loadusr command with multiple instance

[HAL]
...
HALFILE = nloadusr.tcl progname count

# ini file usage: [HAL] nloadusr.tcl progname ct
# note: loadusr_options hardcoded herin
# note: progargs not supported

set loadusr_options "-w"

set this nloadusr.tcl
if {[llength $::argv] != 2} {
  puts "\n$this Failed for args=$::argv"
  puts "$this Usage:"
  puts "  \[HAL\]"
  puts "  HALFILE = $this progname count"
  exit 1
} else {
  set prog [lindex $::argv 0]
  set ct   [lindex $::argv 1]
}
for {set i 0} {$i < $ct} {incr i} {
  set cmd "loadusr $loadusr_options $prog"
  puts "$this i=$i cmd=$cmd"
  eval $cmd
}
# ref for loadusr_options:
# $ halrun
# halcmd; help loadusr
# loadusr [options] progname [progarg(s)]
#   Starts user space program 'progname', passing
#   'progargs' to it.  Options are:
#   -W  wait for HAL component to become ready
#   -Wn name to wait for the component, which will have the given name.
#   -w  wait for program to finish
#   -i  ignore program return value (use with -w)
#

component test;
option userspace;

pin out float out;
license "GPL"; // indicates GPL v2 or later
;;
#include <unistd.h>

void user_mainloop(void) {
    while(1) {
        usleep(1000);
        FOR_ALL_INSTS() out = drand48();
    }
}

/* Autogenerated by /usr/src/linuxcnc-dev-2.7/bin/halcompile on Mon Feb 23 16:25:09 2015 -- do not edit */
#include "rtapi.h"
#ifdef RTAPI
#include "rtapi_app.h"
#endif
#include "rtapi_string.h"
#include "rtapi_errno.h"
#include "hal.h"

static int comp_id;

#ifdef MODULE_INFO
MODULE_INFO(linuxcnc, "component:test:");
MODULE_INFO(linuxcnc, "pin:out:float:0:out::None:None");
MODULE_INFO(linuxcnc, "license:GPL");
MODULE_LICENSE("GPL");
#endif // MODULE_INFO


struct __comp_state {
    struct __comp_state *_next;
    hal_float_t *out;
};
#include <stdlib.h>
struct __comp_state *__comp_first_inst=0, *__comp_last_inst=0;

static int __comp_get_data_size(void);
#undef TRUE
#define TRUE (1)
#undef FALSE
#define FALSE (0)
#undef true
#define true (1)
#undef false
#define false (0)

static int export(char *prefix, long extra_arg) {
    int r = 0;
    int sz = sizeof(struct __comp_state) + __comp_get_data_size();
    struct __comp_state *inst = hal_malloc(sz);
    memset(inst, 0, sz);
    r = hal_pin_float_newf(HAL_OUT, &(inst->out), comp_id,
        "%s.out", prefix);
    if(r != 0) return r;
    if(__comp_last_inst) __comp_last_inst->_next = inst;
    __comp_last_inst = inst;
    if(!__comp_first_inst) __comp_first_inst = inst;
    return 0;
}
static int default_count=1, count=0;
char *names[16] = {0,};
int rtapi_app_main(void) {
    int r = 0;
    int i;
    comp_id = hal_init("test");
    if(comp_id < 0) return comp_id;
    if(count && names[0]) {
        rtapi_print_msg(RTAPI_MSG_ERR,"count= and names= are mutually exclusive\n");
        return -EINVAL;
    }
    if(!count && !names[0]) count = default_count;
    if(count) {
        for(i=0; i<count; i++) {
            char buf[HAL_NAME_LEN + 1];
            rtapi_snprintf(buf, sizeof(buf), "test.%d", i);
        r = export(buf, i);
            if(r != 0) break;
       }
    } else {
        for(i=0; names[i]; i++) {
        r = export(names[i], i);
            if(r != 0) break;
       }
    }
    if(r) {
        hal_exit(comp_id);
    } else {
        hal_ready(comp_id);
    }
    return r;
}

void rtapi_app_exit(void) {
    hal_exit(comp_id);
}
static void user_mainloop(void);
int argc=0; char **argv=0;
int main(int argc_, char **argv_) {
    argc = argc_; argv = argv_;


    if(rtapi_app_main() < 0) return 1;
    user_mainloop();
    rtapi_app_exit();
    return 0;
}

