.TH hal_export_funct "3hal" "2006-10-12" "LinuxCNC Documentation" "HAL"
.SH NAME

hal_export_funct \- create a realtime function callable from a thread

.SH SYNTAX
.HP
typedef void(*hal_funct_t)(void * \fIarg\fR, long \fIperiod\fR)
.HP
int hal_export_funct(const char *\fIname\fR, hal_funct_t \fIfunct\fR, void *\fIarg\fR, int \fIuses_fp\fR, int \fIreentrant\fR, int \fIcomp_id\fR)

.SH  ARGUMENTS
.IP \fIname\fR
The name of the function.

.IP \fIfunct\fR
The pointer to the function

.IP \fIarg\fR
The argument to be passed as the first parameter of \fIfunct\fR

.IP \fIuses_fp\fR
Nonzero if the function uses floating-point operations, including assignment
of floating point values with "=".

.IP \fIreentrant\fR
If reentrant is non-zero, the function may be preempted and called again
before the first call completes.  Otherwise, it may only be added to one
thread.

.IP \fIcomp_id\fR
A HAL component identifier returned by an earlier call to \fBhal_init\fR.

.SH DESCRIPTION
\fBhal_export_funct\fR makes a realtime function provided by a component
available to the system.  A subsequent call to \fBhal_add_funct_to_thread\fR
can be used to schedule the execution of the function as needed by the system.

When this function is placed on a HAL thread, and HAL threads are started,
\fIfunct\fR is called repeatedly with two arguments: \fIvoid *arg\fR is the
same value that was given to \fBhal_export_funct\fR, and \fIlong period\fR is
the interval between calls in nanoseconds.

Each call to the function should do a small amount of work and return.

.SH RETURN VALUE
Returns a HAL status code.

.SH SEE ALSO
\fBhal_create_thread(3hal)\fR, \fBhal_add_funct_to_thread(3hal)\fR