blocks.c

Source code for an Numeric Cmputer

	return -1;
    }
    /* set default parameter values */
    limit3->min = -1e20;
    limit3->max =  1e20;
    limit3->maxv = 1e20;
    limit3->maxa = 1e20;
    /* restore saved message level */
    rtapi_set_msg_level(msg);
    return 0;
}

static int export_estop(int num)
{
    int retval, msg;
    char buf[HAL_NAME_LEN + 2];
    estop_t *estop;

    /* 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.  If you actually need to log this
       function's actions, change the second line below */
    msg = rtapi_get_msg_level();
    rtapi_set_msg_level(RTAPI_MSG_WARN);

    /* allocate shared memory for an estop latch */
    estop = hal_malloc(sizeof(estop_t));
    if (estop == 0) {
	rtapi_print_msg(RTAPI_MSG_ERR,
	    "BLOCKS: ERROR: hal_malloc() failed\n");
	return -1;
    }
    /* export pins for inputs */
    rtapi_snprintf(buf, HAL_NAME_LEN, "estop.%d.ok-in", num);
    retval = hal_pin_bit_new(buf, HAL_RD, &(estop->ok_in), comp_id);
    if (retval != 0) {
	rtapi_print_msg(RTAPI_MSG_ERR,
	    "BLOCKS: ERROR: '%s' pin export failed\n", buf);
	return retval;
    }
    rtapi_snprintf(buf, HAL_NAME_LEN, "estop.%d.fault-in", num);
    retval = hal_pin_bit_new(buf, HAL_RD, &(estop->fault_in), comp_id);
    if (retval != 0) {
	rtapi_print_msg(RTAPI_MSG_ERR,
	    "BLOCKS: ERROR: '%s' pin export failed\n", buf);
	return retval;
    }
    rtapi_snprintf(buf, HAL_NAME_LEN, "estop.%d.reset", num);
    retval = hal_pin_bit_new(buf, HAL_RD, &(estop->reset), comp_id);
    if (retval != 0) {
	rtapi_print_msg(RTAPI_MSG_ERR,
	    "BLOCKS: ERROR: '%s' pin export failed\n", buf);
	return retval;
    }
    /* export pins for outputs */
    rtapi_snprintf(buf, HAL_NAME_LEN, "estop.%d.ok-out", num);
    retval = hal_pin_bit_new(buf, HAL_WR, &(estop->ok_out), comp_id);
    if (retval != 0) {
	rtapi_print_msg(RTAPI_MSG_ERR,
	    "BLOCKS: ERROR: '%s' pin export failed\n", buf);
	return retval;
    }
    rtapi_snprintf(buf, HAL_NAME_LEN, "estop.%d.fault-out", num);
    retval = hal_pin_bit_new(buf, HAL_WR, &(estop->fault_out), comp_id);
    if (retval != 0) {
	rtapi_print_msg(RTAPI_MSG_ERR,
	    "BLOCKS: ERROR: '%s' pin export failed\n", buf);
	return retval;
    }
    rtapi_snprintf(buf, HAL_NAME_LEN, "estop.%d.watchdog", num);
    retval = hal_pin_bit_new(buf, HAL_WR, &(estop->wd), comp_id);
    if (retval != 0) {
	rtapi_print_msg(RTAPI_MSG_ERR,
	    "BLOCKS: ERROR: '%s' pin export failed\n", buf);
	return retval;
    }
    /* export function */
    rtapi_snprintf(buf, HAL_NAME_LEN, "estop.%d", num);
    retval = hal_export_funct(buf, estop_funct, estop, 0, 0, comp_id);
    if (retval != 0) {
	rtapi_print_msg(RTAPI_MSG_ERR,
	    "BLOCKS: ERROR: '%s' funct export failed\n", buf);
	return -1;
    }
    /* initialize internal vars */
    estop->old_reset = 1;
    /* restore saved message level */
    rtapi_set_msg_level(msg);
    return 0;
}

static int export_not(int num)
{
    int retval, msg;
    char buf[HAL_NAME_LEN + 2];
    not_t *not;

    /* 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.  If you actually need to log this
       function's actions, change the second line below */
    msg = rtapi_get_msg_level();
    rtapi_set_msg_level(RTAPI_MSG_WARN);