#undef FUNCTION
#define FUNCTION(name) static void name(struct __comp_state *__comp_inst, long period)
#undef EXTRA_SETUP
#define EXTRA_SETUP() static int extra_setup(struct __comp_state *__comp_inst, char *prefix, long extra_arg)
#undef EXTRA_CLEANUP
#define EXTRA_CLEANUP() static void extra_cleanup(void)
#undef fperiod
#define fperiod (period * 1e-9)
#undef out
#define out (*__comp_inst->out)
#undef FOR_ALL_INSTS
#define FOR_ALL_INSTS() struct __comp_state *__comp_inst; for(__comp_inst = __comp_first_inst; __comp_inst; __comp_inst = __comp_inst->_next)


#line 7 "test.comp"
#include <unistd.h>

void user_mainloop(void) {
    while(1) {
        usleep(1000);
        FOR_ALL_INSTS() out = drand48();
    }
}
static int __comp_get_data_size(void) { return 0; }

if not options.get("userspace"):
        	print >>f, "RTAPI_MP_INT(count, \"number of %s\");" % comp_name
        	print >>f, "RTAPI_MP_ARRAY_STRING(names, 16, \"names of %s\");" % comp_name

component test;
option userspace;
option default_count 3;

pin out float out;
license "GPL"; // indicates GPL v2 or later
;;
#include <unistd.h>

void user_mainloop(void) {
    while(1) {
        usleep(1000);
        FOR_ALL_INSTS() out = drand48();
    }
}

@INTEL-i7:/prog/EMC/Userspace_modules# halrun
halcmd: loadusr test
halcmd: show all
Loaded HAL Components:
ID      Type  Name                                            PID   State
     6  User  test                                            14662 ready
     4  User  halcmd14661                                     14661 ready

Component Pins:
Owner   Type  Dir         Value  Name
     6  float OUT     0.8880438  test.0.out
     6  float OUT     0.9029078  test.1.out
     6  float OUT     0.6864016  test.2.out

Pin Aliases:
 Alias                                            Original Name

Signals:
Type          Value  Name     (linked to)

Parameters:
Owner   Type  Dir         Value  Name

Parameter Aliases:
 Alias                                            Original Name

Exported Functions:
Owner   CodeAddr  Arg       FP   Users  Name

Realtime Threads:
     Period  FP     Name               (     Time, Max-Time )

halcmd: 

component leuze;

option userspace;

option extra_link_args "-L. -lftd2xx";

param rw float portid = 0;

pin out float out;
license "GPL"; // indicates GPL v2 or later
;;
#include <ftd2xx.h>
#include <stdio.h>

FT_STATUS ftStatus;
FT_HANDLE ftHandle;
DWORD EventDWord;
DWORD RxBytes=10;
DWORD TxBytes;
DWORD BytesReceived;
char RxBuffer[256];

int int_data;
int gelen_data[5];
int counter=0;
int buffer_size;
float result;


void user_mainloop(void) {
	ftStatus = FT_Open(0, &ftHandle);
	if (ftStatus == FT_OK)
	{
		printf("Port Open Successful \n");
		FT_SetBaudRate(ftHandle, 9600);
		while(1)
		{
		FT_GetStatus(ftHandle, &RxBytes, &TxBytes, &EventDWord);
		if(RxBytes>0)
		{
			FT_Read(ftHandle, RxBuffer, RxBytes, &BytesReceived);
			int_data=RxBuffer[0]-48;
			if (int_data<0)
			{	
				counter=0;
			}
			else
			{
				gelen_data[counter]=RxBuffer[0]-48;
				counter+=1;
				if(counter==5)
				{
					result = gelen_data[0]*100+
							gelen_data[1]*10+
							gelen_data[2]*1+
							gelen_data[3]*0.1+
							gelen_data[4]*0.01;
					FOR_ALL_INSTS() out=result;
					counter=0;
				}
			}
		}
		}	
	}
	else
	{
		FOR_ALL_INSTS() out = 0;
		printf("Port Open Failed \n");
	}
}

