Skip to content

docs: document initf command #4036

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Open
grandixximo wants to merge 1 commit into
base: master
Choose a base branch
from
+28 −1
Open

docs: document initf command #4036

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
20 changes: 20 additions & 0 deletions docs/src/hal/basic-hal.adoc
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -98,6 +98,26 @@ addf <function> <thread>
addf mux4.0 servo-thread
----

[[sub:hal-initf]]
=== initf

(((HAL initf,initf)))
The `initf` command registers a function to run once in realtime context, on a dedicated init cycle of the thread before the cyclic function list runs.
It is the realtime-thread analogue of `addf`, intended for one-shot setup that must execute in the realtime task (for example EtherCAT master activation via `lcec.0.activate`).

`initf` adds function _functname_ to the init list of thread _threadname_.
The init list runs once on the first cycle after `start`, then is drained.
The cyclic list begins on the following period.
Once the init cycle has run, further `initf` calls on that thread are rejected.
`position` has the same meaning as in `addf`.

.initf Syntax and Example
[source,{hal}]
----
initf <function> <thread>
initf lcec.0.activate servo-thread
----

[[sub:hal-loadusr]]
=== loadusr

Expand Down
7 changes: 7 additions & 0 deletions docs/src/man/man1/halcmd.1.adoc
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -192,6 +192,13 @@ _pinname_ *=* _value_::
_threadname_. _functname_ will run after any functions that were
previously added to the thread. Fails if either _functname_ or
_threadname_ does not exist, or if they are incompatible.
*initf* _functname_ _threadname_::
(__init__ __f__unction) Registers _functname_ to run once in realtime
context on a dedicated init cycle of _threadname_, before the cyclic
function list executes. Intended for one-shot setup that must run in
the realtime task (for example EtherCAT slave configuration). Once
the init cycle has run, further *initf* calls on that thread are
rejected. Fails if either _functname_ or _threadname_ does not exist.
*delf* _functname_ _threadname_::
(__del__ete __f__unction) Removes function _functname_ from realtime
thread _threadname_. Fails if either _functname_ or _threadname_ does
Expand Down
2 changes: 1 addition & 1 deletion docs/src/man/man1/haltcl.1.adoc
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -56,7 +56,7 @@ The augmented commands can be listed with the command:

`haltcl: hal --commands`+

`addf alias delf delsig getp gets ptype stype help linkpp linkps linksp list loadrt loadusr lock net newsig save setexact_for_test_suite_only setp sets show source start status stop unalias unlinkp unload unloadrt unloadusr unlock waitusr`
`addf alias delf delsig getp gets initf ptype stype help linkpp linkps linksp list loadrt loadusr lock net newsig save setexact_for_test_suite_only setp sets show source start status stop unalias unlinkp unload unloadrt unloadusr unlock waitusr`

Two of the augmented commands, 'list' and 'gets', require special treatment
to avoid conflict with Tcl built-in commands having the same names.
Expand Down
Loading