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// Copyright (C) 2023 Andy Pugh
// This program is free software; you can redistribute it and/or modify
// it under the terms of the GNU General Public License as published by
// the Free Software Foundation; either version 2 of the License, or
// (at your option) any later version.
//
// This program is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
// GNU General Public License for more details.
//
// You should have received a copy of the GNU General Public License
// along with this program; if not, write to the Free Software
// Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
//
// Convert bit pins to enumerated ints and vice-versa
#include "rtapi.h"
#include "rtapi_slab.h"
#include "rtapi_app.h"
#include "rtapi_string.h"
#include "hal.h"
#if !defined(__KERNEL__)
#include <stdio.h>
#include <stdlib.h>
#endif
/* module information */
MODULE_AUTHOR("Andy Pugh");
MODULE_DESCRIPTION("convert enumerated types to HAL_BIT pins");
MODULE_LICENSE("GPL");
#define MAX_CHAN 256
typedef struct {
hal_bit_t *bit;
hal_u32_t *en; // note use index 0 differently
} enum_hal_t;
typedef struct{
int dir;
int num_pins;
enum_hal_t *hal;
} enum_inst_t;
typedef struct {
int num_insts;
enum_inst_t *insts;
} enum_t;
static int comp_id;
static enum_t e;
static char *enums[MAX_CHAN] = {0,};
RTAPI_MP_ARRAY_STRING(enums, MAX_CHAN, "states, ; delimited");
static char *names[MAX_CHAN] = {0,};
RTAPI_MP_ARRAY_STRING(names, MAX_CHAN, "component names (optional)");
static void decode(void *inst, long period);
static void encode(void *inst, long period);
int rtapi_app_main(void){
int i, j, v;
int retval;
char *token;
if (!enums[0]) {
rtapi_print_msg(RTAPI_MSG_ERR, "The enum_decode component requires at least"
" one enumeration list\n");
return -EINVAL;
}
// count instances
e.num_insts = MAX_CHAN;
for (i = 0; i < MAX_CHAN; i++){
if (! enums[i] && ! names[i]){
e.num_insts = i;
rtapi_print_msg(RTAPI_MSG_ERR, "making %i instances\n", e.num_insts);
break;
}
if ((! enums[i] && names[i]) || ( ! names[i] && names[0] && enums[i])){
rtapi_print_msg(RTAPI_MSG_ERR, "Inconsistent number of names and enums\n");
return -EINVAL;
}
}
comp_id = hal_init("enum");
if (comp_id < 0) {
rtapi_print_msg(RTAPI_MSG_ERR, "ERROR: hal_init() failed\n");
return -EINVAL;
}
// allocate memory for the base struct
e.insts = (enum_inst_t *)rtapi_kmalloc(e.num_insts * sizeof(enum_inst_t), RTAPI_GFP_KERNEL);
for (i = 0; i < e.num_insts; i++){
enum_inst_t *inst = &(e.insts[i]);
char this[HAL_NAME_LEN];
// Count the pins
inst->num_pins = 0;
inst->dir = HAL_OUT; // direction of bit pin, out for decode
for (j = strlen(enums[i]); j > 0; j--){
if (enums[i][j] == ';'){
if (enums[i][j-1] != ';' ) inst->num_pins++;
// insert a string terminator
enums[i][j] = 0;
}
}
inst->hal = (enum_hal_t *)hal_malloc((inst->num_pins + 1) * sizeof(enum_hal_t));
token = enums[i];
switch (*token){
case 'E':
case 'e': // encode
inst->dir = HAL_IN;
break;
case 'D':
case 'd':
inst->dir = HAL_OUT;
break;
default:
rtapi_print_msg(RTAPI_MSG_ERR, "Each enum string must start"
"with either E; or D; to define the mode\n");
goto fail0;
}
if (names[i]) {
rtapi_snprintf(this, HAL_NAME_LEN, "%s", names[i]);
} else if (inst->dir == HAL_IN) {
rtapi_snprintf(this, HAL_NAME_LEN, "enum-encode.%02i", i);
} else {
rtapi_snprintf(this, HAL_NAME_LEN, "enum-decode.%02i", i);
}
// create single per-instance int pin in index 0
if (inst->dir == HAL_OUT) {
retval = hal_pin_u32_newf(HAL_IN, &(inst->hal[0].en), comp_id,
"%s.input", this);
} else {
retval = hal_pin_u32_newf(HAL_OUT, &(inst->hal[0].en), comp_id,
"%s.output", this);
}
v = 0;
for (j = 1; j <= inst->num_pins; j++){ // 1-based indexing
// skip to the next pin name
while (*(++token) != 0){}
//increment for skipped enumerations
while (*(++token) == 0) v++;
retval = hal_pin_bit_newf(inst->dir, &(inst->hal[j].bit),
comp_id, "%s.%s-%s",this, token,
(inst->dir == HAL_IN)?"in":"out");
retval += hal_pin_u32_newf(HAL_IN, &(inst->hal[j].en),
comp_id, "%s.%s-val",this, token);
*(inst->hal[j].en) = v++;
if (retval < 0){
rtapi_print_msg(RTAPI_MSG_ERR, "Failed to create HAL pins\n");
goto fail0;
}
}
if (inst->dir == HAL_OUT){
hal_export_funct(this, decode, inst, 0, 0, comp_id);
} else {
hal_export_funct(this, encode, inst, 0, 0, comp_id);
}
if (retval < 0){
rtapi_print_msg(RTAPI_MSG_ERR, "Failed to export functions\n");
goto fail0;
}
}
hal_ready(comp_id);
return 0;
fail0:
rtapi_kfree(e.insts);
hal_exit(comp_id);
return -1;
}
static void decode(void *v_inst, long period){
int i;
enum_inst_t *inst = v_inst;
for (i = 1; i <= inst->num_pins; i++){
if (*(inst->hal[0].en) == *(inst->hal[i].en)){
*(inst->hal[i].bit) = 1;
} else {
*(inst->hal[i].bit) = 0;
}
}
}
static void encode(void *v_inst, long period){
int i;
enum_inst_t *inst = v_inst;
*(inst->hal[0].en) = 0;
for (i = 1; i <= inst->num_pins; i++){
if (*(inst->hal[i].bit)){
*(inst->hal[0].en) = *(inst->hal[i].en);
}
}
}
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