit(&(halui_data->mode_is_auto), "halui.mode.is-auto");
if (retval < 0) return retval;
retval = halui_export_pin_OUT_bit(&(halui_data->mode_is_mdi), "halui.mode.is-mdi");
if (retval < 0) return retval;
retval = halui_export_pin_OUT_bit(&(halui_data->mode_is_teleop), "halui.mode.is-teleop");
if (retval < 0) return retval;
retval = halui_export_pin_OUT_bit(&(halui_data->mode_is_joint), "halui.mode.is-joint");
if (retval < 0) return retval;
retval = halui_export_pin_OUT_bit(&(halui_data->mist_is_on), "halui.mist.is-on");
if (retval < 0) return retval;
retval = halui_export_pin_OUT_bit(&(halui_data->flood_is_on), "halui.flood.is-on");
if (retval < 0) return retval;
retval = halui_export_pin_OUT_bit(&(halui_data->lube_is_on), "halui.lube.is-on");
if (retval < 0) return retval;
retval = halui_export_pin_OUT_bit(&(halui_data->program_is_idle), "halui.program.is-idle");
if (retval < 0) return retval;
retval = halui_export_pin_OUT_bit(&(halui_data->program_is_running), "halui.program.is-running");
if (retval < 0) return retval;
retval = halui_export_pin_OUT_bit(&(halui_data->program_is_paused), "halui.program.is-paused");
if (retval < 0) return retval;
retval = halui_export_pin_OUT_bit(&(halui_data->program_os_is_on), "halui.program.optional-stop.is-on");
if (retval < 0) return retval;
retval = halui_export_pin_OUT_bit(&(halui_data->program_bd_is_on), "halui.program.block-delete.is-on");
for (spindle = 0; spindle < num_spindles; spindle++){
if (retval < 0) return retval;
retval = hal_pin_bit_newf(HAL_OUT, &(halui_data->spindle_is_on[spindle]), comp_id, "halui.spindle.%i.is-on", spindle);
if (retval < 0) return retval;
retval = hal_pin_bit_newf(HAL_OUT, &(halui_data->spindle_runs_forward[spindle]),comp_id, "halui.spindle.%i.runs-forward", spindle);
if (retval < 0) return retval;
retval = hal_pin_bit_newf(HAL_OUT, &(halui_data->spindle_runs_backward[spindle]), comp_id, "halui.spindle.%i.runs-backward", spindle);
if (retval < 0) return retval;
retval = hal_pin_bit_newf(HAL_OUT, &(halui_data->spindle_brake_is_on[spindle]), comp_id, "halui.spindle.%i.brake-is-on", spindle);
if (retval < 0) return retval;
retval = hal_pin_bit_newf(HAL_IN, &(halui_data->spindle_start[spindle]), comp_id, "halui.spindle.%i.start", spindle);
if (retval < 0) return retval;
retval = hal_pin_bit_newf(HAL_IN, &(halui_data->spindle_stop[spindle]), comp_id, "halui.spindle.%i.stop", spindle);
if (retval < 0) return retval;
retval = hal_pin_bit_newf(HAL_IN, &(halui_data->spindle_forward[spindle]), comp_id, "halui.spindle.%i.forward", spindle);
if (retval < 0) return retval;
retval = hal_pin_bit_newf(HAL_IN, &(halui_data->spindle_reverse[spindle]), comp_id, "halui.spindle.%i.reverse", spindle);
if (retval < 0) return retval;
retval = hal_pin_bit_newf(HAL_IN, &(halui_data->spindle_increase[spindle]), comp_id, "halui.spindle.%i.increase", spindle);
if (retval < 0) return retval;
retval = hal_pin_bit_newf(HAL_IN, &(halui_data->spindle_decrease[spindle]), comp_id, "halui.spindle.%i.decrease", spindle);
if (retval < 0) return retval;
retval = hal_pin_bit_newf(HAL_IN, &(halui_data->spindle_brake_on[spindle]), comp_id, "halui.spindle.%i.brake-on", spindle);
