Struct HalComponent

pub struct HalComponent<R> { /* private fields */ }

HAL component

The main HAL component interface. See the crate documentation for examples.

During registraton, all resource names are prefixed with the component name and a . full stop character. For example, a component named rust-comp with a pin named input-1 will show up in LinuxCNC as a pin called rust-comp.input-1.

HalComponent has a custom Drop implementation which calls hal_exit (among other things) when the variable holding the component goes out of scope. Due to this, the component should be initialised in main() so it lives for the entire life of the program.

Implementations

impl<R> HalComponent<R>

where R: Resources,

pub fn new(name: &'static str) -> Result<Self, ComponentInitError>

Create a new HAL component

new registers a new HAL component with LinuxCNC, registers the required UNIX signal handlers and allocates resources (pins, signals, etc) required by the component.

pub fn id(&self) -> i32

Get the HAL-assigned ID for this component

pub fn name(&self) -> &str

Get the component name

pub fn should_exit(&self) -> bool

Check whether the component was signalled to shut down

pub fn resources(&self) -> &R

Get a reference to the component’s resources

Trait Implementations

impl<R: Debug> Debug for HalComponent<R>

fn fmt(&self, f: &mut Formatter<'_>) -> Result

Formats the value using the given formatter.

impl<R> Drop for HalComponent<R>

fn drop(&mut self)

Clean up resources, signals and HAL component