/* Autogenerated by /home/andypugh/emc2-dev/bin/comp on Wed Mar 16 22:14:07 2011 -- do not edit */
#include "rtapi.h"
#ifdef RTAPI
#include "rtapi_app.h"
#endif
#include "rtapi_string.h"
#include "rtapi_errno.h"
#include "hal.h"

static int comp_id;

#ifdef MODULE_INFO
MODULE_INFO(emc2, "component:hm2_7i65:Support for the Mesa 7i65 Octuple Servo Card");
MODULE_INFO(emc2, "pin:test:bit:0:out::None:None");
MODULE_INFO(emc2, "funct:_:1:");
MODULE_INFO(emc2, "license:GPL");
MODULE_INFO(emc2, "author:Andy Pugh");
MODULE_LICENSE("GPL");
#endif // MODULE_INFO


struct state {
    struct state *_next;
    hal_bit_t *test;
};
struct state *inst=0;
struct state *first_inst=0, *last_inst=0;

static void _(struct state *inst, long period);
static int get_data_size(void);
static int extra_setup(struct state *inst, char *prefix, long extra_arg);
#undef TRUE
#define TRUE (1)
#undef FALSE
#define FALSE (0)
#undef true
#define true (1)
#undef false
#define false (0)

static int export(char *prefix, long extra_arg) {
    char buf[HAL_NAME_LEN + 1];
    int r = 0;
    int sz = sizeof(struct state) + get_data_size();
    struct state *inst = hal_malloc(sz);
    memset(inst, 0, sz);
    r = extra_setup(inst, prefix, extra_arg);
    if(r != 0) return r;
    r = hal_pin_bit_newf(HAL_OUT, &(inst->test), comp_id,
        "%s.test", prefix);
    if(r != 0) return r;
    rtapi_snprintf(buf, sizeof(buf), "%s", prefix);
    r = hal_export_funct(buf, (void(*)(void *inst, long))_, inst, 1, 0, comp_id);
    if(r != 0) return r;
    if(last_inst) last_inst->_next = inst;
    last_inst = inst;
    if(!first_inst) first_inst = inst;
    return 0;
}
static int get_count(void);
int rtapi_app_main(void) {
    int r = 0;
    int i;
    int count = get_count();
    comp_id = hal_init("hm2_7i65");
    if(comp_id < 0) return comp_id;
    for(i=0; i<count; i++) {
        char buf[HAL_NAME_LEN + 1];
        rtapi_snprintf(buf, sizeof(buf), "hm2-7i65.%d", i);
        r = export(buf, i);
    }
    if(r) {
        hal_exit(comp_id);
    } else {
        hal_ready(comp_id);
    }
    return r;
}

void rtapi_app_exit(void) {
    hal_exit(comp_id);
}

#undef FUNCTION
#define FUNCTION(name) static void name(struct state *inst, long period)
#undef EXTRA_SETUP
#define EXTRA_SETUP() static int extra_setup(struct state *inst, char *prefix, long extra_arg)
#undef EXTRA_CLEANUP
#define EXTRA_CLEANUP() static void extra_cleanup(void)
#undef fperiod
#define fperiod (period * 1e-9)
#undef test
#define test (*inst->test)


#line 11 "hal/components/mesa_7i65.comp"

#include "../hal/drivers/mesa-hostmot2/hostmot2.h"

static char *bspi_chans[16];
RTAPI_MP_ARRAY_STRING(bspi_chans, 16, "Description of each motor");

FUNCTION(_){

}

EXTRA_SETUP(){
    hm2_bspi_instance_t *b;
    int r;
    HM2_PRINT_NO_LL("entering EXTRA_SETUP");
    r = hm2_get_bspi(b, bspi_chans[extra_arg]);
    HM2_PRINT_NO_LL("found bspi names %s\n",b->name);
    return 0;
}

int get_count(void){
    int i;
    HM2_PRINT_NO_LL("Entering get_count\n");
    for (i = 0; bspi_chans[i] != NULL && i < 16 ; i++){
        HM2_PRINT_NO_LL("%s\n", bspi_chans[i]);
    }
    return i;
}

static int get_data_size(void) { return 0; }