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hal: Update inihal, halui and motion-logger to getter/setter #4285

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Merged
grandixximo merged 1 commit into from
Jul 30, 2026
+603 −763
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hal: Update inihal, halui and motion-logger to getter/setter #4285

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112 changes: 57 additions & 55 deletions src/emc/ini/inihal.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -24,6 +24,7 @@ Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA.
#include <stdio.h>
#include <hal.h>
#include <rtapi.h>
#include <rtapi_math.h>
#include "inihal.hh"
#include "iniaxis.hh"
#include "inispindle.hh"
Expand All @@ -36,19 +37,11 @@ static ptr_inihal_data *the_inihal_data;

#define PREFIX "ini."
#define EPSILON .00001
#define CLOSE(a,b,eps) ((a)-(b) < +(eps) && (a)-(b) > -(eps))

#define NEW(NAME) new_inihal_data.NAME

#define CHANGED(NAME) \
((old_inihal_data.NAME) - (new_inihal_data.NAME) > +(EPSILON)) \
|| \
((old_inihal_data.NAME) - (new_inihal_data.NAME) < -(EPSILON))

#define CHANGED_IDX(NAME,IDX) \
((old_inihal_data.NAME[IDX]) - (new_inihal_data.NAME[IDX]) > +(EPSILON)) \
|| \
((old_inihal_data.NAME[IDX]) - (new_inihal_data.NAME[IDX]) < -(EPSILON))
#define CHANGED(NAME) (fabs((old_inihal_data.NAME) - (new_inihal_data.NAME)) > (EPSILON))
#define CHANGED_IDX(NAME,IDX) (fabs((old_inihal_data.NAME[IDX]) - (new_inihal_data.NAME[IDX])) > (EPSILON))

#define UPDATE(NAME) old_inihal_data.NAME = new_inihal_data.NAME

Expand Down Expand Up @@ -86,44 +79,46 @@ static ptr_inihal_data *the_inihal_data;
new_inihal_data.NAME[IDX]);
#define MAKE_BIT_PIN(NAME,DIR) \
do { \
retval = hal_pin_bit_newf(DIR,&(the_inihal_data->NAME),comp_id,PREFIX#NAME); \
int retval = hal_pin_new_bool(comp_id, DIR, &(the_inihal_data->NAME), 0, PREFIX#NAME); \
if (retval < 0) return retval; \
} while (0)

#define MAKE_S32_PIN(NAME,DIR) \
do { \
retval = hal_pin_s32_newf(DIR,&(the_inihal_data->NAME),comp_id,PREFIX#NAME); \
int retval = hal_pin_new_si32(comp_id, DIR, &(the_inihal_data->NAME), 0, PREFIX#NAME); \
if (retval < 0) return retval; \
} while (0)

#define MAKE_S32_PIN_IDX(NAME,HALPIN_NAME,DIR,IDX) \
do { \
retval = hal_pin_s32_newf(DIR,&(the_inihal_data->NAME[IDX]),\
comp_id,PREFIX"%d."#HALPIN_NAME,IDX); \
int retval = hal_pin_new_si32(comp_id, DIR, &(the_inihal_data->NAME[IDX]),\
0, PREFIX"%d."#HALPIN_NAME, IDX); \
if (retval < 0) return retval; \
} while (0)

#define MAKE_FLOAT_PIN(NAME,DIR) \
do { \
retval = hal_pin_float_newf(DIR,&(the_inihal_data->NAME),comp_id,PREFIX#NAME); \
int retval = hal_pin_new_real(comp_id, DIR, &(the_inihal_data->NAME), 0,PREFIX#NAME); \
if (retval < 0) return retval; \
} while (0)

#define MAKE_FLOAT_PIN_IDX(NAME,HALPIN_NAME,DIR,IDX) \
do { \
retval = hal_pin_float_newf(DIR,&(the_inihal_data->NAME[IDX]),\
comp_id,PREFIX"%d."#HALPIN_NAME,IDX); \
int retval = hal_pin_new_real(comp_id, DIR, &(the_inihal_data->NAME[IDX]),\
0.0, PREFIX"%d."#HALPIN_NAME, IDX); \
if (retval < 0) return retval; \
} while (0)

#define MAKE_FLOAT_PIN_LETTER(NAME,HALPIN_NAME,DIR,IDX,LETTER) \
do { \
retval = hal_pin_float_newf(DIR,&(the_inihal_data->NAME[IDX]),\
comp_id,PREFIX"%c."#HALPIN_NAME,LETTER); \
int retval = hal_pin_new_real(comp_id, DIR, &(the_inihal_data->NAME[IDX]),\
0.0, PREFIX"%c."#HALPIN_NAME, LETTER); \
if (retval < 0) return retval; \
} while (0)

