Pokeys

component pokeys "PoKeys IO driver, by Mit Zot";

option userspace yes;


pin out bit in-# [55];
pin out unsigned ain-# [3];
pin out bit err;
pin in unsigned devSerial;
pin out bit alive;

license "GPL";
;;

#include "PoKeysLib.h"
#include <unistd.h>   /* UNIX standard function definitions */

sPoKeysDevice * dev=0;
int i=0;

void user_mainloop(void) 
{ 
   
    while(0xb){
       FOR_ALL_INSTS() {

	 while(dev == NULL)dev = PK_ConnectToDeviceWSerial(devSerial, 2000);  //waits for usb device
	
	
	 alive=1; 
	 if ((PK_DigitalIOGet(dev) == PK_OK) && (PK_AnalogIOGet(dev) == PK_OK)){  //gets IO data and checks return value 
		err=0;
		for(i=0;i<54;i++)in(i)=!dev->Pins[i].DigitalValueGet;           //just transfers values
		for(i=0;i<3;i++)ain(i)=dev->Pins[i+44].AnalogValue;
	 }
         else{             		  //on connection error
		PK_DisconnectDevice(dev);
		dev=NULL;  		  //tries to reconnect
		err=1;
		for(i=0;i<54;i++)in(i)=0;
		for(i=0;i<3;i++)ain(i)=0;
	 }
	 alive=0;
	usleep(40000); 
        }
    }

    exit(0);
}

PoKeysLib requires libusb-1.0 installed on the target system.  The libusb-1.0 is installed using the following command line commands
sudo apt-get install libusb-1.0-0
sudo apt-get install libusb-1.0-0-dev

After the sources are downloaded, they must be compiled. In order to do this, go to the pokeyslib folder (where the sources have been downloaded to) and execute the following command (on Linux machine)
sudo make -f Makefile.noqmake install

or (on OS X machine)
sudo make -f Makefile.noqmake.osx install

These will also install the library in /usr/lib folder and copy the header file to /usr/include. Sudo is required to gain write access to these two folders

If qmake is preffered, PoKeysLib.pro project file can be used to compile and build the library.

sudo halcompile ./pokeys.comp

gcc -Wall  -Os -g -I. -I/usr/include/libusb-1.0 -I/usr/include -L/usr/lib/ -L/usr/lib/arm-linux-gnueabihf/ -lPoKeys -lusb-1.0 -I/usr/realtime-3.4-9-rtai-686-pae/include -I. -I/usr/realtime-3.4-9-rtai-686-pae/include -I/usr/include/i386-linux-gnu -U_FORTIFY_SOURCE -D_FORTIFY_SOURCE=0 -fno-math-errno -funsafe-math-optimizations -fno-rounding-math -fno-signaling-nans -fcx-limited-range -mhard-float -DRTAI=3 -fno-fast-math -mieee-fp -fno-unsafe-math-optimizations -DRTAPI -D_GNU_SOURCE -Drealtime -D__MODULE__ -I/usr/include/linuxcnc -Wframe-larger-than=2560 -URTAPI -U__MODULE__ -DULAPI -Os  -o pokeys ./pokeys.c -Wl,-rpath,/lib -L/lib -llinuxcnchal

sudo mv ./pokeys /usr/bin/pokeys

loadusr pokeys

setp pokeys.0.devSerial 12345

loadusr pokeys