create GUI and use hal library!

INCLUDEPATH +=  /usr/include/ \
                /usr/share/ethercat/oce/inc/ \
                /usr/local/include/oce/ \
                /usr/local/include/kdl/ \
                /usr/include/eigen3/ \
                /usr/local/lib/ \
LIBS += -L/usr/local/lib/ \

INCLUDEPATH +=  /usr/lib/ \
                /usr/lib/linuxcnc/modules/ \
                /usr/include/ \
                /usr/include/linuxcnc/

LIBS += -llinuxcnchal -Iinclude -Isrc/emc/rs274ngc -Llib -lnml -llinuxcnc -llinuxcnchal -llinuxcncini -lposemath

#ifndef HALIO_H
#define HALIO_H

#ifndef ULAPI
#define ULAPI
#endif

//! Hal:
#include "hal.h"

typedef struct {
    hal_float_t *Pin;
} float_data_t;

typedef struct {
    hal_bit_t *Pin;
} bit_data_t;



//! Various c++ includes:
#include <iostream>
#include <list>
#include <vector>

extern int comp_id;

//! These list's are storing the hal pin's by index:
extern std::vector<float_data_t*> FloatOutList;
extern std::vector<float_data_t*> FloatFbList;

class halio
{
public:
    int Init();
    int Update();
};

#endif // HALIO_H

#include "halio.h"
#include <vector>

//! Make conversion's easy:
#define toRadians M_PI/180.0
#define toDegrees (180.0/M_PI)

int comp_id=0;

std::vector<float_data_t*> FloatOutList;
std::vector<float_data_t*> FloatFbList;
std::vector<bit_data_t*> BitInList;

int halio::Init(){

    system("halrun -U");
    comp_id = hal_init("veroski_halio");

    //! bit pins


    bit_data_t *BitInList0 = (bit_data_t*)hal_malloc(sizeof(bit_data_t));
    hal_pin_bit_new("Pulse",HAL_IN,&(BitInList0->Pin),comp_id);
    BitInList.push_back(BitInList0);

    //! Float output pins
    float_data_t *FloatOutList0 = (float_data_t*)hal_malloc(sizeof(float_data_t));
    hal_pin_float_new("J0_PosCmd",HAL_OUT,&(FloatOutList0->Pin),comp_id);
    FloatOutList.push_back(FloatOutList0);

    float_data_t *FloatOutList1 = (float_data_t*)hal_malloc(sizeof(float_data_t));
    hal_pin_float_new("J1_PosCmd",HAL_OUT,&(FloatOutList1->Pin),comp_id);
    FloatOutList.push_back(FloatOutList1);

    float_data_t *FloatOutList2 = (float_data_t*)hal_malloc(sizeof(float_data_t));
    hal_pin_float_new("J2_PosCmd",HAL_OUT,&(FloatOutList2->Pin),comp_id);
    FloatOutList.push_back(FloatOutList2);

    float_data_t *FloatOutList3 = (float_data_t*)hal_malloc(sizeof(float_data_t));
    hal_pin_float_new("J3_PosCmd",HAL_OUT,&(FloatOutList3->Pin),comp_id);
    FloatOutList.push_back(FloatOutList3);

    float_data_t *FloatOutList4 = (float_data_t*)hal_malloc(sizeof(float_data_t));
    hal_pin_float_new("J4_PosCmd",HAL_OUT,&(FloatOutList4->Pin),comp_id);
    FloatOutList.push_back(FloatOutList4);

    float_data_t *FloatOutList5 = (float_data_t*)hal_malloc(sizeof(float_data_t));
    hal_pin_float_new("J5_PosCmd",HAL_OUT,&(FloatOutList5->Pin),comp_id);
    FloatOutList.push_back(FloatOutList5);

    float_data_t *FloatOutList6 = (float_data_t*)hal_malloc(sizeof(float_data_t));
    hal_pin_float_new("J6_PosCmd",HAL_OUT,&(FloatOutList6->Pin),comp_id);
    FloatOutList.push_back(FloatOutList6);


    //! Float input pins
    float_data_t *FloatInList0 = (float_data_t*)hal_malloc(sizeof(float_data_t));
    hal_pin_float_new("J0_PosFb",HAL_IN,&(FloatInList0->Pin),comp_id);
    FloatFbList.push_back(FloatInList0);

    float_data_t *FloatInList1 = (float_data_t*)hal_malloc(sizeof(float_data_t));
    hal_pin_float_new("J1_PosFb",HAL_IN,&(FloatInList1->Pin),comp_id);
    FloatFbList.push_back(FloatInList1);

    float_data_t *FloatInList2 = (float_data_t*)hal_malloc(sizeof(float_data_t));
    hal_pin_float_new("J2_PosFb",HAL_IN,&(FloatInList2->Pin),comp_id);
    FloatFbList.push_back(FloatInList2);

    float_data_t *FloatInList3 = (float_data_t*)hal_malloc(sizeof(float_data_t));
    hal_pin_float_new("J3_PosFb",HAL_IN,&(FloatInList3->Pin),comp_id);
    FloatFbList.push_back(FloatInList3);

    float_data_t *FloatInList4 = (float_data_t*)hal_malloc(sizeof(float_data_t));
    hal_pin_float_new("J4_PosFb",HAL_IN,&(FloatInList4->Pin),comp_id);
    FloatFbList.push_back(FloatInList4);

    float_data_t *FloatInList5 = (float_data_t*)hal_malloc(sizeof(float_data_t));
    hal_pin_float_new("J5_PosFb",HAL_IN,&(FloatInList5->Pin),comp_id);
    FloatFbList.push_back(FloatInList5);

    float_data_t *FloatInList6 = (float_data_t*)hal_malloc(sizeof(float_data_t));
    hal_pin_float_new("J6_PosFb",HAL_IN,&(FloatInList6->Pin),comp_id);
    FloatFbList.push_back(FloatInList6);


    int error = hal_ready(comp_id);
    if(error==0){
        std::cout << "Hal component ok" << std::endl;

        // Load hal file
        system("halcmd \-f config/veroskis_stepper_tryout.hal");
        system("halcmd start");

        return 1; //ok go on
    } else {
        std::cout << "Hal component error, performing [halrun -U] now." << std::endl;
        system("halrun -U");
        std::cout << "Restart application required." << std::endl;
        return 0; //not good, show error output in terminal.
    }

    // Normally we don't get here.
    return 1;
}

int halio::Update(){



//    std::string str1 = "halcmd setp stepgen.0.maxvel ";
//    std::string str2 = std::to_string(VelRatio*450);
//    std::string str3 = str1+str2;
//    system(str3.c_str());

    return 1;
}