Halcompile - #include <unistd.h> not found

Hi

I hope someone can help me. Im new to writing custom components with Halcompile but i managed to get my tool turret on a lathe working.

Attempting to use usleep() function on compiling gives the following error. I have included unistd.h as in the example in the documentation.

Any help would be appreciated

Thanks

Hello,
Not in a real time environment, you must be
in a userspace environment.
Look better the documention and the example

Thanks
H

Thanks Andypugh
The turret is working now

henk

Hello henk,
Can you publish your file.comp
and hal instructions
for un exemple for me

thanks

Sure, but remember, it is still a work in progress!

It seems to work OK now but there are a couple of improvements....

The button signal is true, the turret declamps and rotates untill the button is released, then clamped at the next tool, but Axis is not updated with the new tool number... havnt figured out how to do that yet. It does give a message to remind me of that. If you issue a new M6 command it will set the correct tool.

there may (or probably will) be other bugs that i have not noticed yet.

Henk

Hello,
Under realtime, some instructions are not properly taken into account,
as loops. it is often necessary to adapt the code.
When the realtime is not essential, I think it is better to compile the component in userspace.
I did not understand everything syntax (I started in C) but the principle is to create
a global loop with the sleeps that is desired.
the component is compiled and installed with this instruction:
(close linuxcnc before)
sudo halcompile --install --userspace toolchanger.comp
And in the HAL file, the component is loaded by a single instruction
loadusr -W toolchanger

here is your suitable file. You need can be set a period for the global loop.