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motion: allow alt tp,home modules, demo comp files

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Squashed commits:
===========================================================
A) halcompile.g options for homemod,tpmod
1) supply correct SYNOPSIS
2) force singleton option
===========================================================
B) homecomp.comp (example module using halcompile)
===========================================================
C) tpcomp.comp (skeleton module using halcompile)
===========================================================
D) linuxcnc.in options for alternate tp,home modules
===========================================================
E) Make: modular traj planning, homing (tpmod,homemod)
1) motmod no longer includes functions for trajectory
   planning and homing but uses exported functions
   from modules tpmod,homemod by default
2) building modules out-of-tree requires: homing.h,emcpose.h
3) sincos.c don't use config.h to allow out-of-tree build
===========================================================
docs: tp,home modules
This commit is contained in:
Dewey Garrett 2022-02-09 09:32:29 -07:00
parent 642ec9e23c
commit 08ac87d411
13 changed files with 547 additions and 18 deletions
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28
docs/src/code/code-notes.adoc
View file

@ -97,6 +97,34 @@ HAL Manual. Another chapter of this document will
eventually go into the internals of the HAL itself, but in this
chapter, we only use the HAL API as defined in src/hal/hal.h.
=== Motion Controller Modules
The realtime functions of the motion controller are implemented
with modules -- shared objects for rtpreempt systems or kernel
modules for some implementations (RTAI):
* 'tpmod' - trajectory planning
* 'homemod' - homing functions
* 'motmod' - processes NML commands and controls hardware via hal
* 'kinematics module' - performs foward (joints-->coordinates) and
inverse (coordinates->joints) kinematics calculations
LinuxCNC is started by a *linuxcnc* script which reads a
configuration ini file and starts all needed processes. For
realtime motion control, the script first loads the default tpmod
and homemod modules and then loads the kinematics and motion
modules according to settings in halfiles specified by the ini
file.
Custom (user-built) homing or trajectory-planning modules can
be used in place of the default modules via ini file settings
or command line options. Custom modules must implement all
functions used by the default modules. The halcompile utility
can be used to create a custom module.
image::LinuxCNC-motion-controller-small.png[align="center"]
== Block diagrams and Data Flow

17
docs/src/config/ini-config.adoc
View file

@ -669,6 +669,12 @@ Section.
realtime part of the motion controller) to acknowledge receipt of
messages from Task (the non-realtime part of the motion controller).
* HOMEMOD = alternate_homing_module [home_parms=value]
The HOMEMOD variable is optional. If specified, use a specified (user-built)
module instead of the default (homemod). Module parameters (home_parms) may be
included if supported by the named module. The setting may be overridden
from the command line using the -m option ($linuxcnc -h)
[[sec:task-section]](((INI File, TASK Section)))
=== [TASK] Section
@ -1003,6 +1009,10 @@ small, tight corners, since you're limited by cornering acceleration.
using identity kinematics without homing ability will need to have this
option set to 1.
[WARNING]
LinuxCNC will not know your joint travel limits when using 'NO_FORCE_HOMING = 1'.
* 'HOME = 0 0 0 0 0 0 0 0 0' - World home position needed for kinematics modules
that compute world coordinates using kinematicsForward() when switching
from joint to teleop mode. Up to nine coordinate values (X Y Z A B C U V W)
@ -1011,8 +1021,11 @@ small, tight corners, since you're limited by cornering acceleration.
kinematics (mill, lathe, gantry types) this value is ignored.
Note: the sim hexapod config requires a non-zero value for the Z coordinate.
[WARNING]
LinuxCNC will not know your joint travel limits when using 'NO_FORCE_HOMING = 1'.
* TPMOD = alternate_trajectory_planning module [tp_parms=value]
The TPMOD variable is optional. If specified, use a specified (user-built)
module instead of the default (tpmod). Module parameters (tp_parms) may be
included if supported by the named module. The setting may be overridden
from the command line using the -t option ($linuxcnc -h)
[[sec:kins-section]](((INI File, KINS Section)))

16
docs/src/getting-started/updating-linuxcnc.adoc
View file

@ -1376,6 +1376,22 @@ The userspace test program has not been actively maintained and
its use is deprecated. The ugenserkins.c file may be removed
in the future.
==== Trajectory Planner
The trajectory planner is now implemented as a loadable module
(default:tpmod). An alternate (user-built) planner can be loaded using
ini setting [TRAJ]TPMOD= modulename or the 'linuxcnc -t modulename' option.
The example file src/hal/components/tpcomp.com illustrates a method for
creating a module using halcompile.
==== Homing
Homing functions are now implemented by a loadable module
(default:homemod). An alternate (user-built) planner can be loaded using
ini setting [EMCMOT]HOMEMOD=modulename or the 'linuxcnc -m modulename' option.
The example file src/hal/components/homecomp.comp is a minimal example
of a homing module that can be built with halcompile.
==== Other
lib/hallib/sim_lib.tcl: simulate encoder index if [JOINT_n]HOME_USE_INDEX