if (retval < 0) return retval;
retval = hal_pin_bit_newf(HAL_IN, &(halui_data->spindle_brake_off[spindle]), comp_id, "halui.spindle.%i.brake-off", spindle);
if (retval < 0) return retval;
retval = hal_pin_float_newf(HAL_OUT, &(halui_data->so_value[spindle]), comp_id, "halui.spindle.%i.override.value", spindle);
if (retval < 0) return retval;
retval = hal_pin_s32_newf(HAL_IN, &(halui_data->so_counts[spindle]), comp_id, "halui.spindle.%i.override.counts", spindle);
if (retval < 0) return retval;
*halui_data->so_counts = 0;
retval = hal_pin_bit_newf(HAL_IN, &(halui_data->so_count_enable[spindle]), comp_id, "halui.spindle.%i.override.count-enable", spindle);
if (retval < 0) return retval;
*halui_data->so_count_enable[spindle] = 1;
retval = hal_pin_bit_newf(HAL_IN, &(halui_data->so_direct_value[spindle]), comp_id, "halui.spindle.%i.override.direct-value", spindle);
if (retval < 0) return retval;
*halui_data->so_direct_value[spindle] = 0;
retval = hal_pin_float_newf(HAL_IN, &(halui_data->so_scale[spindle]), comp_id, "halui.spindle.%i.override.scale", spindle);
if (retval < 0) return retval;
retval = hal_pin_bit_newf(HAL_IN, &(halui_data->so_increase[spindle]), comp_id, "halui.spindle.%i.override.increase", spindle);
if (retval < 0) return retval;
retval = hal_pin_bit_newf(HAL_IN, &(halui_data->so_decrease[spindle]), comp_id, "halui.spindle.%i.override.decrease", spindle);
if (retval < 0) return retval;
retval = hal_pin_bit_newf(HAL_IN, &(halui_data->so_reset[spindle]), comp_id, "halui.spindle.%i.override.reset", spindle);
}
for (joint=0; joint < num_joints ; joint++) {
retval = hal_pin_bit_newf(HAL_OUT, &(halui_data->joint_is_homed[joint]), comp_id, "halui.joint.%d.is-homed", joint);
if (retval < 0) return retval;
retval = hal_pin_bit_newf(HAL_OUT, &(halui_data->joint_is_selected[joint]), comp_id, "halui.joint.%d.is-selected", joint);
if (retval < 0) return retval;
retval = hal_pin_bit_newf(HAL_OUT, &(halui_data->joint_on_soft_min_limit[joint]), comp_id, "halui.joint.%d.on-soft-min-limit", joint);
if (retval < 0) return retval;
retval = hal_pin_bit_newf(HAL_OUT, &(halui_data->joint_on_soft_max_limit[joint]), comp_id, "halui.joint.%d.on-soft-max-limit", joint);
if (retval < 0) return retval;
retval = hal_pin_bit_newf(HAL_OUT, &(halui_data->joint_on_hard_min_limit[joint]), comp_id, "halui.joint.%d.on-hard-min-limit", joint);
if (retval < 0) return retval;
retval = hal_pin_bit_newf(HAL_OUT, &(halui_data->joint_on_hard_max_limit[joint]), comp_id, "halui.joint.%d.on-hard-max-limit", joint);
if (retval < 0) return retval;
retval = hal_pin_bit_newf(HAL_OUT, &(halui_data->joint_override_limits[joint]), comp_id, "halui.joint.%d.override-limits", joint);
if (retval < 0) return retval;
retval = hal_pin_bit_newf(HAL_OUT, &(halui_data->joint_has_fault[joint]), comp_id, "halui.joint.%d.has-fault", joint);
if (retval < 0) return retval;
}
retval = hal_pin_bit_newf(HAL_OUT, &(halui_data->joint_on_soft_min_limit[num_joints]), comp_id, "halui.joint.selected.on-soft-min-limit");
if (retval < 0) return retval;
retval = hal_pin_bit_newf(HAL_OUT, &(halui_data->joint_on_soft_max_limit[num_joints]), comp_id, "halui.joint.selected.on-soft-max-limit");
