While working on the latest additions to my lathe I dug out some of the
extra components I wrote for it. Hopefully they might be of some use to
someone else. This one simply outputs a message using rtapi_print_msg
when a HAL pin goes high. I use it to give sensible notifications if the
lathe estops due to things like low oil pressure, low oil level or an
inverter fault.
The force input may not be immediately obvious but I tie it into the
drive enable line. That way if the user tries to turn on the drives
while there is an error, they receive the error messages again, to
remind them why the drives have not come on.
Les
/********************************************************************
* Description: message.comp
* Message HAL component.
*
* Author: Les Newell <les at sheetcam dot com>
* License: GPL Version 2 or later
*
* Copyright (c) 2011 All rights reserved.
*
********************************************************************
*
* This program is free software; you can redistribute it and/or
* modify it under the terms of version 2 or later of the GNU General
* Public License as published by the Free Software Foundation.
* This library 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 library; if not, write to the Free Software
* Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111 USA
*
* THE AUTHORS OF THIS LIBRARY ACCEPT ABSOLUTELY NO LIABILITY FOR
* ANY HARM OR LOSS RESULTING FROM ITS USE. IT IS _EXTREMELY_ UNWISE
* TO RELY ON SOFTWARE ALONE FOR SAFETY. Any machinery capable of
* harming persons must have provisions for completely removing power
* from all motors, etc, before persons enter any danger area. All
* machinery must be designed to comply with local and national safety
* codes, and the authors of this software can not, and do not, take
* any responsibility for such compliance.
*
* This code was written as part of the EMC HAL project. For more
* information, go to www.linuxcnc.org.
*
*************************************************************************/
component message "Display a message";
description """Allows HAL pins to trigger a message. Example hal commands:
loadrt message names=oillow,oilpressure,inverterfail messages="Slideway oil
low,No oil pressure,Spindle inverter fault"
addf oillow servo-thread
addf oilpressure servo-thread
addf inverterfail servo-thread
setp oillow.edge 0 #this pin should be active low
net no-oil classicladder.0.out-21 oillow.trigger
net no-pressure classicladder.0.out-22 oilpressure.trigger
net no-inverter classicladder.0.out-23 inverterfail.trigger
When any pin goes active, it's message will be displayed."""
pin in bit trigger =FALSE "signal that triggers the message";
pin in bit force =FALSE "A FALSE->TRUE transition forces the message to be
displayed again if the trigger is active";
param rw bit edge =TRUE "Selects the desired edge: TRUE means falling, FALSE
means rising";
variable int myidx;
variable bool prev_trigger = FALSE;
variable bool prev_force = TRUE;
variable bool prev_edge = TRUE;
option extra_setup yes;
function _ nofp "Display a message";
license "LGPL";
;;
char *messages[16] = {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0};
RTAPI_MP_ARRAY_STRING(messages, 16, "Displayed strings");
FUNCTION(_){
bool show = false;
if(prev_edge != edge) /* edge type has changed */
{
prev_edge = edge;
prev_trigger = !edge;
}
if(force != prev_force) /* force type has changed */
{
prev_force = force;
if(force && (trigger == edge))
{
show = true;
}
}
if(trigger != prev_trigger) /* trigger has changed */
{
prev_trigger = trigger;
if(trigger == edge)
{
show = true;
}
}
if(show)
{
rtapi_print_msg(RTAPI_MSG_ERR, messages[myidx]);
}
}
EXTRA_SETUP(){
myidx = extra_arg;
if(myidx<0 || myidx >15)
{
rtapi_print_msg(RTAPI_MSG_ERR,"Count out of range\n");
return(EINVAL);
}
if(messages[myidx] == 0)
{
rtapi_print_msg(RTAPI_MSG_ERR,"Message string missing\n");
return(EINVAL);
}
return(0);
}
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