6
docs/src/hal/comp.adoc
View file

@ -325,6 +325,12 @@ The currently defined options are:
'no'. When compiling a userspace component, the arguments given are inserted
in the compiler command line.
* 'option homemod yes' - (default: no)
Module is a custom Homing module loaded using [EMCMOT]HOMEMOD=modulename
* 'option tpmod yes' - (default: no)
Module is a custom Trajectory Planning (tp) module loaded using [TRAJ]TPMOD=modulename
If an option's VALUE is not specified, then it is equivalent to
specifying 'option … yes'.
The result of assigning an inappropriate value to an option is undefined.

37
docs/src/user/starting-linuxcnc.adoc
View file

@ -11,8 +11,39 @@ linuxcnc [options] [<ini-file>]
----
.linuxcnc script options
* '-v' = verbose - prints info as it works
* '-d' = echoes script commands to screen for debugging
----
linuxcnc: Run LINUXCNC
Usage:
$ linuxcnc -h
This help
$ linuxcnc [Options]
Choose the configuration inifile graphically
$ linuxcnc [Options] path/to/your_ini_file
Name the configuration inifile using its path
$ linuxcnc [Options] -l
Use the previously used configuration inifile
Options:
-d: Turn on "debug" mode
-v: Turn on "verbose" mode
-k: Continue in the presence of errors in .hal files
-t "tpmodulename [parameters]"
specify custom trajectory_planning_module
overrides optional ini setting [TRAJ]TPMOD
-m "homemodulename [parameters]"
specify custom homing_module
overrides optional ini setting [EMCMOT]HOMEMOD
-H "dirname": search dirname for Halfiles before searching
ini directory and system library:
/home/git/linuxcnc-dev/lib/hallib
Note:
The -H "dirname" option may be specified multiple times
----
If the linuxcnc script is passed an ini file it reads the ini file and starts
LinuxCNC. The ini file [HAL] section specifies the order of loading up HAL
@ -26,7 +57,7 @@ INI configuration for more information.
=== Configuration Selector
If no ini file is passed to the linuxcnc script it loads the configuration
If no ini file is passed to the linuxcnc script it loads the configuration
selector so you can choose and save a sample configuration. Once a sample
configuration has been saved it can be modified to suit your application.
The configuration files are saved in linuxcnc/configs directory.

35
scripts/linuxcnc.in
View file

@ -113,6 +113,12 @@ Options:
-d: Turn on "debug" mode
-v: Turn on "verbose" mode
-k: Continue in the presence of errors in .hal files
-t "tpmodulename [parameters]"
specify custom trajectory_planning_module
overrides optional ini setting [TRAJ]TPMOD
-m "homemodulename [parameters]"
specify custom homing_module
overrides optional ini setting [EMCMOT]HOMEMOD
-H "dirname": search dirname for Halfiles before searching
ini directory and system library:
$HALLIB_DIR
@ -125,7 +131,7 @@ EOF
################################################################################
# 1.1. strip and process command line options
################################################################################
while getopts "dvlhkrH:" opt
while getopts "dvlhkrH:t:m:" opt
do
case "$opt" in
d)
@ -159,6 +165,16 @@ do
exit 1
fi
;;
t) # -t modname: user-supplied trajectory planning module
# modname must conform to tpmod api,
# and be located in: $LINUXCNC_RTLIB_DIR
TPMOD=$OPTARG
;;
m) # -m modname: user-supplied homing module
# modname must conform to homing api,
# and be located in: $LINUXCNC_RTLIB_DIR
HOMEMOD=$OPTARG
;;
*)
usage
exit 1
@ -500,6 +516,18 @@ RS274NGC_PARAMFILE=$retval
GetFromIniEx MOT MOT EMCMOT EMCMOT motmod
EMCMOT=$retval$MODULE_EXT # add module extension
# commandline -t option supersedes inifile setting
if [ -z "$TPMOD" ] ; then
GetFromIni TPMOD TRAJ
TPMOD=${retval:-tpmod} #use default if not found
fi
# commandline -m option supersedes inifile setting
if [ -z "$HOMEMOD" ] ; then
GetFromIni HOMEMOD EMCMOT
HOMEMOD=${retval:-homemod} #use default if not found
fi
# 2.4. get io information
GetFromIniEx IO IO EMCIO EMCIO io
EMCIO=$retval
@ -814,6 +842,10 @@ fi
# 4.3.6. execute HALCMD config files (if any)
echo "$(basename $0) TPMOD=$TPMOD HOMEMOD=$HOMEMOD EMCMOT=${EMCMOT%.*}"
eval $HALCMD loadrt "$TPMOD"
eval $HALCMD loadrt "$HOMEMOD"
TWOPASS=`$INIVAR -ini "$INIFILE" -var TWOPASS -sec HAL -num 1 2> /dev/null`
if [ -n "$TWOPASS" ] ; then
# 4.3.6.1. if [HAL]TWOPASS is defined, handle all [HAL]HALFILE entries here:
@ -890,6 +922,7 @@ else
done
fi
# 4.3.7. Run task in background
echo "Starting TASK program: $EMCTASK" >>$PRINT_FILE
if ! program_available $EMCTASK ; then

