Build Thread- Creating a new module in HAL

[Shen Bingquan]

Hi all,

I was wondering if it is possible to create a new module in HAL so that i can customize my own functions, pins and parameters.

Something like "loadrt pid" but instead i would like to have "loadrt MY_MODULE".

Someone mentioned using .comp. Is it possible using comp? And how to go about doing it? Cuz i keep getting the following message when i type "$ comp ddt.comp"

"The program 'comp' can be found in the following packages:
* mailutils-mh
* nmh
Try: sudo apt get install "

Thanks.

BQ

[samco]

Yes - you should be able to do that.

read up on
Comp: a tool for creating HAL components

also - take a look at other comps

git.linuxcnc.org Git - emc2.git/tree - src/hal/components/

sam

love to see your fuzzy pid

[chester88]

you have to add the development packages to compile components.
look here:
EMC Documentation Wiki: ContributedComponents

[Shen Bingquan]

I tried installing emc2-dev by '$ sudo apt-get install emc2-dev'
But the following error msg keep coming up.

dpkg: error processing /var/cache/apt/archives/emc2-dev_1%3a2.4.4_i386.deb (--unpack):
trying to overwrite '/usr/share/man/man1/comp.1.gz', which is also in package nmh 0:1.3-1
dpkg-deb: subprocess paste killed by signal (Broken pipe)
Processing triggers for man-db ...
Errors were encountered while processing:
/var/cache/apt/archives/emc2-dev_1%3a2.4.4_i386.deb
E: Sub-process /usr/bin/dpkg returned an error code (1)

Help?

[chester88]

hmm not sure what that means but I might guess that the package is already installed or the versions are wrong.

How did you get EMC and what version is it? What distribution on Ubuntu are you using?

Are you trying to compile the comp file correctly now?
(The last way you said you tried it is not right)
You did read the instructions right

Chris M

[Shen Bingquan]

Ok it seems like the comp command is working after I restarted my computer, but there are still some minor issues.

"$ comp ddt.comp" creates a ddt.c file in my desktop

But when i type "$ comp --install ddt.comp" to install the .ko into my emc2 dir
it outputs an error message Unable to locate Makefile.modinc

Am I still missing anything?

[Shen Bingquan]

Well, after i reformatted my whole system and reinstall emc2 followed by emc2-dev there is now a different error after i tried compiling the module

"$ comp install BQ.comp"

WARNING: "hal_init" [/tmp/tmpXwbloT/BQ.ko] undefined!
WARNING: "rtapi_print_msg" [/tmp/tmpXwbloT/BQ.ko] undefined!
WARNING: "hal_exit" [/tmp/tmpXwbloT/BQ.ko] undefined!
WARNING: "hal_export_funct" [/tmp/tmpXwbloT/BQ.ko] undefined!
WARNING: "hal_malloc" [/tmp/tmpXwbloT/BQ.ko] undefined!
WARNING: "rtapi_get_msg_level" [/tmp/tmpXwbloT/BQ.ko] undefined!
WARNING: "hal_pin_bit_newf" [/tmp/tmpXwbloT/BQ.ko] undefined!
WARNING: "hal_pin_s32_newf" [/tmp/tmpXwbloT/BQ.ko] undefined!
WARNING: "rtapi_snprintf" [/tmp/tmpXwbloT/BQ.ko] undefined!
WARNING: "hal_ready" [/tmp/tmpXwbloT/BQ.ko] undefined!
WARNING: "hal_pin_float_newf" [/tmp/tmpXwbloT/BQ.ko] undefined!
WARNING: "rtapi_set_msg_level" [/tmp/tmpXwbloT/BQ.ko] undefined!
CC /tmp/tmpXwbloT/BQ.mod.o
LD [M] /tmp/tmpXwbloT/BQ.ko
make[1]: Leaving directory `/usr/src/linux-headers-2.6.32-122-rtai'
cp BQ.ko /usr/realtime-2.6.32-122-rtai/modules/emc2/
cp: cannot create regular file `/usr/realtime-2.6.32-122-rtai/modules/emc2/BQ.ko': Permission denied
make: *** [install] Error 1

never seen this error previously..

[Ryobiguy]

Try prepending sudo:
sudo comp install BQ.comp

[wangyu]

I had the same problem.