Can I use a C shell script for my PLC stuff?

Thank for your help!!!As I said,this is my first go at full blown C programming.Might as well jump in with both feet,no pain no gain!!With all of that being said,I have a few questions concerning the passing of values through the pins and the names that can be used in a comp file.

This is a piece of my hal file.It works.The button changes state when pushed.

net PB_CYL_START hm2_5i20.0.gpio.049.in_not

I have also assigned the modes of operation to the following names

net AUTO_MODE halui.mode.is-auto
net MDI_MODE halui.mode.is-mdi
net MAN_MODE halui.mode.is-manual
net PROG_RUN_OK halui.program.run
net PROG_RESUME halui.program.resume
net FEED_HOLD halui.program.pause


In the declaretion section of my first comp file(which at this time is named buttonlogic.comp)which is the logic for that pushbutton,I have this..

pin in bit PB_CYL_START;

And in the same file I am attempting to use the bit like so

if(((PB_CYL_START)==1)&&((AUTO_MODE)==1||(MDI_MODE)==1))
RUN_PROGRAM=1;

I have seen some example comp files that attached an extra name at the end of the pin in a fashion like this.

net PB_CYL_START hm2_5i20.0.gpio.049.in_not=pbclystart.buttonlogic

Can I use the original name that is in my hal file ,that is actually attached to the physical pins as I already have or must I follow the convention above and add a second name for the comp file.I plan on elimenateing all the uppercase and underscores.Would I be correct in guessing if the second name is needed it must be followed by .name of the comp file?Thanks again.

Thank you again for your help and quick response.I didnt mean to confuse you(or anyone else for that matter).There are no C statements in my hal file,and no net commands in my comp file.Im learning the syntax of C as I go from a couple of books and various web sites,trial by fire.There are missing pieces(or just plain hard to find) in the manual.
Id say the manual needs a section that says "pin in bit blah_blah" will create a signal(name?) in your .comp file called "0.blah_blah' and to make this name actually do something it has to be tied to a real pin(name,signal?) like so ,net but_blah mycompfileblah.0.blah_blah=hm2_5i20.gpio.049.in_not in your .hal file.

Again,a huge thanks for your help,hopefully I understand this correctly,Im sure Ill have a few more before its all over...

After a couple days of playing with comp.I can get my files to install/compile,but I get this

jr1050@jr1050-desktop:/usr/realtime-2.6.32-122-rtai/modules/emc2$ sudo comp --install coolant.comp
[sudo] password for jr1050:
make -C /usr/src/linux-headers-2.6.32-122-rtai SUBDIRS=`pwd` CC=gcc V=0 -o /Module.symvers modules
make[1]: Entering directory `/usr/src/linux-headers-2.6.32-122-rtai'
CC [M] /tmp/tmp0lP5aI/coolant.o
Building modules, stage 2.
MODPOST 1 modules
WARNING: "hal_init" [/tmp/tmp0lP5aI/coolant.ko] undefined!
WARNING: "rtapi_print_msg" [/tmp/tmp0lP5aI/coolant.ko] undefined!
WARNING: "hal_exit" [/tmp/tmp0lP5aI/coolant.ko] undefined!
WARNING: "hal_export_funct" [/tmp/tmp0lP5aI/coolant.ko] undefined!
WARNING: "hal_malloc" [/tmp/tmp0lP5aI/coolant.ko] undefined!
WARNING: "hal_pin_bit_newf" [/tmp/tmp0lP5aI/coolant.ko] undefined!
WARNING: "rtapi_snprintf" [/tmp/tmp0lP5aI/coolant.ko] undefined!
WARNING: "hal_ready" [/tmp/tmp0lP5aI/coolant.ko] undefined!
CC /tmp/tmp0lP5aI/coolant.mod.o
LD [M] /tmp/tmp0lP5aI/coolant.ko
make[1]: Leaving directory `/usr/src/linux-headers-2.6.32-122-rtai'
cp coolant.ko /usr/realtime-2.6.32-122-rtai/modules/emc2/


I do have a coolant .ko file and the pins show in hal show.My inputs show change of state(when the coolant button is pushed,coolant.0.pb_cool_on go high),but I have no change to my output bit,so consequently, have actual output to the machine.

