/* 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; }