void userinit(int argc, char **argv)
{
// do stuff you need to initialise, eg get commandline args
}

void user_mainloop(void)
{
char line[32 * PARAM_LEN];
char filepath[80];
float val1;
int read, write;
int x = 0;

struct passwd *pw = getpwuid(getuid());
const char *homedir = pw->pw_dir;

     sprintf(filepath, "%s/linuxcnc/param.sav", homedir);

    read = write = 0;
    
    signal(SIGINT, adios);
    signal(SIGTERM, adios);
      
    while(!done)
        {
        usleep(250000);
        
        FOR_ALL_INSTS()  
            { 
            if(!readtrigger && read) read = 0;
            if(!writetrigger && write) write = 0;
            
            if(readtrigger && !read)
            // reads the file and sets the out pins to the values read
            // connect to the spinbox param-pin which will update the widget display
                {
                FILE *fp1;
                fp1 = fopen(filepath, "r");
                x = 0;
                while(!feof(fp1) && x < ARRAY_LEN)
                    {
                    fgets(line, sizeof(line), fp1);                    
                    if(sscanf(line, "%f", &val1) == 1)
                        *(inst->outvalue[x]) = val1;
                    x++;
                    }
                fclose(fp1);
                read = 1;  
                }
            else if(writetrigger && ! write)
            // reads the values from the in pins and write to file
            // connect to the spinbox out pin
                {
                FILE *fp2;
                fp2 = fopen(filepath, "w");
                for(x = 0; x < ARRAY_LEN; x++)
                    fprintf(fp2, "%f\n", *(inst->invalue[x]));
                fflush(fp2);
                fclose(fp2);
                write = 1;
                }           
            }
        }

    exit(0);
}

component leuzex;

option userspace;
option userinit yes;
option count_function yes;

option extra_link_args "-L. -lftd2xx";

param rw float portid = 0;

pin out float out;
license "GPL"; // indicates GPL v2 or later
;;
#include <ftd2xx.h>
#include <stdio.h>

FT_STATUS ftStatus;
FT_HANDLE ftHandle;
DWORD EventDWord;
DWORD RxBytes=10;
DWORD TxBytes;
DWORD BytesReceived;
char RxBuffer[256];

int int_data;
int gelen_data[5];
int counter=0;
int buffer_size;
int count;
float result;

void userinit(int argc, char* argv[])
{
	if (argc<2)
	{
		count=1;
		printf("\nno argument \n");
	}
	else
	{
		count=*argv[1]-48;
		printf("\nargument: %d \n", count);
	}
}


int get_count(void)
{
	return count;
}

void user_mainloop(void) {
	ftStatus = FT_Open(0, &ftHandle);
	if (ftStatus == FT_OK)
	{
		printf("Port Open Successful \n");
		FT_SetBaudRate(ftHandle, 9600);
		while(1)
		{
		FT_GetStatus(ftHandle, &RxBytes, &TxBytes, &EventDWord);
		if(RxBytes>0)
		{
			FT_Read(ftHandle, RxBuffer, RxBytes, &BytesReceived);
			int_data=RxBuffer[0]-48;
			if (int_data<0)
			{	
				counter=0;
			}
			else
			{
				gelen_data[counter]=RxBuffer[0]-48;
				counter+=1;
				if(counter==5)
				{
					result = gelen_data[0]*100+
							gelen_data[1]*10+
							gelen_data[2]*1+
							gelen_data[3]*0.1+
							gelen_data[4]*0.01;
					FOR_ALL_INSTS() out=result;
					counter=0;
				}
			}
		}
		}	
	}
	else
	{
		FOR_ALL_INSTS() out = 0;
		printf("Port Open Failed \n");
	}
}