move typedefs into header file

Author: baggepinnen

README.md

@@ -196,6 +196,9 @@ plot([res, res_fp], plotu=true, lab=["Float64" "" string(T) ""]); ylabel!("u + d
 The fixed-point controller behaves roughly the same in this case, but artifacts are clearly visible. If the number of bits used for the fractional part is decreased, the controller will start to misbehave.
 
 ## Compilation using JuliaC
+> [!IMPORTANT]
+>  At the time of writing, this requires a nightly version of julia
+
 The file `examples/juliac/juliac_pid.jl` contains a JuliaC-compatible interface that can be compiled into a C-callable shared library using JuliaC. To compile the file, run the following from the `examples/juliac` folder:
 ```bash
 julia +nightly --project <PATH_TO_JULIA_REPO>/julia/contrib/juliac.jl --output-lib juliac_pid --experimental --trim=unsafe-warn --compile-ccallable juliac_pid.jl
@@ -222,7 +225,9 @@ calculate_control! returned: 3.000000
 calculate_control! returned: 3.000000
 calculate_control! returned: 3.000000
 ```
-At the time of writing, this requires a nightly version of julia
+
+
+
 
 
 ## See also

examples/juliac/juliac_pid.h

@@ -0,0 +1,20 @@
+#ifndef JULIAC_PID_H
+#define JULIAC_PID_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+// Type definitions for function pointers
+typedef void (*jl_init_with_image_t)(const char *bindir, const char *sysimage);
+typedef double (*calculate_control_t)(double r, double y, double uff);
+typedef void (*set_K_t)(double K, double r, double y);
+typedef void (*set_Ti_t)(double Ti);
+typedef void (*set_Td_t)(double Td);
+typedef void (*reset_state_t)();
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif // JULIAC_PID_H

examples/juliac/test_juliac_pid.c

@@ -2,24 +2,14 @@
 #include <stdlib.h>
 #include <dlfcn.h>
 // #include <julia.h>
+#include "juliac_pid.h"
 
 // Path to julia binary folder
 #define JULIA_PATH "/home/fredrikb/repos/julia/usr/bin/" // NOTE: modify this path
 
 // Path to juliac compiled shared object file
 #define LIB_PATH "/home/fredrikb/.julia/dev/DiscretePIDs/examples/juliac/juliac_pid.so" // NOTE: modify this path
 
-
-
-// Define the types of the julia @ccallable functions
-typedef void (*jl_init_with_image_t)(const char *bindir, const char *sysimage);
-typedef double (*calculate_control_t)(double r, double y, double uff);
-typedef void (*set_K_t)(double K, double r, double y);
-typedef void (*set_Ti_t)(double Ti);
-typedef void (*set_Td_t)(double Td);
-typedef void (*reset_state_t)();
-
-
 int main() {
 
     // Load the shared library
@@ -35,11 +25,11 @@ int main() {
     printf("Finding symbols\n");
     jl_init_with_image_t jl_init_with_image = (jl_init_with_image_t)dlsym(lib_handle, "jl_init_with_image");
 
-    calculate_control_t calculate_control = (calculate_control_t)dlsym(lib_handle, "calculate_control!");
-    set_K_t set_K = (set_K_t)dlsym(lib_handle, "set_K!");
-    set_Ti_t set_Ti = (set_Ti_t)dlsym(lib_handle, "set_Ti!");
-    set_Td_t set_Td = (set_Td_t)dlsym(lib_handle, "set_Td!");
-    reset_state_t reset_state = (reset_state_t)dlsym(lib_handle, "reset_state!");
+    calculate_control_t calculate_control = (calculate_control_t) dlsym(lib_handle, "calculate_control!");
+    set_K_t                         set_K = (set_K_t)             dlsym(lib_handle, "set_K!");
+    set_Ti_t                       set_Ti = (set_Ti_t)            dlsym(lib_handle, "set_Ti!");
+    set_Td_t                       set_Td = (set_Td_t)            dlsym(lib_handle, "set_Td!");
+    reset_state_t             reset_state = (reset_state_t)       dlsym(lib_handle, "reset_state!");
 
 
     if (jl_init_with_image == NULL || calculate_control == NULL) {
@@ -64,7 +54,6 @@ int main() {
         printf("calculate_control! returned: %f\n", result);
     }
 
-    // jl_atexit_hook(0);
     return 0;
 }