if (retval < 0) return retval;
retval = hal_pin_bit_newf(HAL_OUT, &(halui_data->joint_on_hard_min_limit[num_joints]), comp_id, "halui.joint.selected.on-hard-min-limit");
if (retval < 0) return retval;
retval = hal_pin_bit_newf(HAL_OUT, &(halui_data->joint_on_hard_max_limit[num_joints]), comp_id, "halui.joint.selected.on-hard-max-limit");
if (retval < 0) return retval;
retval = hal_pin_bit_newf(HAL_OUT, &(halui_data->joint_override_limits[num_joints]), comp_id, "halui.joint.selected.override-limits");
if (retval < 0) return retval;
retval = hal_pin_bit_newf(HAL_OUT, &(halui_data->joint_has_fault[num_joints]), comp_id, "halui.joint.selected.has-fault");
if (retval < 0) return retval;
retval = hal_pin_bit_newf(HAL_OUT, &(halui_data->joint_is_homed[num_joints]), comp_id, "halui.joint.selected.is-homed");
if (retval < 0) return retval;
for (axis_num=0; axis_num < EMCMOT_MAX_AXIS ; axis_num++) {
if ( !(axis_mask & (1 << axis_num)) ) { continue; }
char c = "xyzabcuvw"[axis_num];
retval = hal_pin_bit_newf(HAL_OUT, &(halui_data->axis_is_selected[axis_num]), comp_id, "halui.axis.%c.is-selected", c);
if (retval < 0) return retval;
retval = hal_pin_float_newf(HAL_OUT, &(halui_data->axis_pos_commanded[axis_num]), comp_id, "halui.axis.%c.pos-commanded", c);
if (retval < 0) return retval;
retval = hal_pin_float_newf(HAL_OUT, &(halui_data->axis_pos_feedback[axis_num]), comp_id, "halui.axis.%c.pos-feedback", c);
if (retval < 0) return retval;
retval = hal_pin_float_newf(HAL_OUT, &(halui_data->axis_pos_relative[axis_num]), comp_id, "halui.axis.%c.pos-relative", c);
if (retval < 0) return retval;
}
// at startup, indicate [0] item is selected:
*halui_data->joint_is_selected[0] = 1;
*halui_data->axis_is_selected[0] = 1;
retval = hal_pin_float_newf(HAL_OUT, &(halui_data->mv_value), comp_id, "halui.max-velocity.value");
if (retval < 0) return retval;
retval = hal_pin_float_newf(HAL_OUT, &(halui_data->fo_value), comp_id, "halui.feed-override.value");
if (retval < 0) return retval;
retval = hal_pin_float_newf(HAL_OUT, &(halui_data->ro_value), comp_id, "halui.rapid-override.value");
if (retval < 0) return retval;
retval = hal_pin_u32_newf(HAL_OUT, &(halui_data->joint_selected), comp_id, "halui.joint.selected");
if (retval < 0) return retval;
retval = hal_pin_u32_newf(HAL_OUT, &(halui_data->axis_selected), comp_id, "halui.axis.selected");
if (retval < 0) return retval;
retval = hal_pin_u32_newf(HAL_OUT, &(halui_data->tool_number), comp_id, "halui.tool.number");
if (retval < 0) return retval;
retval = hal_pin_float_newf(HAL_OUT, &(halui_data->tool_length_offset_x), comp_id, "halui.tool.length_offset.x");
if (retval < 0) return retval;
retval = hal_pin_float_newf(HAL_OUT, &(halui_data->tool_length_offset_y), comp_id, "halui.tool.length_offset.y");
if (retval < 0) return retval;
retval = hal_pin_float_newf(HAL_OUT, &(halui_data->tool_length_offset_z), comp_id, "halui.tool.length_offset.z");
if (retval < 0) return retval;
retval = hal_pin_float_newf(HAL_OUT, &(halui_data->tool_length_offset_a), comp_id, "halui.tool.length_offset.a");
if (retval < 0) return retval;
