Crate linuxcnc_hal

Safe wrappers for LinuxCNC's HAL (Hardware Abstraction Layer)

Examples

These examples can be loaded into LinuxCNC using a HAL file similar to this:

loadusr -W /path/to/your/component/target/debug/comp_bin_name
net input-1 spindle.0.speed-out pins.input-1
net output-1 pins.output-1

Create a component with input and output

This example creates a component called "pins" with a single input ("input-1") and output pin ("output-1"). It enters an infinite loop updates the value of output-1 every second. Signals are registered when builder.ready() is called which allow LinuxCNC to close the component gracefully.

use linuxcnc_hal::{hal_pin::HalPinF64, HalComponentBuilder};
use std::{
    error::Error,
    thread,
    time::{Duration, Instant},
};

fn main() -> Result<(), Box<dyn Error>> {
    // Create a new HAL component called `empty`
    let mut builder = HalComponentBuilder::new("pins")?;

    let input_1 = builder.register_input_pin::<HalPinF64>("input-1")?;

    let output_1 = builder.register_output_pin::<HalPinF64>("output-1")?;

    // All pins added, component is now ready. This consumes the builder and registers signal
    // handlers.
    let comp = builder.ready()?;

    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
        output_1.set_value(time.into())?;

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

Modules

hal_pin

HAL pins

Structs

HalComponent	HAL component
HalComponentBuilder	HAL component builder