Documentation

How to create a new Module

As example a new module will be created, which can be used to read out the actual settungs of axis and buttons of a joystick. In the tutorial How to create a new Module the creation of a joystick scicos block will be descripted. The external library libSDL is used for access the joystick.

The step of creating a new module is quite simple and fast. Just do the following steps (you need an installed HART-toolbox!):

• start scilab
• start the HART-Toolbox
• run the module_creator function of the HART-Toolbox

hart_module_creator('joystick')

• select demos
• Press OK
• Finished!

Configure the new Module

• Now you can put your computational functions to ../src/c
• If you want to use the codegeneration for RTAI, then you can put files to ../src/c_RTAI
• Generate interface functions for your scicos blocks and put them to ../macros
• Generate help files and put them to ../help/en_US (scilab5) or ../help/en_US_scilab4 (scilab4)
• Configure the configure.sce file.
• Rebuild the HART-Toolbox!
• Finished!

The configure.sce script

• In the build process of the HART-Toolbox, the configure.sce script of each module will started.
• This script is importend for the correct building and embedding of the c/c++ - code from each module
• You can decide if the module should be build or not by setting the variable buildable to 'no' or to 'yes'.

buildable='yes'; //change to no, if the module should not be build

• Add all names of each computational function to names variable:

names=['function1','function2',..];

• Add all C/C++ files that should be compiled. (Replace the ending by .o)

files=['file1.o';'file2.o';..];

• If any external library is needed for compilation add this to ldflags

ldflags = " -lspezial_lib";

• If spezial flags or include directories are needed, add them to cflags

cflags = " -I/special/include -DFLAG_HALLO=1";