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Merged
grandixximo merged 1 commit into from
Jul 29, 2026
Merged

hal: Update sampler and streamer to getter/setter #4277

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184 changes: 69 additions & 115 deletions src/hal/components/sampler.c
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Original file line number Diff line number Diff line change
Expand Up @@ -77,13 +77,13 @@ RTAPI_MP_ARRAY_INT(depth,MAX_SAMPLERS,"fifo depth");

typedef struct {
hal_stream_t fifo; /* pointer to user/RT fifo */
hal_s32_t *curr_depth; /* pin: current fifo depth */
hal_bit_t *full; /* pin: overrun flag */
hal_bit_t *enable; /* pin: enable sampling */
hal_s32_t *overruns; /* pin: number of overruns */
hal_s32_t *sample_num; /* pin: sample ID / timestamp */
hal_sint_t curr_depth; /* pin: current fifo depth */
hal_bool_t full; /* pin: overrun flag */
hal_bool_t enable; /* pin: enable sampling */
hal_sint_t overruns; /* pin: number of overruns */
hal_sint_t sample_num; /* pin: sample ID / timestamp */
hal_refs_u pins[HAL_STREAM_MAX_PINS];
int num_pins;
pin_data_t pins[HAL_STREAM_MAX_PINS];
} sampler_t;

/* other globals */
Expand Down Expand Up @@ -153,56 +153,39 @@ void rtapi_app_exit(void)
static void sample(void *arg, long period)
{
(void)period;
sampler_t *samp;
pin_data_t *pptr;
int n;
sampler_t *samp = (sampler_t *)arg; /* point at sampler struct in HAL shmem */

/* point at sampler struct in HAL shmem */
samp = arg;
/* are we enabled? */
if ( ! *(samp->enable) ) {
*(samp->curr_depth) = hal_stream_depth(&samp->fifo);
*(samp->full) = !hal_stream_writable(&samp->fifo);
return;
if (!hal_get_bool(samp->enable)) {
hal_set_si32(samp->curr_depth, hal_stream_depth(&samp->fifo));
hal_set_bool(samp->full, !hal_stream_writable(&samp->fifo));
return;
}
/* point at pins in hal shmem */
pptr = samp->pins;
union hal_stream_data data[HAL_STREAM_MAX_PINS], *dptr=data;

/* copy data from HAL pins to fifo */
union hal_stream_data data[HAL_STREAM_MAX_PINS];
int num_pins = hal_stream_element_count(&samp->fifo);
for ( n = 0 ; n < num_pins ; n++ ) {
switch ( hal_stream_element_type(&samp->fifo, n) ) {
case HAL_FLOAT:
dptr->f = *(pptr->hfloat);
break;
case HAL_BIT:
if ( *(pptr->hbit) ) {
dptr->b = 1;
} else {
dptr->b = 0;
}
break;
case HAL_U32:
dptr->u = *(pptr->hu32);
break;
case HAL_S32:
dptr->s = *(pptr->hs32);
break;
default:
break;
}
dptr++;
pptr++;
for (int n = 0; n < num_pins; n++) {
switch (hal_stream_element_type(&samp->fifo, n)) {
case HAL_REAL: data[n].f = hal_get_real(samp->pins[n].r); break;
case HAL_S32: data[n].s = hal_get_si32(samp->pins[n].s); break;
case HAL_U32: data[n].u = hal_get_ui32(samp->pins[n].u); break;
case HAL_SINT: data[n].l = hal_get_sint(samp->pins[n].s); break;
case HAL_UINT: data[n].k = hal_get_uint(samp->pins[n].u); break;
case HAL_BOOL: data[n].b = hal_get_bool(samp->pins[n].b); break;
default:
break;
}
}
if ( hal_stream_write(&samp->fifo, data) < 0) {
/* fifo is full, data is lost */
/* fifo is full, data is lost */
/* log the overrun */
(*samp->overruns)++;
*(samp->full) = 1;
*(samp->curr_depth) = hal_stream_maxdepth(&samp->fifo);
hal_set_si32(samp->overruns, hal_get_si32(samp->overruns) + 1);
hal_set_bool(samp->full, 1);
hal_set_si32(samp->curr_depth, hal_stream_maxdepth(&samp->fifo));
} else {
*(samp->full) = 0;
*(samp->curr_depth) = hal_stream_depth(&samp->fifo);
hal_set_bool(samp->full, 0);
hal_set_si32(samp->curr_depth, hal_stream_depth(&samp->fifo));
}
}

