LinuxCNC HAL interface for Rust

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A safe, high-level interface to LinuxCNC's HAL (Hardware Abstraction Layer) module.

For lower level, unsafe use, see the linuxcnc-hal-sys crate.

bash cargo add linuxcnc-hal

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Documentation

Example

More examples can be found in the examples/ folder.

```rust,norun use linuxcnchal::{hal_pin::HalPinF64, HalComponentBuilder}; use std::{ error::Error, thread, time::{Duration, Instant}, };

fn main() -> Result<(), Box> { // Create a new HAL component called empty let mut builder = HalComponentBuilder::new("pins")?;

let input_1 = builder.register_input_pin::<HalPinF64>("input-1")?;

let output_1 = builder.register_output_pin::<HalPinF64>("output-1")?;

// All pins added, component is now ready. This consumes the builder and registers signal
// handlers.
let comp = builder.ready()?;

let start = Instant::now();

// Main control loop
while !comp.should_exit() {
    let time = start.elapsed().as_secs() as i32;

    // Set output pin to elapsed seconds since component started
    output_1.set_value(time.into())?;

    // Print the current value of the input pin
    println!("Input: {:?}", input_1.value());

    // Sleep for 1000ms. This should be a lower time if the component needs to update more
    // frequently.
    thread::sleep(Duration::from_millis(1000));
}

// The custom implementation of `Drop` for `HalComponent` ensures that `hal_exit()` is called
// at this point. Registered signal handlers are also deregistered.

Ok(())

} ```

Development

Setup

bindgen must be set up correctly for linuxcnc-hal-sys to work correctly. Follow the requirements section of its docs.

To run and debug any HAL components, the LinuxCNC simulator can be set up. There's a guide here for Linux Mint (and other Debian derivatives).

Build

bash cargo build

You can also run ./build.sh to run all the commands that would normally be run in CI.

Test

bash cargo test

Build docs

The docs make heavy use of intra-rustdoc-links. To get the links to render correctly, run with nightly:

bash rustup toolchain add nightly cargo +nightly doc

License

Licensed under either of

at your option.

Contribution

Unless you explicitly state otherwise, any contribution intentionally submitted for inclusion in the work by you, as defined in the Apache-2.0 license, shall be dual licensed as above, without any additional terms or conditions.