    /* allocate shared memory for 1-input logical not */
    not = hal_malloc(sizeof(not_t));
    if (not == 0) {
	rtapi_print_msg(RTAPI_MSG_ERR,
	    "BLOCKS: ERROR: hal_malloc() failed\n");
	return -1;
    }
    /* export pin for input */
    rtapi_snprintf(buf, HAL_NAME_LEN, "not.%d.in", num);
    retval = hal_pin_bit_new(buf, HAL_RD, &(not->in), comp_id);
    if (retval != 0) {
	rtapi_print_msg(RTAPI_MSG_ERR,
	    "BLOCKS: ERROR: '%s' pin export failed\n", buf);
	return retval;
    }
    /* export pin for output */
    rtapi_snprintf(buf, HAL_NAME_LEN, "not.%d.out", num);
    retval = hal_pin_bit_new(buf, HAL_WR, &(not->out), comp_id);
    if (retval != 0) {
	rtapi_print_msg(RTAPI_MSG_ERR,
	    "BLOCKS: ERROR: '%s' pin export failed\n", buf);
	return retval;
    }
    /* export function */
    rtapi_snprintf(buf, HAL_NAME_LEN, "not.%d", num);
    retval = hal_export_funct(buf, not_funct, not, 1, 0, comp_id);
    if (retval != 0) {
	rtapi_print_msg(RTAPI_MSG_ERR,
	    "BLOCKS: ERROR: '%s' funct export failed\n", buf);
	return -1;
    }
    /* restore saved message level */
    rtapi_set_msg_level(msg);
    return 0;
}

static int export_and2(int num)
{
    int retval, msg;
    char buf[HAL_NAME_LEN + 2];
    and2_t *and2;

    /* 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.  If you actually need to log this
       function's actions, change the second line below */
    msg = rtapi_get_msg_level();
    rtapi_set_msg_level(RTAPI_MSG_WARN);

    /* allocate shared memory for 2-input logical and */
    and2 = hal_malloc(sizeof(and2_t));
    if (and2 == 0) {
	rtapi_print_msg(RTAPI_MSG_ERR,
	    "BLOCKS: ERROR: hal_malloc() failed\n");
	return -1;
    }
    /* export pins for inputs */
    rtapi_snprintf(buf, HAL_NAME_LEN, "and2.%d.in0", num);
    retval = hal_pin_bit_new(buf, HAL_RD, &(and2->in0), comp_id);
    if (retval != 0) {
	rtapi_print_msg(RTAPI_MSG_ERR,
	    "BLOCKS: ERROR: '%s' pin export failed\n", buf);
	return retval;
    }
    rtapi_snprintf(buf, HAL_NAME_LEN, "and2.%d.in1", num);
    retval = hal_pin_bit_new(buf, HAL_RD, &(and2->in1), comp_id);
    if (retval != 0) {
	rtapi_print_msg(RTAPI_MSG_ERR,
	    "BLOCKS: ERROR: '%s' pin export failed\n", buf);
	return retval;
    }
    /* export pin for output */
    rtapi_snprintf(buf, HAL_NAME_LEN, "and2.%d.out", num);
    retval = hal_pin_bit_new(buf, HAL_WR, &(and2->out), comp_id);
    if (retval != 0) {
	rtapi_print_msg(RTAPI_MSG_ERR,
	    "BLOCKS: ERROR: '%s' pin export failed\n", buf);
	return retval;
    }
    /* export function */
    rtapi_snprintf(buf, HAL_NAME_LEN, "and2.%d", num);
    retval = hal_export_funct(buf, and2_funct, and2, 1, 0, comp_id);
    if (retval != 0) {
	rtapi_print_msg(RTAPI_MSG_ERR,
	    "BLOCKS: ERROR: '%s' funct export failed\n", buf);
	return -1;
    }
    /* restore saved message level */
    rtapi_set_msg_level(msg);
    return 0;
}

static int export_or2(int num)
{
    int retval, msg;
    char buf[HAL_NAME_LEN + 2];
    or2_t *or2;

    /* 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.  If you actually need to log this
       function's actions, change the second line below */
    msg = rtapi_get_msg_level();
    rtapi_set_msg_level(RTAPI_MSG_WARN);