Expand All @@ -212,91 +195,62 @@ static void sample(void *arg, long period)

static int init_sampler(int num, sampler_t *str)
{
int retval, usefp, n;
pin_data_t *pptr;
char buf[HAL_NAME_LEN + 1];
int retval;
static const char strbase[] = "sampler.";

/* export "standard" pins and params */
retval = hal_pin_bit_newf(HAL_OUT, &(str->full), comp_id,
"sampler.%d.full", num);
retval = hal_pin_new_bool(comp_id, HAL_OUT, &str->full, 0, "%s%d.full", strbase, num);
if (retval != 0 ) {
rtapi_print_msg(RTAPI_MSG_ERR,
"SAMPLER: ERROR: 'full' pin export failed\n");
return -EIO;
rtapi_print_msg(RTAPI_MSG_ERR, "SAMPLER: ERROR: 'full' pin export failed\n");
return -EIO;
}
retval = hal_pin_bit_newf(HAL_IN, &(str->enable), comp_id,
"sampler.%d.enable", num);
retval = hal_pin_new_bool(comp_id, HAL_IN, &str->enable, 1, "%s%d.enable", strbase, num);
if (retval != 0 ) {
rtapi_print_msg(RTAPI_MSG_ERR,
"SAMPLER: ERROR: 'enable' pin export failed\n");
return -EIO;
rtapi_print_msg(RTAPI_MSG_ERR, "SAMPLER: ERROR: 'enable' pin export failed\n");
return -EIO;
}
retval = hal_pin_s32_newf(HAL_OUT, &(str->curr_depth), comp_id,
"sampler.%d.curr-depth", num);
retval = hal_pin_new_si32(comp_id, HAL_OUT, &str->curr_depth, 0, "%s%d.curr-depth", strbase, num);
if (retval != 0 ) {
rtapi_print_msg(RTAPI_MSG_ERR,
"SAMPLEr: ERROR: 'curr_depth' pin export failed\n");
return -EIO;
rtapi_print_msg(RTAPI_MSG_ERR, "SAMPLER: ERROR: 'curr_depth' pin export failed\n");
return -EIO;
}
retval = hal_pin_s32_newf(HAL_IO, &(str->overruns), comp_id,
"sampler.%d.overruns", num);
retval = hal_pin_new_si32(comp_id, HAL_IO, &str->overruns, 0, "%s%d.overruns", strbase, num);
if (retval != 0 ) {
rtapi_print_msg(RTAPI_MSG_ERR,
"SAMPLER: ERROR: 'overruns' parameter export failed\n");
return -EIO;
rtapi_print_msg(RTAPI_MSG_ERR, "SAMPLER: ERROR: 'overruns' parameter export failed\n");
return -EIO;
}
retval = hal_pin_s32_newf(HAL_IO, &(str->sample_num), comp_id,
"sampler.%d.sample-num", num);
retval = hal_pin_new_si32(comp_id, HAL_IO, &str->sample_num, 0, "%s%d.sample-num", strbase, num);
if (retval != 0 ) {
rtapi_print_msg(RTAPI_MSG_ERR,
"SAMPLER: ERROR: 'sample-num' parameter export failed\n");
return -EIO;
rtapi_print_msg(RTAPI_MSG_ERR, "SAMPLER: ERROR: 'sample-num' parameter export failed\n");
return -EIO;
}
/* init the standard pins and params */
*(str->full) = 0;
*(str->enable) = 1;
*(str->curr_depth) = 0;
*(str->overruns) = 0;
*(str->sample_num) = 0;
pptr = str->pins;
usefp = 0;