#define INIT_PIN(NAME) *(the_inihal_data->NAME) = old_inihal_data.NAME;
#define INIT_PIN_R(NAME) hal_set_real(the_inihal_data->NAME, old_inihal_data.NAME);
#define INIT_PIN_S(NAME) hal_set_si32(the_inihal_data->NAME, old_inihal_data.NAME);
#define INIT_PIN_B(NAME) hal_set_bool(the_inihal_data->NAME, old_inihal_data.NAME);

int ini_hal_exit(void)
{
Expand All @@ -134,8 +129,6 @@ int ini_hal_exit(void)

int ini_hal_init(int numjoints)
{
int retval;

comp_id = hal_init("inihal");
if (comp_id < 0) {
rtapi_print_msg(RTAPI_MSG_ERR,
Expand Down Expand Up @@ -193,57 +186,66 @@ int ini_hal_init(int numjoints)

int ini_hal_init_pins(int numjoints)
{
INIT_PIN(traj_default_velocity);
INIT_PIN(traj_max_velocity);
INIT_PIN(traj_default_acceleration);
INIT_PIN(traj_max_acceleration);
INIT_PIN(traj_max_jerk);
INIT_PIN(traj_planner_type);

INIT_PIN(traj_arc_blend_enable);
INIT_PIN(traj_arc_blend_fallback_enable);
INIT_PIN(traj_arc_blend_optimization_depth);
INIT_PIN(traj_arc_blend_gap_cycles);
INIT_PIN(traj_arc_blend_ramp_freq);
INIT_PIN(traj_arc_blend_tangent_kink_ratio);
INIT_PIN_R(traj_default_velocity);
INIT_PIN_R(traj_max_velocity);
INIT_PIN_R(traj_default_acceleration);
INIT_PIN_R(traj_max_acceleration);
INIT_PIN_R(traj_max_jerk);
INIT_PIN_S(traj_planner_type);

INIT_PIN_B(traj_arc_blend_enable);
INIT_PIN_B(traj_arc_blend_fallback_enable);
INIT_PIN_S(traj_arc_blend_optimization_depth);
INIT_PIN_R(traj_arc_blend_gap_cycles);
INIT_PIN_R(traj_arc_blend_ramp_freq);
INIT_PIN_R(traj_arc_blend_tangent_kink_ratio);

for (int idx = 0; idx < numjoints; idx++) {
INIT_PIN(joint_backlash[idx]);
INIT_PIN(joint_ferror[idx]);
INIT_PIN(joint_min_ferror[idx]);
INIT_PIN(joint_min_limit[idx]);
INIT_PIN(joint_max_limit[idx]);
INIT_PIN(joint_max_velocity[idx]);
INIT_PIN(joint_max_acceleration[idx]);
INIT_PIN(joint_jerk[idx]);
INIT_PIN(joint_home[idx]);
INIT_PIN(joint_home_offset[idx]);
INIT_PIN(joint_home_sequence[idx]);
INIT_PIN_R(joint_backlash[idx]);
INIT_PIN_R(joint_ferror[idx]);
INIT_PIN_R(joint_min_ferror[idx]);
INIT_PIN_R(joint_min_limit[idx]);
INIT_PIN_R(joint_max_limit[idx]);
INIT_PIN_R(joint_max_velocity[idx]);
INIT_PIN_R(joint_max_acceleration[idx]);
INIT_PIN_R(joint_jerk[idx]);
INIT_PIN_R(joint_home[idx]);
INIT_PIN_R(joint_home_offset[idx]);
INIT_PIN_S(joint_home_sequence[idx]);
}
for (int idx = 0; idx < EMCMOT_MAX_AXIS; idx++) {
INIT_PIN(axis_min_limit[idx]);
INIT_PIN(axis_max_limit[idx]);
INIT_PIN(axis_max_velocity[idx]);
INIT_PIN(axis_max_acceleration[idx]);
INIT_PIN(axis_jerk[idx]);
INIT_PIN_R(axis_min_limit[idx]);
INIT_PIN_R(axis_max_limit[idx]);
INIT_PIN_R(axis_max_velocity[idx]);
INIT_PIN_R(axis_max_acceleration[idx]);
INIT_PIN_R(axis_jerk[idx]);
}

return 0;
} // ini_hal_init_pins()

