OpenCV vision with EMC/linuxcnc

component redisclient;

pin in bit B0 = false;
pin in bit B1 = false;
pin in bit B2 = false;
pin in bit B3 = false;
pin in bit B4 = false;
pin in bit B5 = false;

pin in s32 D0 = 0;
pin in s32 D1 = 0;
pin in s32 D2 = 0;
pin in s32 D3 = 0;
pin in s32 D4 = 0;
pin in s32 D5 = 0;

pin in float F0 = 0;
pin in float F1 = 0;
pin in float F2 = 0;
pin in float F3 = 0;
pin in float F4 = 0;
pin in float F5 = 0;

option userspace;
option singleton;     // can't have multiple components or pin names will collide 
                                  // and overwrite each other in redis

author "ArcEye ";
license "GPL";
;;

#include <stdio.h>    /* Standard input/output definitions */
#include <stdlib.h> 
#include <stdint.h>   /* Standard types */
#include <string.h>   /* String function definitions */
#include <unistd.h>   /* UNIX standard function definitions */
#include <fcntl.h>    /* File control definitions */
#include <errno.h>    /* Error number definitions */
#include <termios.h>  /* POSIX terminal control definitions */

#include <hiredis.h>  // hiredis header

#define PORTNUM 6379  // hard coded port default for redis

redisContext *context;
redisReply *reply;
struct timeval timeout = { 1, 500000 }; // 1.5 seconds

char buff[256];

unsigned char emc_bits[6];
long int emc_s32s[6];
float emc_floats[6];


void user_mainloop(void) 
{
int x;
    
    context = redisConnectWithTimeout("localhost", 6379, timeout);
    if (context->err) 
        {
        printf("Connection error: %sn", context->errstr);
        exit(1);
        }
   
    while(1)
        {
        usleep(1000000);//approx 1 sec

        FOR_ALL_INSTS()
            {
            int i; 
        
            emc_bits[0]= B0; emc_bits[1]= B1; emc_bits[2]= B2; emc_bits[3]= B3; emc_bits[4]= B4; emc_bits[5]= B5;
            emc_s32s[0]= D0; emc_s32s[1]= D1; emc_s32s[2]= D2; emc_s32s[3]= D3; emc_s32s[4]= D4; emc_s32s[5]= D5;
            emc_floats[0]= F0; emc_floats[1]= F1; emc_floats[2]= F2; emc_floats[3]= F3; emc_floats[4]= F4; emc_floats[5]= F5;
                
            for (i = 0; i < 6; i ++)
                {
                reply = redisCommand(context,"SET B%d %d", i, emc_bits[i]);
                // printf("SET: %dn",emc_bits[i] );
                freeReplyObject(reply);
                }
            for (i = 0; i < 6; i ++)
                {
                reply = redisCommand(context,"SET D%d %d", i, emc_s32s[i]);
                // printf("SET: %ldn", emc_s32s[i]);
                freeReplyObject(reply);
                }
            for (i = 0; i < 6; i ++)
                {
                reply = redisCommand(context,"SET F%d %f", i, emc_floats[i]);
                // printf("SET: %fn", emc_floats[i]);
                freeReplyObject(reply);
                }
            }
        }           
}