Abgabe

kawaii/kawaii-rs/src/emergency_stop.rs

@@ -0,0 +1,27 @@
+extern crate emergency_stop;
+
+use self::emergency_stop::EmergencyStop;
+
+use std::mem::transmute;
+use std::ptr::null_mut;
+use std::sync::atomic::Ordering;
+
+#[no_mangle]
+pub extern "C" fn emergency_stop_init(stop: u8) -> *mut EmergencyStop {
+    match EmergencyStop::new(stop) {
+        Err(_) => null_mut(),
+        Ok(emergency_stop) => unsafe { transmute(Box::new(emergency_stop)) },
+    }
+}
+
+#[no_mangle]
+pub extern "C" fn emergency_stop_clean(emergency_stop: *mut EmergencyStop) {
+    let _emergency_stop: Box<EmergencyStop> = unsafe { transmute(emergency_stop) };
+}
+
+#[no_mangle]
+pub extern "C" fn emergency_stop_get_state(emergency_stop: *mut EmergencyStop) -> bool {
+    let emergency_stop = unsafe { &mut *emergency_stop };
+
+    emergency_stop.state.load(Ordering::Relaxed)
+}