(SOLVED - maybe) How to get an underscore in a pin/parameter name?

/******************************************************************** * Description: supply_2.c * This file, 'supply_2.c', is a HAL component supply_2ing * HAL pins preset to useful values like TRUE and 1.0. * * Author: Matt Shaver * License: GPL Version 2 * * Copyright (c) 2004 All rights reserved. * * Last change: ********************************************************************/ /** This file, 'supply_2.c', is a HAL component supply_2ing HAL pins preset to useful values like TRUE and 1.0. I expect that it will mostly be used for testing. It is a realtime component. */ /** Copyright (C) 2004 Matt Shaver <mshaver AT users DOT sourceforge DOT net> */ /** This program is free software; you can redistribute it and/or modify it under the terms of version 2 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. */ #include "rtapi.h" /* RTAPI realtime OS API */ #include "rtapi_app.h" /* RTAPI realtime module decls */ #include "hal.h" /* HAL public API decls */ /* module information */ MODULE_AUTHOR("Matt Shaver"); MODULE_DESCRIPTION("supply_2 Component for EMC HAL"); MODULE_LICENSE("GPL"); static int num_chan = 1; /* number of channels - default = 1 */ RTAPI_MP_INT(num_chan, "number of channels"); /*********************************************************************** * STRUCTURES AND GLOBAL VARIABLES * ************************************************************************/ /** This structure contains the runtime data. */ typedef struct { hal_bit_t *q; /* pin: q output of simulated flip-flop */ hal_bit_t *_q; /* pin: /q output of simulated flip-flop */ hal_float_t *variable; /* pin: output set by param "value" */ hal_float_t *_variable; /* pin: output set by param "value" * -1.0 */ hal_bit_t *d; /* pin: d input to simulated flip-flop */ hal_float_t *value; /* pin: value of float pin "variable" */ } hal_supply_2_t; /* pointer to supply_2_t struct */ static hal_supply_2_t *supply_2_array; /* other globals */ static int comp_id; /* component ID */ /*********************************************************************** * LOCAL FUNCTION DECLARATIONS * ************************************************************************/ static int export_supply_2(int num, hal_supply_2_t * addr); static void update_supply_2(void *arg, long l); /*********************************************************************** * INIT AND EXIT CODE * ************************************************************************/ #define MAX_CHAN 16 int rtapi_app_main(void) { int n, retval; /* test for number of channels */ if ((num_chan <= 0) || (num_chan > MAX_CHAN)) { rtapi_print_msg(RTAPI_MSG_ERR, "supply_2: ERROR: invalid num_chan: %d\n", num_chan); return -1; } /* have good config info, connect to the HAL */ comp_id = hal_init("supply_2"); if (comp_id < 0) { rtapi_print_msg(RTAPI_MSG_ERR, "supply_2: ERROR: hal_init() failed\n"); return -1; } /* allocate shared memory for supply_2 data */ supply_2_array = hal_malloc(num_chan * sizeof(hal_supply_2_t)); if (supply_2_array == 0) { rtapi_print_msg(RTAPI_MSG_ERR, "supply_2: ERROR: hal_malloc() failed\n"); hal_exit(comp_id); return -1; } /* export variables and functions for each supply_2 */ for (n = 0; n < num_chan; n++) { retval = export_supply_2(n, &(supply_2_array[n])); if (retval != 0) { rtapi_print_msg(RTAPI_MSG_ERR, "supply_2: ERROR: var export failed\n"); hal_exit(comp_id); return -1; } } rtapi_print_msg(RTAPI_MSG_INFO, "supply_2:installed %d supplies\n", num_chan); hal_ready(comp_id); return 0; } void rtapi_app_exit(void) { hal_exit(comp_id); } /*********************************************************************** * REALTIME FUNCTIONS * ************************************************************************/ static void update_supply_2(void *arg, long l) { hal_supply_2_t *supply_2; /* point to the data */ supply_2 = arg; /* set pin = param */ *(supply_2->q) = *(supply_2->d); *(supply_2->_q) = !(*(supply_2->d)); *(supply_2->variable) = *(supply_2->value); *(supply_2->_variable) = *(supply_2->value) * -1.0; /* done */ } /*********************************************************************** * LOCAL FUNCTION DEFINITIONS * ************************************************************************/ static int export_supply_2(int num, hal_supply_2_t * addr) { int retval; char buf[HAL_NAME_LEN + 1]; /* export pins */ retval = hal_pin_bit_newf(HAL_OUT, &(addr->q), comp_id, "supply_2.%d.q", num); if (retval != 0) { return retval; } retval = hal_pin_bit_newf(HAL_OUT, &(addr->_q), comp_id, "supply_2.%d._q", num); if (retval != 0) { return retval; } retval = hal_pin_float_newf(HAL_OUT, &(addr->variable), comp_id,"supply_2.%d.variable", num); if (retval != 0) { return retval; } retval = hal_pin_float_newf(HAL_OUT, &(addr->_variable), comp_id, "supply_2.%d._variable", num); if (retval != 0) { return retval; } /* export parameters */ retval = hal_pin_bit_newf(HAL_IO, &(addr->d), comp_id, "supply_2.%d.d", num); if (retval != 0) { return retval; } retval = hal_pin_float_newf(HAL_IO, &(addr->value), comp_id, "supply_2.%d.value", num); if (retval != 0) { return retval; } /* init all structure members */ *(addr->q) = 0; *(addr->_q) = 1; *(addr->variable) = 0.0; *(addr->_variable) = 0.0; *(addr->d) = 0; *(addr->value) = 0.0; /* export function for this loop */ rtapi_snprintf(buf, sizeof(buf), "supply_2.%d.update", num); retval = hal_export_funct(buf, update_supply_2, &(supply_2_array[num]), 1, 0, comp_id); if (retval != 0) { rtapi_print_msg(RTAPI_MSG_ERR, "supply_2: ERROR: update funct export failed\n"); hal_exit(comp_id); return -1; } return 0; }

r = hal_param_s32_newf(HAL_RO, &(inst->watchdog_timeout_ns), comp_id, "%s.watchdog.timeout_ns", prefix);

linuxcnc@debian:~$ halrun halcmd: loadrt hm2_7i76e Waiting for component 'hm2_7i76e' to become ready...Waited 3 seconds for master. giving up. .Note: Using POSIX realtime

halcompile --preprocess hm2_7i76e.comp

sudo halcompile --install hm2_7i76e.c