retval = hal_pin_float_newf(HAL_OUT, &(halui_data->tool_length_offset_b), comp_id, "halui.tool.length_offset.b");
if (retval < 0) return retval;
retval = hal_pin_float_newf(HAL_OUT, &(halui_data->tool_length_offset_c), comp_id, "halui.tool.length_offset.c");
if (retval < 0) return retval;
retval = hal_pin_float_newf(HAL_OUT, &(halui_data->tool_length_offset_u), comp_id, "halui.tool.length_offset.u");
if (retval < 0) return retval;
retval = hal_pin_float_newf(HAL_OUT, &(halui_data->tool_length_offset_v), comp_id, "halui.tool.length_offset.v");
if (retval < 0) return retval;
retval = hal_pin_float_newf(HAL_OUT, &(halui_data->tool_length_offset_w), comp_id, "halui.tool.length_offset.w");
if (retval < 0) return retval;
retval = hal_pin_float_newf(HAL_OUT, &(halui_data->tool_diameter), comp_id, "halui.tool.diameter");
if (retval < 0) return retval;
/* STEP 3b: export the in-pin(s) */
retval = halui_export_pin_IN_bit(&(halui_data->machine_on), "halui.machine.on");
if (retval < 0) return retval;
retval = halui_export_pin_IN_bit(&(halui_data->machine_off), "halui.machine.off");
if (retval < 0) return retval;
retval = halui_export_pin_IN_bit(&(halui_data->estop_activate), "halui.estop.activate");
if (retval < 0) return retval;
retval = halui_export_pin_IN_bit(&(halui_data->estop_reset), "halui.estop.reset");
if (retval < 0) return retval;
retval = halui_export_pin_IN_bit(&(halui_data->mode_manual), "halui.mode.manual");
if (retval < 0) return retval;
retval = halui_export_pin_IN_bit(&(halui_data->mode_auto), "halui.mode.auto");
if (retval < 0) return retval;
retval = halui_export_pin_IN_bit(&(halui_data->mode_mdi), "halui.mode.mdi");
if (retval < 0) return retval;
retval = halui_export_pin_IN_bit(&(halui_data->mode_teleop), "halui.mode.teleop");
if (retval < 0) return retval;
retval = halui_export_pin_IN_bit(&(halui_data->mode_joint), "halui.mode.joint");
if (retval < 0) return retval;
retval = halui_export_pin_IN_bit(&(halui_data->mist_on), "halui.mist.on");
if (retval < 0) return retval;
retval = halui_export_pin_IN_bit(&(halui_data->mist_off), "halui.mist.off");
if (retval < 0) return retval;
retval = halui_export_pin_IN_bit(&(halui_data->flood_on), "halui.flood.on");
if (retval < 0) return retval;
retval = halui_export_pin_IN_bit(&(halui_data->flood_off), "halui.flood.off");
if (retval < 0) return retval;
retval = halui_export_pin_IN_bit(&(halui_data->lube_on), "halui.lube.on");
if (retval < 0) return retval;
retval = halui_export_pin_IN_bit(&(halui_data->lube_off), "halui.lube.off");
if (retval < 0) return retval;
retval = halui_export_pin_IN_bit(&(halui_data->program_run), "halui.program.run");
if (retval < 0) return retval;
retval = halui_export_pin_IN_bit(&(halui_data->program_pause), "halui.program.pause");
if (retval < 0) return retval;
retval = halui_export_pin_IN_bit(&(halui_data->program_resume), "halui.program.resume");
if (retval < 0) return retval;
retval = halui_export_pin_IN_bit(&(halui_data->program_step), "halui.program.step");
if (retval < 0) return retval;
retval = halui_export_pin_IN_bit(&(halui_data->program_stop), "halui.program.stop");
if (retval < 0) return retval;
