linuxcnc-hal 0.3.0

//! Create a component called `rust-comp` that has one input and one output pin.
//!
//! Pin names:
//!
//! * Output `rust-comp.output-1`
//! * Input `rust-comp.input-1`
//!
//! The component can be loaded and connected using something like the following `.hal` file:
//!
//! ```ini
//! loadusr -Wn rust-comp /path/to/hal/component
//! net output-1 rust-comp.output-1
//! net input-1 motion.spindle-speed-out rust-comp.input-1
//! ```

use linuxcnc_hal::{
    error::PinRegisterError,
    hal_pin::{InputPin, OutputPin},
    prelude::*,
    HalComponent, RegisterResources, Resources,
};
use std::{
    error::Error,
    thread,
    time::{Duration, Instant},
};

struct Pins {
    input_1: InputPin<f64>,
    output_1: OutputPin<f64>,
}

impl Resources for Pins {
    type RegisterError = PinRegisterError;

    fn register_resources(comp: &RegisterResources) -> Result<Self, Self::RegisterError> {
        Ok(Pins {
            input_1: comp.register_pin::<InputPin<f64>>("input-1")?,
            output_1: comp.register_pin::<OutputPin<f64>>("output-1")?,
        })
    }
}

fn main() -> Result<(), Box<dyn Error>> {
    rtapi_logger::init().ok();

    // Create a new HAL component called `rust-comp`
    let comp: HalComponent<Pins> = HalComponent::new("rust-comp")?;

    // Get a reference to the `Pins` struct
    let pins = comp.resources();

    let start = Instant::now();

    // Main control loop
    while !comp.should_exit() {
        let time = start.elapsed().as_secs() as i32;

        // Set output pin to elapsed seconds since component started
        pins.output_1.set_value(time.into())?;

        // Print the current value of the input pin
        println!("Input: {:?}", pins.input_1.value());

        // Sleep for 1000ms. This should be a lower time if the component needs to update more
        // frequently.
        thread::sleep(Duration::from_millis(1000));
    }

    // The custom implementation of `Drop` for `HalComponent` ensures that `hal_exit()` is called
    // at this point. Registered signal handlers are also deregistered.

    Ok(())
}