static void copy_hal_data(const ptr_inihal_data &i, value_inihal_data &j)
{
int x;
#define FIELD(t,f) j.f = (i.f)?*i.f:0;
#define ARRAY(t,f,n) do { for (x = 0; x < n; x++) j.f[x] = (i.f[x])?*i.f[x]:0; } while (0);
#define FIELD(t,f) do { \
if(i.f) { \
j.f = hal_get_##t(i.f); \
} \
} while(0);
#define ARRAY(t,f,n) do { \
for (int x = 0; x < n; x++) { \
if(i.f[x]) { \
j.f[x] = hal_get_##t(i.f[x]); \
} \
} \
} while (0);
HAL_FIELDS
#undef FIELD
#undef ARRAY
} // copy_hal_data()

int check_ini_hal_items(int numjoints)
{
value_inihal_data new_inihal_data_mutable;
value_inihal_data new_inihal_data_mutable = {};
copy_hal_data(*the_inihal_data, new_inihal_data_mutable);
const value_inihal_data &new_inihal_data = new_inihal_data_mutable;

Expand Down
82 changes: 47 additions & 35 deletions src/emc/ini/inihal.hh
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Original file line number Diff line number Diff line change
Expand Up @@ -47,62 +47,74 @@ int ini_hal_init_pins(int numjoints);
[JOINT_n]COMP_FILE_TYPE
[JOINT_n]COMP
*/
// FIXME: This will have to go again when we do proper 64-bit
// The typedefs are necessary to map to hal_[gs]et_[su]i32() in the expansion
// of below macros because they are selected based on text-concatenation in the
// preprocessor. Even the 32-bit version use sint/uint, but the expansion would
// then select the 64-bit versions.
typedef hal_sint_t hal_si32_t;
typedef hal_uint_t hal_ui32_t;

#define HAL_FIELDS \
FIELD(hal_float_t,traj_default_velocity) \
FIELD(hal_float_t,traj_max_velocity) \
FIELD(hal_float_t,traj_default_acceleration) \
FIELD(hal_float_t,traj_max_acceleration) \
FIELD(hal_float_t,traj_max_jerk) \
FIELD(hal_s32_t,traj_planner_type) \
FIELD(real,traj_default_velocity) \
FIELD(real,traj_max_velocity) \
FIELD(real,traj_default_acceleration) \
FIELD(real,traj_max_acceleration) \
FIELD(real,traj_max_jerk) \
FIELD(si32,traj_planner_type) \
\
FIELD(hal_bit_t,traj_arc_blend_enable) \
FIELD(hal_bit_t,traj_arc_blend_fallback_enable) \
FIELD(hal_s32_t,traj_arc_blend_optimization_depth) \
FIELD(hal_float_t,traj_arc_blend_gap_cycles) \
FIELD(hal_float_t,traj_arc_blend_ramp_freq) \
FIELD(hal_float_t,traj_arc_blend_tangent_kink_ratio) \
FIELD(bool,traj_arc_blend_enable) \
FIELD(bool,traj_arc_blend_fallback_enable) \
FIELD(si32,traj_arc_blend_optimization_depth) \
FIELD(real,traj_arc_blend_gap_cycles) \
FIELD(real,traj_arc_blend_ramp_freq) \
FIELD(real,traj_arc_blend_tangent_kink_ratio) \
\
ARRAY(hal_float_t,joint_backlash,EMCMOT_MAX_JOINTS) \
ARRAY(hal_float_t,joint_ferror,EMCMOT_MAX_JOINTS) \
ARRAY(hal_float_t,joint_min_ferror,EMCMOT_MAX_JOINTS) \
ARRAY(hal_float_t,joint_min_limit,EMCMOT_MAX_JOINTS) \
ARRAY(hal_float_t,joint_max_limit,EMCMOT_MAX_JOINTS) \
ARRAY(hal_float_t,joint_max_velocity,EMCMOT_MAX_JOINTS) \
ARRAY(hal_float_t,joint_max_acceleration,EMCMOT_MAX_JOINTS) \
ARRAY(hal_float_t,joint_jerk,EMCMOT_MAX_JOINTS) \
ARRAY(hal_float_t,joint_home,EMCMOT_MAX_JOINTS) \
ARRAY(hal_float_t,joint_home_offset,EMCMOT_MAX_JOINTS) \
ARRAY(hal_s32_t, joint_home_sequence,EMCMOT_MAX_JOINTS) \
ARRAY(real,joint_backlash,EMCMOT_MAX_JOINTS) \
ARRAY(real,joint_ferror,EMCMOT_MAX_JOINTS) \
ARRAY(real,joint_min_ferror,EMCMOT_MAX_JOINTS) \
ARRAY(real,joint_min_limit,EMCMOT_MAX_JOINTS) \
ARRAY(real,joint_max_limit,EMCMOT_MAX_JOINTS) \
ARRAY(real,joint_max_velocity,EMCMOT_MAX_JOINTS) \
ARRAY(real,joint_max_acceleration,EMCMOT_MAX_JOINTS) \
ARRAY(real,joint_jerk,EMCMOT_MAX_JOINTS) \
ARRAY(real,joint_home,EMCMOT_MAX_JOINTS) \
ARRAY(real,joint_home_offset,EMCMOT_MAX_JOINTS) \
ARRAY(si32,joint_home_sequence,EMCMOT_MAX_JOINTS) \
\
ARRAY(hal_float_t,axis_min_limit,EMCMOT_MAX_AXIS) \
ARRAY(hal_float_t,axis_max_limit,EMCMOT_MAX_AXIS) \
ARRAY(hal_float_t,axis_max_velocity,EMCMOT_MAX_AXIS) \
ARRAY(hal_float_t,axis_max_acceleration,EMCMOT_MAX_AXIS) \
ARRAY(hal_float_t,axis_jerk,EMCMOT_MAX_AXIS) \
ARRAY(real,axis_min_limit,EMCMOT_MAX_AXIS) \
ARRAY(real,axis_max_limit,EMCMOT_MAX_AXIS) \
ARRAY(real,axis_max_velocity,EMCMOT_MAX_AXIS) \
ARRAY(real,axis_max_acceleration,EMCMOT_MAX_AXIS) \
ARRAY(real,axis_jerk,EMCMOT_MAX_AXIS) \

