commit 1ac3c08f36000fea787e025833789d5479ad0413
Author: Carl Philipp Klemm <carl@uvos.xyz>
Date:   Wed Jul 23 17:56:50 2025 +0200

    inital commit

diff --git a/build/collisionavoid b/build/collisionavoid
new file mode 100755
index 0000000..3976fa5
Binary files /dev/null and b/build/collisionavoid differ
diff --git a/build/collisionavoid.c b/build/collisionavoid.c
new file mode 100644
index 0000000..f1e0f8e
--- /dev/null
+++ b/build/collisionavoid.c
@@ -0,0 +1,153 @@
+/* Autogenerated by /usr/bin/halcompile on Wed Nov 27 15:02:36 2024 -- do not edit */
+#include "rtapi.h"
+#ifdef RTAPI
+#include "rtapi_app.h"
+#endif
+#include "rtapi_string.h"
+#include "rtapi_errno.h"
+#include "hal.h"
+#include "rtapi_math64.h"
+
+static int comp_id;
+
+#ifdef MODULE_INFO
+MODULE_INFO(linuxcnc, "component:collisionavoid:Avoid Collisions");
+MODULE_INFO(linuxcnc, "pin:xaxis:float:0:in::None:None");
+MODULE_INFO(linuxcnc, "pin:yaxis:float:0:in::None:None");
+MODULE_INFO(linuxcnc, "pin:zaxis:float:0:in::None:None");
+MODULE_INFO(linuxcnc, "pin:chuck:bit:0:in::None:None");
+MODULE_INFO(linuxcnc, "pin:table:bit:0:in::None:None");
+MODULE_INFO(linuxcnc, "pin:stop:bit:0:out::None:None");
+MODULE_INFO(linuxcnc, "license:GPL");
+MODULE_LICENSE("GPL");
+#endif // MODULE_INFO
+
+
+struct __comp_state {
+    struct __comp_state *_next;
+    hal_float_t *xaxis;
+    hal_float_t *yaxis;
+    hal_float_t *zaxis;
+    hal_bit_t *chuck;
+    hal_bit_t *table;
+    hal_bit_t *stop;
+};
+#include <stdlib.h>
+struct __comp_state *__comp_first_inst=0, *__comp_last_inst=0;
+
+static int __comp_get_data_size(void);
+#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) {
+    int r = 0;
+    int sz = sizeof(struct __comp_state) + __comp_get_data_size();
+    struct __comp_state *inst = hal_malloc(sz);
+    memset(inst, 0, sz);
+    r = hal_pin_float_newf(HAL_IN, &(inst->xaxis), comp_id,
+        "%s.xaxis", prefix);
+    if(r != 0) return r;
+    r = hal_pin_float_newf(HAL_IN, &(inst->yaxis), comp_id,
+        "%s.yaxis", prefix);
+    if(r != 0) return r;
+    r = hal_pin_float_newf(HAL_IN, &(inst->zaxis), comp_id,
+        "%s.zaxis", prefix);
+    if(r != 0) return r;
+    r = hal_pin_bit_newf(HAL_IN, &(inst->chuck), comp_id,
+        "%s.chuck", prefix);
+    if(r != 0) return r;
+    r = hal_pin_bit_newf(HAL_IN, &(inst->table), comp_id,
+        "%s.table", prefix);
+    if(r != 0) return r;
+    r = hal_pin_bit_newf(HAL_OUT, &(inst->stop), comp_id,
+        "%s.stop", prefix);
+    if(r != 0) return r;
+    if(__comp_last_inst) __comp_last_inst->_next = inst;
+    __comp_last_inst = inst;
+    if(!__comp_first_inst) __comp_first_inst = inst;
+    return 0;
+}
+int rtapi_app_main(void) {
+    int r = 0;
+    comp_id = hal_init("collisionavoid");
+    if(comp_id < 0) return comp_id;
+    r = export("collisionavoid", 0);
+    if(r) {
+        hal_exit(comp_id);
+    } else {
+        hal_ready(comp_id);
+    }
+    return r;
+}
+
+void rtapi_app_exit(void) {
+    hal_exit(comp_id);
+}
+static void user_mainloop(void);
+int argc=0; char **argv=0;
+int main(int argc_, char **argv_) {
+    argc = argc_; argv = argv_;
+
+    if(rtapi_app_main() < 0) return 1;
+    user_mainloop();
+    rtapi_app_exit();
+    return 0;
+}
+
+#undef FUNCTION
+#define FUNCTION(name) static void name(struct __comp_state *__comp_inst, long period)
+#undef EXTRA_SETUP
+#define EXTRA_SETUP() static int extra_setup(struct __comp_state *__comp_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 xaxis
+#define xaxis (0+*__comp_inst->xaxis)
+#undef yaxis
+#define yaxis (0+*__comp_inst->yaxis)
+#undef zaxis
+#define zaxis (0+*__comp_inst->zaxis)
+#undef chuck
+#define chuck (0+*__comp_inst->chuck)
+#undef table
+#define table (0+*__comp_inst->table)
+#undef stop
+#define stop (*__comp_inst->stop)
+#undef FOR_ALL_INSTS
+#define __comp_inst __comp_first_inst
+#define FOR_ALL_INSTS()
+
+
+#line 19 "collisionavoid.comp"
+
+#include <stdio.h>    /* Standard input/output definitions */
+
+
+void user_mainloop(void)
+{
+           FOR_ALL_INSTS()  //needed for resaons
+            { 
+                while(1)
+                {
+                        usleep(500);
+                             if(chuck == 1 && xaxis > 107 && yaxis < 32 && zaxis < -25  ) stop = 1;
+                        else if(table == 1 && xaxis > 107 && yaxis < 32 && zaxis < -25  ) stop = 1;
+                        else stop = 0;
+                        
+                }
+            }
+    exit(0);
+}
+
+
+
+
+
+static int __comp_get_data_size(void) { return 0; }
diff --git a/collisionavoid.comp b/collisionavoid.comp
new file mode 100644
index 0000000..168652f
--- /dev/null
+++ b/collisionavoid.comp
@@ -0,0 +1,41 @@
+//CNCExtension Hal Component
+
+component collisionavoid "Avoid Collisions";
+
+pin in float xaxis;
+pin in float yaxis;
+pin in float zaxis;
+
+pin in bit chuck;
+pin in bit table;
+
+pin out bit stop;
+
+option singleton yes; // makes no sense to have more than one of these components running
+option userspace yes;
+
+license "GPL";
+;;
+
+#include <stdio.h>    /* Standard input/output definitions */
+
+
+void user_mainloop(void)
+{
+           FOR_ALL_INSTS()  //needed for resaons
+            { 
+                while(1)
+                {
+                        usleep(500);
+                             if(chuck == 1 && xaxis > 107 && yaxis < 32 && zaxis < -25  ) stop = 1;
+                        else if(table == 1 && xaxis > 107 && yaxis < 32 && zaxis < -25  ) stop = 1;
+                        else stop = 0;
+                        
+                }
+            }
+    exit(0);
+}
+
+
+
+