due to some problems can not be explained
(an 1 year old LCNC Ja9 on Ubuntu 10.04 make unrecognize error, and plus after
install of JA9 is affect to mesa ssreial error sometime at emergency stop)
I had to update.
Not wanting to use wheezy I installed ubuntu 14.04 .... in the end all right.
But I should use a userspace component libmodbus3.1.2 .... I can not use
halcompile...
The Component is the same ... nothings is change ... I edit the first part
(whitout header & hal pin) ..
#include <stdio.h> /* Standard input/output definitions */
#include <stdlib.h>
#include <stdint.h> /* Standard types */
#include <string.h> /* String function definitions */
#include <fcntl.h> /* File control definitions */
#include <errno.h> /* Error number definitions */
#include <signal.h>
#include <modbus/modbus.h>
#include <math.h>
#include <assert.h>
#define MAP(n) mb_mapping->tab_registers[n]
#define INP(g) mb_mapping->tab_input_registers[g]
#define WRI(nr , val) ret=modbus_write_register(ctx, nr, val)
char *address;
char ad0[4];
char ad1[4];
char ad2[4];
char ad3[4];
char point[2] = ".";
char str[16];
float test = 1502.0;
float test1 = 169.0;
float test2 = 254.0;
float test3 = 000.0;
float test4 = 103.0;
int tt1 = 0;
int tt2 = 0;
int tt3 = 0;
int tt4 = 0;
int hole;
int done = 0;
int firstimeconnect = 0;
int ret = -1;
int CorrectOnOfSign =0;
float kft;
uint16_t FCpy[2];
uint16_t RfCpy[2];
int s = -1;
modbus_t *ctx;
modbus_mapping_t *mb_mapping;
int rc;
int i;
int test_of = 0;
uint8_t *query;
uint8_t In_tab[100];
uint16_t Reg_tab[100];
int header_length;
//void adios(int sig){done = 1;}
float Rcf(uint16_t a, uint16_t b)
{
uint16_t a1[2];
float r1;
a1[0] = a;
a1[1] = b;
r1 = modbus_get_float(a1);
kft = r1;
return kft;
}
uint16_t SdFloat(float a)
{
modbus_set_float(a, FCpy);
return *FCpy;
}
void user_mainloop(void) /* start "main" */
{
/* signal(SIGINT, adios);
signal(SIGTERM, adios);*/
while(!done) /*"start main loop " */
{
usleep(20000);
FOR_ALL_INSTS()
{
testo =1;
if (firstimeconnect == 0){
hole = floor(jaaddress); //jaaddress;
if (hole != 0)
{
tt1 = floor(ja30ip);
tt2 = floor(ja31ip); //test2);
tt3 = floor(ja32ip);
tt4 = floor(ja33ip);
sprintf(ad0, "%hu", tt1); //ja30ip);
sprintf(ad1, "%hu", tt2); //ja31ip);
sprintf(ad2, "%hu", tt3); //ja32ip);
sprintf(ad3, "%hu", tt4); //ja33ip);
strcpy(str, ad0);
strcat(str, point);
strcat(str, ad1);
strcat(str, point);
strcat(str, ad2);
strcat(str, point);
strcat(str, ad3);
address = str;
}
else { address = "0";}
ctx = modbus_new_tcp(address, hole);
query = malloc(MODBUS_TCP_MAX_ADU_LENGTH);
header_length = modbus_get_header_length(ctx);
modbus_set_debug(ctx, false);
mb_mapping = modbus_mapping_new(0,0,200,0);
if (mb_mapping == NULL) {
//fprintf(stderr, "Failed to allocate the mapping: %s\n",
//modbus_strerror(errno));
modbus_free(ctx);
//return -1;
}
........................
but obtain these error at compile ...
k1MbServer.c: In function ‘__comp_parse_names’:
/tmp/tmpLc0aCs/k1MbServer.c:573:17: error: ‘names’ undeclared (first use in
this function)
names[j] = strtok(p, ",");
/*******the same for comp__parse_count************/*
/tmp/cc1kjkzO.o: in function "user_mainloop":
/tmp/tmp_RtXP2/k1MbServer.comp:210: undefined reference "floor"
/tmp/tmp_RtXP2/k1MbServer.comp:216: undefined reference "floor"
/tmp/tmp_RtXP2/k1MbServer.comp:217: undefined reference "floor"
/tmp/tmp_RtXP2/k1MbServer.comp:218: undefined reference "floor"
/tmp/tmp_RtXP2/k1MbServer.comp:219: undefined reference "floor"
/tmp/tmp_RtXP2/k1MbServer.comp:236: undefined reference "modbus_new_tcp"
/tmp/tmp_RtXP2/k1MbServer.comp:238: undefined reference
"modbus_get_header_length"
/tmp/tmp_RtXP2/k1MbServer.comp:240: undefined reference "modbus_set_debug"
//and other about modbus
..... Any suggest about?? ...
andypugh talk about halcompile bug .... is possible there are a path problem??
I've install on /home/linuxcnc-dev .... and libmodbus is on /usr/.......
for compile I've used these command:
cd linuxcnc-dev
. ./rip-xxxx or . ./scripts/rip-xxx (in the same way I've compile my custom
kins with success)
halcompile --install k1MbServer.comp (same resutl halcompile --compile
k1MbServer.comp)
regards
giorgio
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