[SOLVED]strange soft limit area is possible??

#ifdef RTAPI
#include "rtapi.h"		/* RTAPI realtime OS API */
#include "rtapi_app.h"		/* RTAPI realtime module decls */
#include "hal.h"

struct haldata {
    hal_float_t *e, *f, *re, *rf, *encval, *encdx, *encdy, *encdz, *xincr, *yincr, *zincr, *aincr, *bincr, *posarea, *secareax, *secareay;
    hal_bit_t *resenc, *isteleop, *ismanual, *ishomed, *jx, *jy, *jz, *ja, *jb, *secarea;
} *haldata = 0;

#define delta_e (*(haldata->e))
#define delta_f (*(haldata->f))
#define delta_re (*(haldata->re))
#define delta_rf (*(haldata->rf))
#define delta_encval (*(haldata->encval))
#define delta_encdx (*(haldata->encdx))
#define delta_encdy (*(haldata->encdy))
#define delta_encdz (*(haldata->encdz))
#define delta_xincr (*(haldata->xincr))
#define delta_yincr (*(haldata->yincr))
#define delta_zincr (*(haldata->zincr))
#define delta_aincr (*(haldata->aincr))
#define delta_bincr (*(haldata->bincr))

#define delta_resenc (*(haldata->resenc))
#define delta_isteleop (*(haldata->isteleop))
#define delta_ismanual (*(haldata->ismanual))
#define delta_ishomed (*(haldata->ishomed))
#define delta_jx (*(haldata->jx))
#define delta_jy (*(haldata->jy))
#define delta_jz (*(haldata->jz))
#define delta_ja (*(haldata->ja))
#define delta_jb (*(haldata->jb))

#define delta_secarea (*(haldata->secarea))
#define delta_posarea (*(haldata->posarea))
#define delta_secareax (*(haldata->secareax))
#define delta_secareay (*(haldata->secareay))

#else
double delta_e, delta_f, delta_re, delta_rf, delta_encval, delta_encdx, delta_encdy, delta_encdz, delta_secareax, delta_secareay, delta_posarea;
#endif

/********* other kins part ************/
int kinematicsInverse(const EmcPose *world,
		      double *joints,
		      const KINEMATICS_INVERSE_FLAGS *iflags,
		      KINEMATICS_FORWARD_FLAGS *fflags)

 {
    double x0, y0, z0, theta1, theta2, theta3;
    int status;
         x0 = world->tran.x;
         y0 = world->tran.y;
         z0 = world->tran.z;

	if((x0 > delta_secareax) && (y0 >  delta_secareay) && (delta_posarea == 1))
	{
		delta_secarea = 1;
	}
	else if ((x0 > delta_secareax) && (y0 <  delta_secareay) &&  (delta_posarea == 2))
	{
		delta_secarea = 1;
	}
	else if((x0 < delta_secareax) && (y0 <  delta_secareay) &&  (delta_posarea == 3))
	{
		delta_secarea = 1;
	}
	else if((x0 < delta_secareax) && (y0 >  delta_secareay) &&  (delta_posarea == 4))
	{
		delta_secarea = 1;
	}
	else
	{
		delta_secarea = 0;
	}

         joints[3] = world->a;
         joints[4] = world->b;
         joints[5] = world->c;
         joints[6] = world->u;
         joints[7] = world->v;
         joints[8] = world->w;

     theta1 = theta2 = theta3 = 0;

     status = delta_calcAngleYZ(x0, y0, z0, &theta1);
     if (status == 0) joints[0] = theta1;
     if (status == 0) status = delta_calcAngleYZ(x0*cos120 + y0*sin120,y0*cos120-x0*sin120, z0, &theta2); /*rotate coords to +120 deg*/
     if (status == 0) joints[1] = theta2;
     if (status == 0) status = delta_calcAngleYZ(x0*cos120 - y0*sin120,y0*cos120+x0*sin120, z0, &theta3); /*rotate coords to -120 deg*/
     if (status == 0) joints[2] = theta3;

     return status;
 }


 /* implemented for these kinematics as giving joints preference */
int kinematicsHome(EmcPose * world,
		   double * joint,
		   KINEMATICS_FORWARD_FLAGS * fflags,
		   KINEMATICS_INVERSE_FLAGS * iflags)
{
    *fflags = 0;
    *iflags = 0;

    return kinematicsForward(joint, world, fflags, iflags);
}

KINEMATICS_TYPE kinematicsType()
{
    return KINEMATICS_BOTH;
    /* return KINEMATICS_INVERSE_ONLY;*/
}

#ifdef RTAPI
#include "rtapi.h"		/* RTAPI realtime OS API */
#include "rtapi_app.h"		/* RTAPI realtime module decls */
#include "hal.h"