retval = halui_export_pin_IN_bit(&(halui_data->program_os_on), "halui.program.optional-stop.on");
if (retval < 0) return retval;
retval = halui_export_pin_IN_bit(&(halui_data->program_os_off), "halui.program.optional-stop.off");
if (retval < 0) return retval;
retval = halui_export_pin_IN_bit(&(halui_data->program_bd_on), "halui.program.block-delete.on");
if (retval < 0) return retval;
retval = halui_export_pin_IN_bit(&(halui_data->program_bd_off), "halui.program.block-delete.off");
if (retval < 0) return retval;
retval = halui_export_pin_IN_s32(&(halui_data->mv_counts), "halui.max-velocity.counts");
if (retval < 0) return retval;
*halui_data->mv_counts = 0;
retval = halui_export_pin_IN_bit(&(halui_data->mv_count_enable), "halui.max-velocity.count-enable");
if (retval < 0) return retval;
*halui_data->mv_count_enable = 1;
retval = halui_export_pin_IN_bit(&(halui_data->mv_direct_value), "halui.max-velocity.direct-value");
if (retval < 0) return retval;
*halui_data->mv_direct_value = 0;
retval = halui_export_pin_IN_float(&(halui_data->mv_scale), "halui.max-velocity.scale");
if (retval < 0) return retval;
retval = halui_export_pin_IN_bit(&(halui_data->mv_increase), "halui.max-velocity.increase");
if (retval < 0) return retval;
retval = halui_export_pin_IN_bit(&(halui_data->mv_decrease), "halui.max-velocity.decrease");
if (retval < 0) return retval;
retval = halui_export_pin_IN_s32(&(halui_data->fo_counts), "halui.feed-override.counts");
if (retval < 0) return retval;
*halui_data->fo_counts = 0;
retval = halui_export_pin_IN_bit(&(halui_data->fo_count_enable), "halui.feed-override.count-enable");
if (retval < 0) return retval;
*halui_data->fo_count_enable = 1;
retval = halui_export_pin_IN_bit(&(halui_data->fo_direct_value), "halui.feed-override.direct-value");
if (retval < 0) return retval;
*halui_data->fo_direct_value = 0;
retval = halui_export_pin_IN_float(&(halui_data->fo_scale), "halui.feed-override.scale");
if (retval < 0) return retval;
retval = halui_export_pin_IN_bit(&(halui_data->fo_increase), "halui.feed-override.increase");
if (retval < 0) return retval;
retval = halui_export_pin_IN_bit(&(halui_data->fo_decrease), "halui.feed-override.decrease");
if (retval < 0) return retval;
retval = halui_export_pin_IN_bit(&(halui_data->fo_reset), "halui.feed-override.reset");
if (retval < 0) return retval;
retval = halui_export_pin_IN_s32(&(halui_data->ro_counts), "halui.rapid-override.counts");
if (retval < 0) return retval;
*halui_data->ro_counts = 0;
retval = halui_export_pin_IN_bit(&(halui_data->ro_count_enable), "halui.rapid-override.count-enable");
if (retval < 0) return retval;
*halui_data->ro_count_enable = 1;
retval = halui_export_pin_IN_bit(&(halui_data->ro_direct_value), "halui.rapid-override.direct-value");
if (retval < 0) return retval;
*halui_data->ro_direct_value = 0;
retval = halui_export_pin_IN_float(&(halui_data->ro_scale), "halui.rapid-override.scale");
if (retval < 0) return retval;
retval = halui_export_pin_IN_bit(&(halui_data->ro_increase), "halui.rapid-override.increase");
if (retval < 0) return retval;
retval = halui_export_pin_IN_bit(&(halui_data->ro_decrease), "halui.rapid-override.decrease");
