Anonymous

    if ( wait_comp_flag ) {
        int ready = 0, count=0, exited=0;
        hal_comp_t *comp = NULL;
        while(!ready && !exited) {
	    /* sleep for 10mS */
            struct timespec ts = {0, 10 * 1000 * 1000};
            nanosleep(&ts, NULL);

	    /* check for program ending */
	    retval = waitpid( pid, &status, WNOHANG );
	    if ( retval < 0 ) {
	        if (count >= 100) {
		    fprintf(stderr, "\n");
		}
		rtapi_print_msg(RTAPI_MSG_ERR,
		    "HAL:%d: ERROR: waitpid(%d) failed\n", linenumber, pid);
		return -1;
	    }
	    if ( retval > 0 ) {
		exited = 1;
	    }
	    /* check for program becoming ready */
            rtapi_mutex_get(&(hal_data->mutex));
            comp = halpr_find_comp_by_name(new_comp_name);
            if(comp && comp->ready) {
                ready = 1;
            }
            rtapi_mutex_give(&(hal_data->mutex));
	    /* pacify the user */
            count++;
            if(count == 100) {
                fprintf(stderr, "Waiting for component '%s' to become ready.",
                        new_comp_name);
                fflush(stderr);
            } else if(count > 100 && count % 10 == 0) {
                fprintf(stderr, ".");
                fflush(stderr);
            }
        }
        if (count >= 100) {
	    fprintf(stderr, "\n");
	}
	if (ready) {
	    rtapi_print_msg(RTAPI_MSG_INFO, "Component '%s' ready\n", new_comp_name);
	} else {
	    rtapi_print_msg(RTAPI_MSG_ERR,
		"HAL:%d: ERROR: %s exited without becoming ready\n", linenumber, prog_name);
	    return -1;
	}
    }