83 lines
2.7 KiB
C
83 lines
2.7 KiB
C
#ifndef LINUXCNC_WEB_WASM_SIM_HAL_H
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#define LINUXCNC_WEB_WASM_SIM_HAL_H
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#include <stdint.h>
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#ifdef __cplusplus
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extern "C" {
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#endif
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#define SIM_HAL_NAME_CAPACITY 48U
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#define SIM_HAL_PIN_CAPACITY 256U
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#define SIM_HAL_THREAD_CAPACITY 16U
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#define SIM_HAL_FUNCTION_CAPACITY 64U
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#define SIM_HAL_COMPONENT_CAPACITY 64U
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#define SIM_HAL_PARAM_CAPACITY 256U
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uint32_t sim_hal_checkpoint_size(void);
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int32_t sim_hal_checkpoint_export(uint8_t *output, uint32_t capacity);
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int32_t sim_hal_checkpoint_restore(const uint8_t *input, uint32_t length);
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enum sim_hal_result {
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SIM_HAL_OK = 0,
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SIM_HAL_ERR_ARGUMENT = -300,
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SIM_HAL_ERR_FULL = -301,
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SIM_HAL_ERR_DUPLICATE = -302,
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SIM_HAL_ERR_NOT_FOUND = -303,
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SIM_HAL_ERR_TYPE = -304,
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SIM_HAL_ERR_RANGE = -305,
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SIM_HAL_ERR_CONNECTION = -306,
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SIM_HAL_ERR_FUNCTION = -307,
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SIM_HAL_ERR_REAL_EXCLUDED = -308,
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};
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enum sim_hal_type {
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SIM_HAL_BIT = 1,
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SIM_HAL_S32 = 2,
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SIM_HAL_U32 = 3,
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SIM_HAL_FLOAT = 4,
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};
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typedef struct sim_hal_value {
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uint32_t type;
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union {
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uint32_t bit;
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int32_t s32;
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uint32_t u32;
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float real;
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} value;
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} sim_hal_value;
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void sim_hal_reset(void);
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int32_t sim_hal_register_pin(const char *name, uint32_t type);
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int32_t sim_hal_set_pin(const char *name, sim_hal_value value);
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int32_t sim_hal_set_pin_scalar(const char *name, uint32_t type, double value);
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int32_t sim_hal_get_pin(const char *name, sim_hal_value *out);
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int32_t sim_hal_connect(const char *source, const char *target);
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int32_t sim_hal_register_thread(const char *name, uint32_t period_ticks);
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int32_t sim_hal_register_function(const char *thread, const char *name);
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/* Register a statically linked .comp component instance on a HAL thread. */
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int32_t sim_hal_register_component(const char *instance, const char *type, const char *thread);
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int32_t sim_hal_set_param(const char *name, sim_hal_value value);
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int32_t sim_hal_set_param_scalar(const char *name, uint32_t type, double value);
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int32_t sim_hal_get_param(const char *name, sim_hal_value *out);
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uint32_t sim_hal_component_count(void);
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uint32_t sim_hal_param_count(void);
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/* Register the static LinuxCNC corexy_by_hal component and its servo pins. */
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int32_t sim_hal_register_corexy_by_hal(const char *component, const char *thread);
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/* Execute one deterministic CoreXY command/feedback transform immediately. */
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int32_t sim_hal_corexy_transform(const char *component);
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int32_t sim_hal_set_function_failure(const char *name, uint32_t fail);
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int32_t sim_hal_step(uint32_t ticks);
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uint32_t sim_hal_tick(void);
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uint32_t sim_hal_function_calls(const char *name);
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uint32_t sim_hal_pin_count(void);
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uint32_t sim_hal_thread_count(void);
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uint32_t sim_hal_function_count(void);
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#ifdef __cplusplus
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}
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#endif
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#endif
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