if (retval < 0) return retval;
retval = halui_export_pin_IN_bit(&(halui_data->ro_reset), "halui.rapid-override.reset");
if (retval < 0) return retval;
if (have_home_all) {
retval = halui_export_pin_IN_bit(&(halui_data->home_all), "halui.home-all");
if (retval < 0) return retval;
}
retval = halui_export_pin_IN_bit(&(halui_data->abort), "halui.abort");
if (retval < 0) return retval;
for (joint=0; joint < num_joints ; joint++) {
retval = hal_pin_bit_newf(HAL_IN, &(halui_data->joint_home[joint]), comp_id, "halui.joint.%d.home", joint);
if (retval < 0) return retval;
retval = hal_pin_bit_newf(HAL_IN, &(halui_data->joint_unhome[joint]), comp_id, "halui.joint.%d.unhome", joint);
if (retval < 0) return retval;
retval = hal_pin_bit_newf(HAL_IN, &(halui_data->joint_nr_select[joint]), comp_id, "halui.joint.%d.select", joint);
if (retval < 0) return retval;
retval = hal_pin_bit_newf(HAL_IN, &(halui_data->jjog_plus[joint]), comp_id, "halui.joint.%d.plus", joint);
if (retval < 0) return retval;
retval = hal_pin_bit_newf(HAL_IN, &(halui_data->jjog_minus[joint]), comp_id, "halui.joint.%d.minus", joint);
if (retval < 0) return retval;
retval = hal_pin_float_newf(HAL_IN, &(halui_data->jjog_analog[joint]), comp_id, "halui.joint.%d.analog", joint);
if (retval < 0) return retval;
retval = hal_pin_float_newf(HAL_IN, &(halui_data->jjog_increment[joint]), comp_id, "halui.joint.%d.increment", joint);
if (retval < 0) return retval;
retval = hal_pin_bit_newf(HAL_IN, &(halui_data->jjog_increment_plus[joint]), comp_id, "halui.joint.%d.increment-plus", joint);
if (retval < 0) return retval;
retval = hal_pin_bit_newf(HAL_IN, &(halui_data->jjog_increment_minus[joint]), comp_id, "halui.joint.%d.increment-minus", joint);
if (retval < 0) return retval;
}
for (axis_num = 0; axis_num < EMCMOT_MAX_AXIS; axis_num++) {
char c = "xyzabcuvw"[axis_num];
retval = hal_pin_bit_newf(HAL_IN, &(halui_data->axis_nr_select[axis_num]), comp_id, "halui.axis.%c.select", c);
if (retval < 0) return retval;
retval = hal_pin_bit_newf(HAL_IN, &(halui_data->ajog_plus[axis_num]), comp_id, "halui.axis.%c.plus", c);
if (retval < 0) return retval;
retval = hal_pin_bit_newf(HAL_IN, &(halui_data->ajog_minus[axis_num]), comp_id, "halui.axis.%c.minus", c);
if (retval < 0) return retval;
retval = hal_pin_float_newf(HAL_IN, &(halui_data->ajog_analog[axis_num]), comp_id, "halui.axis.%c.analog", c);
if (retval < 0) return retval;
retval = hal_pin_float_newf(HAL_IN, &(halui_data->ajog_increment[axis_num]), comp_id, "halui.axis.%c.increment", c);
if (retval < 0) return retval;
retval = hal_pin_bit_newf(HAL_IN, &(halui_data->ajog_increment_plus[axis_num]), comp_id, "halui.axis.%c.increment-plus", c);
if (retval < 0) return retval;
retval = hal_pin_bit_newf(HAL_IN, &(halui_data->ajog_increment_minus[axis_num]), comp_id, "halui.axis.%c.increment-minus", c);
if (retval < 0) return retval;
}
retval = hal_pin_bit_newf(HAL_IN, &(halui_data->joint_home[num_joints]), comp_id, "halui.joint.selected.home");
if (retval < 0) return retval;
retval = hal_pin_bit_newf(HAL_IN, &(halui_data->joint_unhome[num_joints]), comp_id, "halui.joint.selected.unhome");