struct PTR {
template<class T>
struct field { typedef T *type; };
struct field { typedef T type; };
};

#pragma GCC diagnostic push
#if defined(__GNUC__) && (__GNUC__ > 4)
#pragma GCC diagnostic ignored "-Wignored-attributes"
#endif
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; };
template<> struct NATIVE<hal_bool_t> { typedef rtapi_bool type; };
template<> struct NATIVE<hal_si32_t> { typedef rtapi_s32 type; };
template<> struct NATIVE<hal_ui32_t> { typedef rtapi_u32 type; };
// FIXME: These need to be 64-bit. Can't set them now because the compiler sees
// the typedef mapped overlap.
//template<> struct NATIVE<hal_sint_t> { typedef rtapi_sint type; };
//template<> struct NATIVE<hal_uint_t> { typedef rtapi_uint type; };
template<> struct NATIVE<hal_real_t> { typedef rtapi_real type; };
struct VALUE {
template<class T> struct field { typedef typename NATIVE<T>::type type; };
};

template<class T>
struct inihal_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];
#define FIELD(t,f) typename T::template field<hal_##t##_t>::type f;
#define ARRAY(t,f,n) typename T::template field<hal_##t##_t>::type f[n];
HAL_FIELDS
#undef FIELD
#undef ARRAY
Expand Down
11 changes: 5 additions & 6 deletions src/emc/motion-logger/motion-logger.c
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Original file line number Diff line number Diff line change
Expand Up @@ -38,7 +38,7 @@
#include "motion/axis.h"

static struct motion_logger_data_t {
hal_bit_t *reopen;
hal_bool_t reopen;
} *motion_logger_data;

FILE *logfile = NULL;
Expand Down Expand Up @@ -234,12 +234,12 @@ static void mark_joint_homed(int joint_num) {
}

void maybe_reopen_logfile() {
if(*motion_logger_data->reopen) {
if(hal_get_bool(motion_logger_data->reopen)) {
if(logfile != stdout) {
fclose(logfile);
logfile = NULL;
}
*motion_logger_data->reopen = 0;
hal_set_bool(motion_logger_data->reopen, 0);
}
}

Expand Down Expand Up @@ -296,13 +296,12 @@ int main(int argc, char* argv[]) {
exit(EXIT_FAILURE);
}
int r;
if((r = hal_pin_bit_new("motion-logger.reopen-log", HAL_IO, &motion_logger_data->reopen, mot_comp_id)) < 0) {
if((r = hal_pin_new_bool(mot_comp_id, HAL_IO, &motion_logger_data->reopen, 0, "motion-logger.reopen-log")) < 0) {
hal_exit(mot_comp_id);
errno = -r;
perror("hal_pin_bit_new");
perror("hal_pin_new_bool");
exit(EXIT_FAILURE);
}
*motion_logger_data->reopen = 0;
if((r = hal_ready(mot_comp_id)) < 0) {
hal_exit(mot_comp_id);
errno = -r;
Expand Down
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