Hi group!
I would like to add a new hal-pin to motion controller and show the
parameter on tkemc. For that I did the following steps:
1) Init and connect the halpin in mot_priv.h
hal_float_t *control_shaft_pos;
hal_float_t *control_shaft_vel;
2) export new pin
/* export Tornos CNC input pins */
rtapi_snprintf(buf, HAL_NAME_LEN,motion.control_shaft_pos");
retval = hal_pin_float_new(buf, HAL_IN,
&(emcmot_hal_data->control_shaft_pos),mot_comp_id);
3) connect the pin to the struct emcmotStatus
/* read Tornos CNC spezific Data */
emcmotStatus->controlshaftPos = *emcmot_hal_data->control_shaft_pos;
4) add the variable to emcmot_status_t and initialize it
double control_shaft_pos ;
For the GUI I did the following
5) add the tcl routine in emcsh.cc
static int emc_controlshaft_pos(ClientData clientdata,Tcl_Interp *
interp, int objc, Tcl_Obj * CONST objv[]) {
Tcl_Obj *shaftposobj;
if (objc != 1) { Tcl_SetResult(interp,
"emc_motion_controlshaft_pos: need no args",
TCL_VOLATILE); return TCL_ERROR; }
if (emcUpdateType == EMC_UPDATE_AUTO) { updateStatus(); }
commandstatus = Tcl_NewDoubleObj(emcStatus->controlshaftPos);
Tcl_SetObjResult(interp, shaftposobj); return TCL_OK; }
6) the last step I add the frame in tkemc.tcl
## Tornos specific data
set sonshaftlabel Control-Shaft
set conshaft [frame $top.conshaft -borderwidth 4]
set conshaftl [label $conshaft.l -textvariable sonshaftlabel -width 1
-anchor w]
set conshaftd [label $conshaft.d -textvariable shaftdigit -width 10
-anchor w]
set shaftdigit [format "%9.2f" [emc_controlshaft_pos]]
pack $conshaft -side left
pack $conshaftl -side top
pack $conshaftd -side left
Now I get the following error message :
make: Entering directory `/home/tornos/src/emc2/emc2-trunk/src'
Compiling emc/usr_intf/emcsh.cc
emc/usr_intf/emcsh.cc: In function »int emc_controlshaft_pos(void*,
Tcl_Interp*, int, Tcl_Obj* const*)«:
emc/usr_intf/emcsh.cc:3318: Fehler: »class EMC_STAT« hat kein Element
namens »controlshaftPos«
emc/usr_intf/emcsh.cc: In function »int Emc_Init(Tcl_Interp*)«:
emc/usr_intf/emcsh.cc:3622: Fehler: »emc_conshaft_pos« wurde in diesem
Gültigkeitsbereich nicht definiert
emc/usr_intf/emcsh.cc: At global scope:
emc/usr_intf/emcsh.cc:3304: Warnung: »int emc_controlshaft_pos(void*,
Tcl_Interp*, int, Tcl_Obj* const*)« definiert, aber nicht verwendet
make: *** [objects/emc/usr_intf/emcsh.o] Fehler 1
I have no idea handle this error. Any idea?
Thanks
Bernd
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