EXPORT_SYMBOL(kinematicsType);
EXPORT_SYMBOL(kinematicsForward);
EXPORT_SYMBOL(kinematicsInverse);
MODULE_LICENSE("GPL");


int comp_id;
int rtapi_app_main(void) {
    int res = 0;

    comp_id = hal_init("delta_AAB_inv");
    if(comp_id < 0) return comp_id;

    haldata = hal_malloc(sizeof(struct haldata));
    if(!haldata) goto error;

    if((res = hal_pin_float_new("delta_AAB_inv.e", HAL_IO, &(haldata->e),comp_id)) != 0) goto error;
    if((res = hal_pin_float_new("delta_AAB_inv.f", HAL_IO, &(haldata->f),comp_id)) != 0) goto error;
    if((res = hal_pin_float_new("delta_AAB_inv.re", HAL_IO, &(haldata->re),comp_id)) != 0) goto error;
    if((res = hal_pin_float_new("delta_AAB_inv.rf", HAL_IO, &(haldata->rf),comp_id)) != 0) goto error;
    if((res = hal_pin_float_new("delta_AAB_inv.encval", HAL_IN, &(haldata->encval),comp_id)) != 0) goto error;
    if((res = hal_pin_float_new("delta_AAB_inv.encdx", HAL_OUT, &(haldata->encdx),comp_id)) != 0) goto error;
    if((res = hal_pin_float_new("delta_AAB_inv.encdy", HAL_OUT, &(haldata->encdy),comp_id)) != 0) goto error;
    if((res = hal_pin_float_new("delta_AAB_inv.encdz", HAL_OUT, &(haldata->encdz),comp_id)) != 0) goto error;
    if((res = hal_pin_float_new("delta_AAB_inv.xincr", HAL_OUT, &(haldata->xincr),comp_id)) != 0) goto error;
    if((res = hal_pin_float_new("delta_AAB_inv.yincr", HAL_OUT, &(haldata->yincr),comp_id)) != 0) goto error;
    if((res = hal_pin_float_new("delta_AAB_inv.zincr", HAL_OUT, &(haldata->zincr),comp_id)) != 0) goto error;
    if((res = hal_pin_float_new("delta_AAB_inv.aincr", HAL_OUT, &(haldata->aincr),comp_id)) != 0) goto error;
    if((res = hal_pin_float_new("delta_AAB_inv.bincr", HAL_OUT, &(haldata->bincr),comp_id)) != 0) goto error;

    if((res = hal_pin_bit_new("delta_AAB_inv.secarea", HAL_OUT, &(haldata->secarea),comp_id)) != 0) goto error;
    if((res = hal_pin_float_new("delta_AAB_inv.posarea", HAL_IN, &(haldata->posarea),comp_id)) != 0) goto error;
    if((res = hal_pin_float_new("delta_AAB_inv.secareax", HAL_IN, &(haldata->secareax),comp_id)) != 0) goto error;
    if((res = hal_pin_float_new("delta_AAB_inv.secareay", HAL_IN, &(haldata->secareay),comp_id)) != 0) goto error;   

    if((res = hal_pin_bit_new("delta_AAB_inv.isteleop", HAL_IN, &(haldata->isteleop),comp_id)) != 0) goto error;
    if((res = hal_pin_bit_new("delta_AAB_inv.ismanual", HAL_IN, &(haldata->ismanual),comp_id)) != 0) goto error;
    if((res = hal_pin_bit_new("delta_AAB_inv.ishomed", HAL_IN, &(haldata->ishomed),comp_id)) != 0) goto error;
    if((res = hal_pin_bit_new("delta_AAB_inv.jx", HAL_IN, &(haldata->jx),comp_id)) != 0) goto error;
    if((res = hal_pin_bit_new("delta_AAB_inv.jy", HAL_IN, &(haldata->jy),comp_id)) != 0) goto error;
    if((res = hal_pin_bit_new("delta_AAB_inv.jz", HAL_IN, &(haldata->jz),comp_id)) != 0) goto error;
    if((res = hal_pin_bit_new("delta_AAB_inv.ja", HAL_IN, &(haldata->ja),comp_id)) != 0) goto error;
    if((res = hal_pin_bit_new("delta_AAB_inv.jb", HAL_IN, &(haldata->jb),comp_id)) != 0) goto error;

    if((res = hal_pin_bit_new("delta_AAB_inv.resenc", HAL_OUT, &(haldata->resenc),comp_id)) != 0) goto error;


    delta_e = delta_f = delta_re = delta_rf = 1.0;

    hal_ready(comp_id);
    return 0;

error:
    hal_exit(comp_id);
    return res;
}

void rtapi_app_exit(void) { hal_exit(comp_id); }
#endif