hal_stream − non-blocking realtime streams
#include <hal.h>
int
hal_stream_create(hal_stream_t *stream, int comp_id, int
key, int depth, const char *typestring);
void hal_stream_destroy(hal_stream_t *stream);
int hal_stream_attach(hal_stream_t *stream, int comp_id, int
key, const char *typestring);
int hal_stream_detach(hal_stream_t *stream);
int
hal_stream_element_count(hal_stream_t *stream);
hal_type_t hal_stream_element_type(hal_stream_t *stream, int
idx);
int hal_stream_depth(hal_stream_t *stream);
int hal_stream_maxdepth(hal_stream_t *stream);
int hal_stream_num_underruns(hal_stream_t *stream);
int hal_stream_num_overruns(hal_stream_t *stream);
int
hal_stream_read(hal_stream_t *stream, union hal_stream_data
*buf, unsigned *sampleno);
bool hal_stream_readable(hal_stream_t *stream);
int
hal_stream_write(hal_stream_t *stream, union hal_stream_data
*buf);
bool hal_stream_writable(hal_stream_t *stream);
#ifdef
ULAPI
void hal_stream_wait_writable(hal_stream_t *stream,
sig_atomic_t *stop);
void hal_stream_wait_readable(hal_stream_t *stream,
sig_atomic_t *stop);
#endif
A HAL stream provides a limited ability for two components to communicate data which does not fit within the model of HAL pins. A reader and a writer must agree on a key (32-bit integer identifier) and a data structure specified by typestring will hal_stream_create the stream, and wich component (the second one loaded) will hal_stream_attach to the already-created stream.
The userspace part can be halstreamer or halsampler. In the case of halstreamer the key is 0x48535430 plus the channel number. In the case of halsampler the key is 0x48534130 plus the channel number.
hal_stream_create
Create the given stream, initializing the stream
which is passed by reference. If is an undiagnosed error if
a stream has already been created with the same
key.
hal_stream_destroy
Destroy the given stream. It is an undiagnosed error if the
stream is still attached by another component. It is an
undiagnosed error if the stream was attached with
hal_stream_attach rather than created with
hal_stream_create. It is an undiagnosed error if the
call to hal_stream_destroy is omitted.
hal_stream_attach
Attach the given stream, which was already created by
hal_stream_create. If the typestring is specified,
this call fails if it does not match the typestring the
stream was created with. If the typestring argument is NULL,
then any typestring is accepted.
hal_stream_detach
Detach the given stream. It is an undiagnosed error if the
stream was created with hal_stream_create rather than
attached with hal_stream_attach. It is an undiagnosed
error if the call to hal_stream_detach is
omitted.
hal_stream_element_count
Returns the number of pins.
hal_stream_element_type
Returns the type of the given pin number.
hal_stream_readable
Returns true if the stream has at least one sample to
read
hal_stream_read
If the stream has one sample to read, stores it in buf.
hal_stream_writable
Returns true if the stream has room for at least one sample
to be written.
hal_stream_depth
Returns the number of samples waiting to be read.
hal_stream_maxdepth
Returns the depth argument that the stream was
created with.
hal_stream_num_overruns
Returns a number which is incremented each time
hal_stream_write is called without space
available.
hal_stream_num_underruns
Returns a number which is incremented each time
hal_stream_read is called without a sample
available.
hal_stream_wait_readable
Waits until the stream is readable or the stop flag is
set.
hal_stream_wait_writable
Waits until the stream is writable or the stop flag is
set.
hal_stream_read
Reads a record from stream. If successful, it is stored in
the given buffer. Optionally, the sample number can be
retrieved. If no sample is available, num_underruns
is incremented. It is an undetected error if more than one
component or real-time function calls hal_stream_read
concurrently.
hal_stream_write
Writes a record to the stream. If successful, it copied from
the given buffer. If no room is available,
num_overruns is incremented. In either case, the
internal sampleno value is incremented.
It is an undetected error if more than one component or
real-time function calls hal_stream_write
concurrently.
|
stream |
A pointer to a stream object. In the case of hal_stream_create and hal_stream_attach this is an uninitialized stream; in other cases, it must be a stream created or attached by an earlier call and not yet detached or destroyed. | ||
|
hal_id |
An HAL component identifier returned by an earlier call to hal_init. | ||
|
key |
The key for the shared memory segment. | ||
|
depth |
The number of samples that can be unread before any samples are lost (overrun) |
typestring
A typestring is a case-insensitive string which consists of one or more of the following type characters:
|
B |
for bool / hal_bit_t |
|||
|
S |
for int32_t / hal_s32_t |
|||
|
U |
for uint32_t / hal_u32_t |
|||
|
F |
for real_t / hal_float_t |
A typestring is limited to 16 characters.
|
buf |
A buffer big enough to hold all the data in one sample. |
sampleno
If non-NULL, the last sample number is stored here. Gaps in this sequence indicate that an overrun occured between the previous read and this one. May be NULL, in which case the sample number is not retrieved.
|
stop |
A pointer to a value which is monitored while waiting. If it is nonzero, the wait operation returns early. This allows a wait call to be safely terminated in the case of a signal. |
In the source tree under src/hal/components, sampler.c and streamer.c are realtime components that read and write hal streams.
hal_stream_read, hal_stream_readable, hal_stream_write, hal_stream_writable, hal_stream_element_count, hal_tream_pin_type, hal_stream_depth, hal_stream_maxdepth, hal_stream_num_underruns, hal_stream_number_overruns may be called from realtime code.
hal_stream_wait_writable, hal_stream_wait_writable may be called from ULAPI code.
Other functions may be called in any context, including realtime contexts.
hal_stream_create , hal_stream_attach , hal_stream_read , hal_stream_write , hal_stream_detach and hal_stream_destroy return an RTAPI status code. Other functions’ return values are explained above.
The memory overhead of a stream can be large. Each element in a record uses 8 bytes, and the implicit sample number also uses 8 bytes. As a result, a stream which is used to transport 8-bit values uses 94% of its memory as overhead. However, for modest stream sizes this overhead is not important. (this memory is part of its own shared memory region and does not count against the HAL shared memory region used for pins, parameters and signals)
sampler(9), streamer(9), halsampler(1), halstreamer(1)