From ca82717dc7f4e4cb98057a5d5ae385fff5213622 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Anders=20Sandstr=C3=B6m?= <anders.sandstroem@psi.ch>
Date: Mon, 16 Dec 2024 09:14:08 +0100
Subject: [PATCH] New plg concept

---
 GNUmakefile                       |  5 ++++-
 ecmc_plugin_grbl/ecmcPluginGrbl.c | 37 +++++++++++++------------------
 2 files changed, 20 insertions(+), 22 deletions(-)

diff --git a/GNUmakefile b/GNUmakefile
index 31e8442..e562e8c 100644
--- a/GNUmakefile
+++ b/GNUmakefile
@@ -2,6 +2,9 @@ include /ioc/tools/driver.makefile
 
 MODULE = ecmc_plugin_grbl
 
+# "Transfer" module name to plugin
+USR_CFLAGS +=-DECMC_PLUGIN_MODULE_NAME=${MODULE}
+
 BUILDCLASSES = Linux
 ARCH_FILTER = deb10%
 
@@ -17,7 +20,7 @@ OPT_CXXFLAGS_YES = -O3
 # dependencies
 ECmasterECMC_VERSION = v1.1.0
 motorECMC_VERSION = 7.0.7-ESS
-ecmc_VERSION = v9.0.1_RC1
+ecmc_VERSION = sandst_a
 
 ################################################################################
 # THIS RELATES TO THE EtherCAT MASTER LIBRARY
diff --git a/ecmc_plugin_grbl/ecmcPluginGrbl.c b/ecmc_plugin_grbl/ecmcPluginGrbl.c
index cd2bfb0..b91be67 100644
--- a/ecmc_plugin_grbl/ecmcPluginGrbl.c
+++ b/ecmc_plugin_grbl/ecmcPluginGrbl.c
@@ -47,7 +47,7 @@ pthread_t tid;
  *  Return value other than 0 will be considered error.
  *  configStr can be used for configuration parameters.
  **/
-int grblConstruct(char *configStr)
+static int grblConstruct(char *configStr)
 {
   // only allow one loaded module
   if(alreadyLoaded) {    
@@ -64,7 +64,7 @@ int grblConstruct(char *configStr)
 /** Optional function.
  *  Will be called once at unload.
  **/
-void grblDestruct(void)
+static void grblDestruct(void)
 {  
   if(lastConfStr){
     free(lastConfStr);
@@ -78,7 +78,7 @@ void grblDestruct(void)
  *  this plugin to react on ecmc errors
  *  Return value other than 0 will be considered to be an error code in ecmc.
  **/
-int grblRealtime(int ecmcError)
+static int grblRealtime(int ecmcError)
 {  
   lastEcmcError = ecmcError;
   return realtime(ecmcError);
@@ -87,7 +87,7 @@ int grblRealtime(int ecmcError)
 /** Link to data source here since all sources should be availabe at this stage
  *  (for example ecmc PLC variables are defined only at enter of realtime)
  **/
-int grblEnterRT(){
+static int grblEnterRT(){
   return enterRT();
 }
 
@@ -95,63 +95,58 @@ int grblEnterRT(){
  *  Will be called once just before leaving realtime mode
  *  Return value other than 0 will be considered error.
  **/
-int grblExitRT(void){
+static int grblExitRT(void){
   return 0;
 }
 
 // Plc function for execute grbl code
-double grbl_set_execute(double exe) {
+static double grbl_set_execute(double exe) {
   return setExecute((int)exe);
 }
 
 // Plc function for halt grbl
-double grbl_mc_halt(double halt) {
+static double grbl_mc_halt(double halt) {
   return setHalt((int)halt);
 }
 
 // Plc function for resume grbl
-double grbl_mc_resume(double halt) {
+static double grbl_mc_resume(double halt) {
   return setResume((int)halt);
 }
 
 // Plc function for reset grbl
-//double grbl_mc_reset(double halt) {
-//  return setReset((int)halt);
-//}
-
-// Plc function for reset grbl
-double grbl_get_busy() {
+static double grbl_get_busy() {
   return getBusy();
 }
 
 // Plc function for reset grbl
-double grbl_get_parser_busy() {
+static double grbl_get_parser_busy() {
   return getParserBusy();
 }
 
 // Plc function for reset grbl
-double grbl_get_code_row_num() {
+static double grbl_get_code_row_num() {
   return getCodeRowNum();
 }
 
-double grbl_reset_error() {
+static double grbl_reset_error() {
   return resetError();
 }
 
-double grbl_get_error() {
+static double grbl_get_error() {
   return getError();
 }
 
-double grbl_get_all_enabled() {
+static double grbl_get_all_enabled() {
   return getAllAxesEnabled();
 }
 
-double grbl_set_all_enable(double enable) {
+static double grbl_set_all_enable(double enable) {
   return setAllAxesEnable(enable);
 }
 
 // Register data for plugin so ecmc know what to use
-struct ecmcPluginData pluginDataDef = {
+static struct ecmcPluginData pluginDataDef = {
   // Allways use ECMC_PLUG_VERSION_MAGIC
   .ifVersion = ECMC_PLUG_VERSION_MAGIC, 
   // Name