initial load implementation

src/comp1.c

@@ -13,16 +13,16 @@ typedef struct {
    char bla[100];
 }self_t;
 
-static void rt_init(void* self, struct hal_pin* pins){
+static void rt_init(self_t* self, struct hal_pin* pins){
    //PIN(pin1) = 0.0;
    pins[pin1].source->source->value = 0.0;
    
-   ((self_t*)self)->foo = 0;
+   self->foo = 0;
 }
 
 COMP_NEW {
    .name = TOSTRING(COMP_NAME),
-   .rt_init = rt_init,
+   .rt_init = (void (*)(void*,struct hal_pin*))rt_init,
    .self_size = sizeof(self_t),
 };
 

src/comp2.c

@@ -13,16 +13,16 @@ typedef struct {
    char bla[100];
 }self_t;
 
-static void rt_init(void* self, struct hal_pin* pins){
+static void rt_init(self_t* self, struct hal_pin* pins){
    //PIN(pin1) = 0.0;
    pins[pin1].source->source->value = 0.0;
    
-   ((self_t*)self)->foo = 0;
+   self->foo = 0;
 }
 
 COMP_NEW {
    .name = TOSTRING(COMP_NAME),
-   .rt_init = rt_init,
+   .rt_init = (void (*)(void*,struct hal_pin*))rt_init,
    .self_size = sizeof(self_t),
 };
 

src/hal.c

@@ -28,6 +28,45 @@ char* itoa_(int i){
   return(hal.tmp);
 }
 
+int load(HPNAME name){
+   extern const comp_t __comp_tbl_start[];
+   extern const comp_t __comp_tbl_end[];
+   const comp_t *comp = __comp_tbl_start;
+   
+   extern const struct hal_pin __pin_tbl_start[];
+   extern const struct hal_pin __pin_tbl_end[];
+   const struct hal_pin *pin = __pin_tbl_start;
+   //TODO: platz für comp,pin,self
+   while (comp < __comp_tbl_end){
+      if(!strcmp(comp->name,name)){
+         comp_instance_t inst;
+         inst.comp = comp;
+         inst.num = 0;
+         inst.mem = malloc(comp->self_size);//TODO: return?
+         for(int i = 0;i<hal_new.instance_count;i++){
+            if(!strcmp(comp->name,name)){
+               inst.num++;
+            }
+         }
+         inst.pin_count = 0;
+         while (pin < __pin_tbl_end){
+            //TODO: platz für pin?
+            if(!strcmp(pin->comp,name)){
+               struct hal_pin p = *pin;
+               p.instance = inst.num;
+               p.source = &hal_new.hal_pins[hal_new.hal_pin_count];
+               hal_new.hal_pins[hal_new.hal_pin_count++] = p;
+            }
+            pin++;
+         }
+         hal_new.instance[hal_new.instance_count++] = inst;
+         break;
+      }
+      comp++;
+   }
+   return 0;
+}
+
 void init_hal(){
   hal.comp_type_count = 0;
   for(int i = 0; i < MAX_COMP_TYPES; i++){

src/hal.h

@@ -44,14 +44,84 @@ struct hal_pin{
 typedef struct{
    HPNAME name;
    void (*rt_init)(void* self,struct hal_pin* pins);
-   void (*rt_deinit)();
+   void (*rt_deinit)(void* self,struct hal_pin* pins);
-   void (*nrt_init)();
+   void (*nrt_init)(void* self,struct hal_pin* pins);
-   void (*rt)(float period);
+   void (*rt)(void* self,struct hal_pin* pins, float period);
-   void (*frt)(float period);
+   void (*frt)(void* self,struct hal_pin* pins, float period);
-   void (*nrt)(float period);
+   void (*nrt)(void* self,struct hal_pin* pins, float period);
    uint32_t self_size;
 }comp_t;
 
+typedef struct{
+   const comp_t* comp;
+   struct hal_pin* pins;
+   uint32_t num;
+   uint32_t pin_count;
+   void* mem;
+}comp_instance_t;
+
+struct hal_struct_new{
+   comp_instance_t instance[MAX_COMPS];
+   uint32_t instance_count;
+   struct hal_pin hal_pins[MAX_HAL_PINS];
+   int hal_pin_count;
+
+  void (*rt_init[MAX_COMPS])(void* self,struct hal_pin* pins);
+  int rt_init_func_count;
+
+  void (*rt_deinit[MAX_COMPS])(void* self,struct hal_pin* pins);
+  int rt_deinit_func_count;
+
+  void (*nrt_init[MAX_COMPS])(void* self,struct hal_pin* pins);
+  int nrt_init_func_count;
+
+  void (*rt[MAX_COMPS])(void* self,struct hal_pin* pins, float period);
+  int rt_func_count;
+
+  void (*nrt[MAX_COMPS])(void* self,struct hal_pin* pins, float period);
+  int nrt_func_count;
+
+  void (*frt[MAX_COMPS])(void* self,struct hal_pin* pins, float period);
+  int frt_func_count;
+
+  // volatile enum{
+  //   RT_CALC,
+  //   RT_SLEEP,
+  //   RT_STOP
+  // } rt_state;
+  //
+  // volatile enum{
+  //   FRT_CALC,
+  //   FRT_SLEEP,
+  //   FRT_STOP
+  // } frt_state;
+  //
+  // volatile enum {
+  //   FRT_TOO_LONG,
+  //   RT_TOO_LONG,
+  //   MISC_ERROR,
+  //   MEM_ERROR,
+  //   CONFIG_LOAD_ERROR,
+  //   CONFIG_ERROR,
+  //   HAL_OK
+  // } hal_state;
+
+  volatile int active_rt_func;
+  volatile int active_frt_func;
+  volatile int active_nrt_func;
+
+  uint32_t link_errors;
+  uint32_t pin_errors;
+  uint32_t set_errors;
+  uint32_t get_errors;
+  uint32_t comp_errors;
+  char error_name[MAX_HPNAME];
+}hal_new;
+
+int load(HPNAME name);
+
+
+
 #define HAL_PIN_NEW(name_, value_)               \
 static const struct hal_pin name_##_hal_pin __attribute__((used, section (".pin_tbl."TOSTRING(COMP_NAME)"."#name_))) = {\
    .comp = TOSTRING(COMP_NAME),\