    /* allocate shared memory for 2-input logical or */
    or2 = hal_malloc(sizeof(or2_t));
    if (or2 == 0) {
	rtapi_print_msg(RTAPI_MSG_ERR,
	    "BLOCKS: ERROR: hal_malloc() failed\n");
	return -1;
    }
    /* export pins for inputs */
    rtapi_snprintf(buf, HAL_NAME_LEN, "or2.%d.in0", num);
    retval = hal_pin_bit_new(buf, HAL_RD, &(or2->in0), comp_id);
    if (retval != 0) {
	rtapi_print_msg(RTAPI_MSG_ERR,
	    "BLOCKS: ERROR: '%s' pin export failed\n", buf);
	return retval;
    }
    rtapi_snprintf(buf, HAL_NAME_LEN, "or2.%d.in1", num);
    retval = hal_pin_bit_new(buf, HAL_RD, &(or2->in1), comp_id);
    if (retval != 0) {
	rtapi_print_msg(RTAPI_MSG_ERR,
	    "BLOCKS: ERROR: '%s' pin export failed\n", buf);
	return retval;
    }
    /* export pin for output */
    rtapi_snprintf(buf, HAL_NAME_LEN, "or2.%d.out", num);
    retval = hal_pin_bit_new(buf, HAL_WR, &(or2->out), comp_id);
    if (retval != 0) {
	rtapi_print_msg(RTAPI_MSG_ERR,
	    "BLOCKS: ERROR: '%s' pin export failed\n", buf);
	return retval;
    }
    /* export function */
    rtapi_snprintf(buf, HAL_NAME_LEN, "or2.%d", num);
    retval = hal_export_funct(buf, or2_funct, or2, 1, 0, comp_id);
    if (retval != 0) {
	rtapi_print_msg(RTAPI_MSG_ERR,
	    "BLOCKS: ERROR: '%s' funct export failed\n", buf);
	return -1;
    }
    /* restore saved message level */
    rtapi_set_msg_level(msg);
    return 0;
}

static int export_scale(int num)
{
    int retval, msg;
    char buf[HAL_NAME_LEN + 2];
    scale_t *scale;

    /* 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.  If you actually need to log this
       function's actions, change the second line below */
    msg = rtapi_get_msg_level();
    rtapi_set_msg_level(RTAPI_MSG_WARN);

    /* allocate shared memory for scaler */
    scale = hal_malloc(sizeof(scale_t));
    if (scale == 0) {
	rtapi_print_msg(RTAPI_MSG_ERR,
	    "BLOCKS: ERROR: hal_malloc() failed\n");
	return -1;
    }
    /* export pins for inputs */
    rtapi_snprintf(buf, HAL_NAME_LEN, "scale.%d.in", num);
    retval = hal_pin_float_new(buf, HAL_RD, &(scale->in), comp_id);
    if (retval != 0) {
	rtapi_print_msg(RTAPI_MSG_ERR,
	    "BLOCKS: ERROR: '%s' pin export failed\n", buf);
	return retval;
    }
    /* export pin for output */
    rtapi_snprintf(buf, HAL_NAME_LEN, "scale.%d.out", num);
    retval = hal_pin_float_new(buf, HAL_WR, &(scale->out), comp_id);
    if (retval != 0) {
	rtapi_print_msg(RTAPI_MSG_ERR,
	    "BLOCKS: ERROR: '%s' pin export failed\n", buf);
	return retval;
    }
    /* export params for gains */
    rtapi_snprintf(buf, HAL_NAME_LEN, "scale.%d.gain", num);
    retval = hal_param_float_new(buf, HAL_WR, &(scale->gain), comp_id);
    if (retval != 0) {
	rtapi_print_msg(RTAPI_MSG_ERR,
	    "BLOCKS: ERROR: '%s' param export failed\n", buf);
	return retval;
    }
    rtapi_snprintf(buf, HAL_NAME_LEN, "scale.%d.offset", num);
    retval = hal_param_float_new(buf, HAL_WR, &(scale->offset), comp_id);
    if (retval != 0) {
	rtapi_print_msg(RTAPI_MSG_ERR,
	    "BLOCKS: ERROR: '%s' param export failed\n", buf);
	return retval;
    }
    /* export function */
    rtapi_snprintf(buf, HAL_NAME_LEN, "scale.%d", num);
    retval = hal_export_funct(buf, scale_funct, scale, 1, 0, comp_id);
    if (retval != 0) {
	rtapi_print_msg(RTAPI_MSG_ERR,
	    "BLOCKS: ERROR: '%s' funct export failed\n", buf);
	return -1;
    }
    /* set default parameter values */
    scale->gain   = 1.0;
    scale->offset = 0.0;
    /* restore saved message level */
    rtapi_set_msg_level(msg);
    return 0;
}