Below is the small file i am trying to run
component coolant;


pin in bit pb_cool_on;


pin out bit cl_idod_clnt;


variable bool run_program;
variable bool cs_coolant_on;
variable bool cs_coolant_off;
variable bool collet_clsd;
variable bool collet_opn;

function _ nofp;
license "gpl";
;;



FUNCTION(_)
{


//coolant on button///

if((pb_cool_on)==1)
{
cl_idod_clnt=1;
cs_coolant_on=1;
}
}

Here is my hal file.



are the errors that are showing up at install time causing my output not to function or am I missing something else?Thanks as always...

The input pins change in both mesa and hal.The outputs dont. I can set an output with sets and it will go true and will turn the actual machine outut on. In my hal i had to set my inputs and out puts like so

net coolant.0.pb_cool_on hm2_5i20.0.gpio.051.in_not .

I could not get any other configuration to show in hal and" net pb_cool_on coolant.0.pb_cool_on=hm2_5i20.0.gpio.051.in_not" caused an error while loading emc. "coolant.0.pb_cool_on does not exist"


Im kinda stumped,any suggestions.Seems like a hal thing....

Hi

Can't see any reason why the component should not work, but have noticed your net syntax is wrong in your .hal file

Should be net <signal-name> <pin-name> <opt-direction> <opt-pin-name>

as per linuxcnc.org/docs/html/hal_basic_hal.html#r1_1_4

note that signal name and first pin are not optional.

net coolant.0.pb_cool_on hm2_5i20.0.gpio.051.in_not

This has no signal and just names 2 pins, and net will try to use the first param as a signal.

For some reason this often does not create an error when LinuxCNC loads the .hal file and starts, but either does nothing or reports that pin such and such does not exist etc.

regards

How does that go,we do it to ourselves...after a good nites sleep and finding my glass's,I noticed the pins in hal have "-" in them not " _".After changing the offending names in my hal file,all the buttons worked.This falls somewhere between amazing and duhh....

That brings me to my next "probably do'n it to myself".I have the following code to move my turret.It is a ruff write and will probably miss the actual tool,as it needs a delay to seat,Ill get to that next.I have a considerably nicer routine with error messages ect,but one battle at a time...This installs and compiles.


component turret;

pin in s32 turret_pos_m; // out put of bcd encoder
pin in bit ls_turret_up; // limit switch to indicate if the turret is seated
pin in bit tc_call; // connected to iocontrol.0.tool-change
pin in s32 current_tool; // connected to iocontrol.0.tool-number
pin in s32 next_tool; // connected iocontrol.0.tool-prep-number,tool #called by m6

///outputs///

pin out bit sl_turret_index; //connected to turret up/index solinoid
pin out bit sl_turret_stop; //connected to turret stop/seat solinoid
pin out bit tc_complete; //connected to iocontrol.0.tool-changed
variable char t_state;

variable char turret_ready;
variable bool change_tool;
variable char tool_changed;
variable char turret_error;
variable char turret_state;


function _ nofp;
license "gpl";
;;


FUNCTION(_)
{


if((tc_call)==1&&(turret_pos_m)!=(next_tool)&&(next_tool)<=8) ///check to see if tc is requested
{
change_tool=1;
}
else
{
change_tool=0;
}
{
while((turret_pos_m)!= (next_tool)&&(change_tool)==1)
sl_turret_index=1;
}

if((turret_pos_m)==(next_tool))
{
sl_turret_stop=1;
sl_turret_index=0;
sl_turret_stop=0;
}

if((turret_pos_m)==(next_tool)&&(ls_turret_up)==1)
{
tc_complete=1;
change_tool=0;
}

}

Now for the problem,when a tool change is called via M6 in mdi,the tool change flag( iocontrol.0.tool-change),never goes high and cosequently the turret never tries to move.The machine is homed and the tool # that is called by M6 updates to iocontrol.0.tool-prep-number,tool .There is no way to tell the emc what the current tool is and emc says "no tool".Where did I go wrong?and thanks...