if (retval < 0) return retval;
retval = hal_pin_bit_newf(HAL_IN, &(halui_data->jjog_plus[num_joints]), comp_id, "halui.joint.selected.plus");
if (retval < 0) return retval;
retval = hal_pin_bit_newf(HAL_IN, &(halui_data->jjog_minus[num_joints]), comp_id, "halui.joint.selected.minus");
if (retval < 0) return retval;
retval = hal_pin_float_newf(HAL_IN, &(halui_data->jjog_increment[num_joints]), comp_id, "halui.joint.selected.increment");
if (retval < 0) return retval;
retval = hal_pin_bit_newf(HAL_IN, &(halui_data->jjog_increment_plus[num_joints]), comp_id, "halui.joint.selected.increment-plus");
if (retval < 0) return retval;
retval = hal_pin_bit_newf(HAL_IN, &(halui_data->jjog_increment_minus[num_joints]), comp_id, "halui.joint.selected.increment-minus");
if (retval < 0) return retval;
retval = hal_pin_bit_newf(HAL_IN, &(halui_data->ajog_plus[EMCMOT_MAX_AXIS]), comp_id, "halui.axis.selected.plus");
if (retval < 0) return retval;
retval = hal_pin_bit_newf(HAL_IN, &(halui_data->ajog_minus[EMCMOT_MAX_AXIS]), comp_id, "halui.axis.selected.minus");
if (retval < 0) return retval;
retval = hal_pin_float_newf(HAL_IN, &(halui_data->ajog_increment[EMCMOT_MAX_AXIS]), comp_id, "halui.axis.selected.increment");
if (retval < 0) return retval;
retval = hal_pin_bit_newf(HAL_IN, &(halui_data->ajog_increment_plus[EMCMOT_MAX_AXIS]), comp_id, "halui.axis.selected.increment-plus");
if (retval < 0) return retval;
retval = hal_pin_bit_newf(HAL_IN, &(halui_data->ajog_increment_minus[EMCMOT_MAX_AXIS]), comp_id, "halui.axis.selected.increment-minus");
if (retval < 0) return retval;
retval = halui_export_pin_IN_float(&(halui_data->jjog_speed), "halui.joint.jog-speed");
if (retval < 0) return retval;
retval = halui_export_pin_IN_float(&(halui_data->jjog_deadband), "halui.joint.jog-deadband");
if (retval < 0) return retval;
retval = halui_export_pin_IN_float(&(halui_data->ajog_speed), "halui.axis.jog-speed");
if (retval < 0) return retval;
retval = halui_export_pin_IN_float(&(halui_data->ajog_deadband), "halui.axis.jog-deadband");
if (retval < 0) return retval;
for (int n=0; n<num_mdi_commands; n++) {
retval = hal_pin_bit_newf(HAL_IN, &(halui_data->mdi_commands[n]), comp_id, "halui.mdi-command-%02d", n);
if (retval < 0) return retval;
}
hal_ready(comp_id);
return 0;
}
static int sendMachineOn()
{
EMC_TASK_SET_STATE state_msg;
state_msg.state = EMC_TASK_STATE_ON;
return emcCommandSend(state_msg);
}
static int sendMachineOff()
{
EMC_TASK_SET_STATE state_msg;
state_msg.state = EMC_TASK_STATE_OFF;
return emcCommandSend(state_msg);
}
static int sendEstop()
{
EMC_TASK_SET_STATE state_msg;
state_msg.state = EMC_TASK_STATE_ESTOP;
return emcCommandSend(state_msg);
}
static int sendEstopReset()
{
EMC_TASK_SET_STATE state_msg;
state_msg.state = EMC_TASK_STATE_ESTOP_RESET;
return emcCommandSend(state_msg);
}
static int sendManual()
{
EMC_TASK_SET_MODE mode_msg;
if (emcStatus->task.mode == EMC_TASK_MODE_MANUAL) {
return 0;
}
mode_msg.mode = EMC_TASK_MODE_MANUAL;
return emcCommandSend(mode_msg);
}
static int sendAuto()
{
EMC_TASK_SET_MODE mode_msg;
if (emcStatus->task.mode == EMC_TASK_MODE_AUTO) {
return 0;