/* export user specified pins (the ones that sample data) */
for ( n = 0 ; n < hal_stream_element_count(&str->fifo) ; n++ ) {
rtapi_snprintf(buf, sizeof(buf), "sampler.%d.pin.%d", num, n);
retval = hal_pin_new(buf, hal_stream_element_type(&str->fifo, n), HAL_IN, (void **)pptr, comp_id );
if (retval != 0 ) {
rtapi_print_msg(RTAPI_MSG_ERR,
"SAMPLER: ERROR: pin '%s' export failed\n", buf);
return -EIO;
}
/* init the pin value */
switch ( hal_stream_element_type(&str->fifo, n) ) {
case HAL_FLOAT:
*(pptr->hfloat) = 0.0;
usefp = 1;
break;
case HAL_BIT:
*(pptr->hbit) = 0;
break;
case HAL_U32:
*(pptr->hu32) = 0;
break;
case HAL_S32:
*(pptr->hs32) = 0;
break;
default:
break;
}
pptr++;
for (int n = 0; n < hal_stream_element_count(&str->fifo); n++) {
static const char pstr[] = "sampler.%d.pin.%d";
int type;
switch(type = hal_stream_element_type(&str->fifo, n)) {
case HAL_REAL: retval = hal_pin_new_real(comp_id, HAL_IN, &str->pins[n].r, 0.0, pstr, num, n); break;
case HAL_S32: retval = hal_pin_new_si32(comp_id, HAL_IN, &str->pins[n].s, 0, pstr, num, n); break;
case HAL_U32: retval = hal_pin_new_ui32(comp_id, HAL_IN, &str->pins[n].u, 0, pstr, num, n); break;
case HAL_SINT: retval = hal_pin_new_sint(comp_id, HAL_IN, &str->pins[n].s, 0, pstr, num, n); break;
case HAL_UINT: retval = hal_pin_new_uint(comp_id, HAL_IN, &str->pins[n].u, 0, pstr, num, n); break;
case HAL_BOOL: retval = hal_pin_new_bool(comp_id, HAL_IN, &str->pins[n].b, 0, pstr, num, n); break;
default:
rtapi_print_msg(RTAPI_MSG_ERR, "SAMPLER: ERROR: stream type for pin %d has bad type %d\n", n, type);
return -EIO;
}
if (retval != 0 ) {
rtapi_print_msg(RTAPI_MSG_ERR, "SAMPLER: ERROR: pin '%d' export failed\n", n);
return -EIO;
}
}
/* export update function */
retval = hal_export_functf(sample, str, usefp, 0, comp_id, "sampler.%d", num);
retval = hal_export_functf(sample, str, 1, 0, comp_id, "%s%d", strbase, num);
if (retval != 0) {
rtapi_print_msg(RTAPI_MSG_ERR,
"SAMPLER: ERROR: function export failed\n");
return retval;
rtapi_print_msg(RTAPI_MSG_ERR, "SAMPLER: ERROR: function export failed\n");
return retval;
}

return 0;
}

10 changes: 8 additions & 2 deletions src/hal/components/sampler_usr.c
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Original file line number Diff line number Diff line change
Expand Up @@ -210,10 +210,10 @@ int main(int argc, char **argv)
}
for ( n = 0 ; n < num_pins; n++ ) {
switch ( hal_stream_element_type(&stream, n) ) {
case HAL_FLOAT:
case HAL_REAL:
printf ( "%f ", buf[n].f);
break;
case HAL_BIT:
case HAL_BOOL:
if ( buf[n].b ) {
printf ( "1 " );
} else {
Expand All @@ -226,6 +226,12 @@ int main(int argc, char **argv)
case HAL_S32:
printf ( "%ld ", (long)buf[n].s);
break;
case HAL_UINT:
printf ( "%llu ", (unsigned long long)buf[n].k);
break;
case HAL_SINT:
printf ( "%lld ", (long long)buf[n].l);
break;
default:
/* better not happen */
goto out;
Expand Down
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