static int export_lowpass(int num)
{
    int retval, msg;
    char buf[HAL_NAME_LEN + 2];
    lowpass_t *lowpass;

    /* 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.  If you actually need to log this
       function's actions, change the second line below */
    msg = rtapi_get_msg_level();
    rtapi_set_msg_level(RTAPI_MSG_WARN);

    /* allocate shared memory for lowpass filter */
    lowpass = hal_malloc(sizeof(lowpass_t));
    if (lowpass == 0) {
	rtapi_print_msg(RTAPI_MSG_ERR,
	    "BLOCKS: ERROR: hal_malloc() failed\n");
	return -1;
    }
    /* export pins for inputs */
    rtapi_snprintf(buf, HAL_NAME_LEN, "lowpass.%d.in", num);
    retval = hal_pin_float_new(buf, HAL_RD, &(lowpass->in), comp_id);
    if (retval != 0) {
	rtapi_print_msg(RTAPI_MSG_ERR,
	    "BLOCKS: ERROR: '%s' pin export failed\n", buf);
	return retval;
    }
    /* export pin for output */
    rtapi_snprintf(buf, HAL_NAME_LEN, "lowpass.%d.out", num);
    retval = hal_pin_float_new(buf, HAL_WR, &(lowpass->out), comp_id);
    if (retval != 0) {
	rtapi_print_msg(RTAPI_MSG_ERR,
	    "BLOCKS: ERROR: '%s' pin export failed\n", buf);
	return retval;
    }
    /* export params for gains */
    rtapi_snprintf(buf, HAL_NAME_LEN, "lowpass.%d.gain", num);
    retval = hal_param_float_new(buf, HAL_WR, &(lowpass->gain), comp_id);
    if (retval != 0) {
	rtapi_print_msg(RTAPI_MSG_ERR,
	    "BLOCKS: ERROR: '%s' param export failed\n", buf);
	return retval;
    }
    /* export function */
    rtapi_snprintf(buf, HAL_NAME_LEN, "lowpass.%d", num);
    retval = hal_export_funct(buf, lowpass_funct, lowpass, 1, 0, comp_id);
    if (retval != 0) {
	rtapi_print_msg(RTAPI_MSG_ERR,
	    "BLOCKS: ERROR: '%s' funct export failed\n", buf);
	return -1;
    }
    /* set default parameter values */
    lowpass->gain = 1.0;
    /* restore saved message level */
    rtapi_set_msg_level(msg);
    return 0;
}

static int export_match8(int num)
{
    int retval, msg, n;
    char buf[HAL_NAME_LEN + 2];
    match8_t *match8;

    /* 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.  If you actually need to log this
       function's actions, change the second line below */
    msg = rtapi_get_msg_level();
    rtapi_set_msg_level(RTAPI_MSG_WARN);

    /* allocate shared memory for match detector filter */
    match8 = hal_malloc(sizeof(match8_t));
    if (match8 == 0) {
	rtapi_print_msg(RTAPI_MSG_ERR,
	    "BLOCKS: ERROR: hal_malloc() failed\n");
	return -1;
    }
    /* export pin for cascade/enable input */
    rtapi_snprintf(buf, HAL_NAME_LEN, "match8.%d.in", num);
    retval = hal_pin_bit_new(buf, HAL_RD, &(match8->in), comp_id);
    if (retval != 0) {
	rtapi_print_msg(RTAPI_MSG_ERR,
	    "BLOCKS: ERROR: '%s' pin export failed\n", buf);
	return retval;
    }
    /* export pins for A and B inputs */
    for ( n = 0 ; n < 8 ; n++ ) {
	rtapi_snprintf(buf, HAL_NAME_LEN, "match8.%d.a%1d", num, n);
	retval