linuxcnc_hal/hal_parameter/
mod.rs

1//! HAL parameters
2
3#[macro_use]
4mod macros;
5
6mod parameter_trait;
7
8use linuxcnc_hal_sys::{
9    hal_param_bit_new, hal_param_dir_t_HAL_RO as HAL_RO, hal_param_dir_t_HAL_RW as HAL_RW,
10    hal_param_float_new, hal_param_s32_new, hal_param_u32_new,
11};
12pub use parameter_trait::HalParameter;
13
14/// Parameter write mode.
15#[derive(Copy, Clone, Debug)]
16pub enum ParameterPermissions {
17    /// The parameter may only be read by LinuxCNC.
18    ReadOnly = HAL_RO as isize,
19
20    /// The parameter can be both read and written by LinuxCNC.
21    ReadWrite = HAL_RW as isize,
22}
23
24/// A parameter that can be read and written by LinuxCNC
25///
26/// Supported parameter types are as follows
27///
28/// | Type              | Storage | Equivalent `linuxcnc_hal_sys` function |
29/// | ------------------| ------- | -------------------------------------- |
30/// | `Parameter<f64>`  | `f64`   | [`hal_param_float_new`]                  |
31/// | `Parameter<u32>`  | `u32`   | [`hal_param_u32_new`]                    |
32/// | `Parameter<i32>`  | `i32`   | [`hal_param_s32_new`]                    |
33/// | `Parameter<bool>` | `bool`  | [`hal_param_bit_new`]                    |
34///
35/// # Examples
36///
37/// ## Create a parameter
38///
39/// This example creates an `Parameter` under `demo-component.named-parameter`.
40///
41/// ```rust,no_run
42/// use linuxcnc_hal::{
43///    error::ParameterRegisterError,
44///    Parameter,
45///    prelude::*,
46///    HalComponent, RegisterResources, Resources,
47/// };
48/// use std::{
49///    error::Error,
50///    thread,
51///    time::{Duration, Instant},
52/// };
53///
54/// struct MyApp {
55///    parameter: Parameter<f64>,
56/// }
57///
58/// impl Resources for MyApp {
59///    type RegisterError = ParameterRegisterError;
60///
61///    fn register_resources(comp: &RegisterResources) -> Result<Self, Self::RegisterError> {
62///        Ok(MyApp {
63///            parameter: comp.register_parameter("named-parameter")?,
64///        })
65///    }
66/// }
67///
68/// fn main() -> Result<(), Box<dyn Error>> {
69///    let comp: HalComponent<MyApp> = HalComponent::new("demo-component")?;
70///
71///    let MyApp { parameter } = comp.resources();
72///
73///    let start = Instant::now();
74///
75///     // Main control loop
76///     while !comp.should_exit() {
77///         parameter.set_value(123.45f64);
78///         thread::sleep(Duration::from_millis(1000));
79///     }
80///
81///    Ok(())
82/// }
83/// ```
84#[derive(Debug)]
85pub struct Parameter<S> {
86    pub(crate) name: String,
87    pub(crate) storage: *mut S,
88}
89
90impl<S> Drop for Parameter<S> {
91    fn drop(&mut self) {
92        debug!("Drop Parameter {}", self.name);
93    }
94}
95
96impl_param!(Parameter, f64, hal_param_float_new);
97impl_param!(Parameter, u32, hal_param_u32_new);
98impl_param!(Parameter, i32, hal_param_s32_new);
99impl_param!(Parameter, bool, hal_param_bit_new);
linuxcnc_hal/hal_parameter/mod.rs

linuxcnc_hal/hal_parameter/
mod.rs