28
src/Makefile
View file

@ -333,6 +333,7 @@ HEADERS := \
emc/tp/blendmath.h \
emc/motion/emcmotcfg.h \
emc/motion/motion.h \
emc/motion/homing.h \
emc/motion/simple_tp.h \
emc/motion/state_tag.h \
emc/motion/usrmotintf.h \
@ -344,6 +345,7 @@ HEADERS := \
emc/nml_intf/emccfg.h \
emc/nml_intf/emcglb.h \
emc/nml_intf/emcpos.h \
emc/nml_intf/emcpose.h \
emc/nml_intf/interp_return.hh \
emc/nml_intf/interpl.hh \
emc/nml_intf/motion_types.h \
@ -1135,22 +1137,28 @@ obj-m += 5axiskins.o
obj-$(CONFIG_MOTMOD) += motmod.o
motmod-objs := emc/kinematics/cubic.o
motmod-objs += emc/tp/tc.o
motmod-objs += emc/tp/tcq.o
motmod-objs += emc/tp/tp.o
motmod-objs += emc/tp/spherical_arc.o
motmod-objs += emc/tp/blendmath.o
motmod-objs += emc/motion/motion.o
motmod-objs += emc/motion/command.o
motmod-objs += emc/motion/control.o
motmod-objs += emc/motion/homing.o
motmod-objs += emc/motion/simple_tp.o
motmod-objs += emc/motion/emcmotutil.o
motmod-objs += emc/motion/stashf.o
motmod-objs += emc/motion/dbuf.o
motmod-objs += emc/nml_intf/emcpose.o
motmod-objs += libnml/posemath/_posemath.o
motmod-objs += libnml/posemath/sincos.o $(MATHSTUB)
obj-m += homemod.o
homemod-objs := emc/motion/homemod.o
homemod-objs += emc/motion/homing.o
obj-m += tpmod.o
tpmod-objs := emc/tp/tpmod.o
tpmod-objs += emc/tp/tc.o
tpmod-objs += emc/tp/tcq.o
tpmod-objs += emc/tp/tp.o
tpmod-objs += emc/tp/spherical_arc.o
tpmod-objs += emc/tp/blendmath.o
tpmod-objs += emc/nml_intf/emcpose.o
tpmod-objs += libnml/posemath/_posemath.o
tpmod-objs += libnml/posemath/sincos.o $(MATHSTUB)
TORTOBJS = $(foreach file,$($(patsubst %.o,%,$(1))-objs), objects/rt$(file))
ifeq ($(BUILD_SYS),uspace)
@ -1239,6 +1247,8 @@ endif
../rtlib/scope_rt$(MODULE_EXT): $(addprefix objects/rt,$(scope_rt-objs))
../rtlib/hal_lib$(MODULE_EXT): $(addprefix objects/rt,$(hal_lib-objs))
../rtlib/motmod$(MODULE_EXT): $(addprefix objects/rt,$(motmod-objs))
../rtlib/tpmod$(MODULE_EXT): $(addprefix objects/rt,$(tpmod-objs))
../rtlib/homemod$(MODULE_EXT): $(addprefix objects/rt,$(homemod-objs))
../rtlib/trivkins$(MODULE_EXT): $(addprefix objects/rt,$(trivkins-objs))
../rtlib/5axiskins$(MODULE_EXT): $(addprefix objects/rt,$(5axiskins-objs))
../rtlib/maxkins$(MODULE_EXT): $(addprefix objects/rt,$(maxkins-objs))

46
src/emc/motion/homemod.c Normal file
View file

@ -0,0 +1,46 @@
/*
**Notes:
** 1) The rtapi_app_main() creates a minimal component (homemod)
** allowing use with:
** 'halcmd loadrt homemod' (loads module: homemod.so)
** 2) homing.c provides all functions required by subsequent load
** of motmod
*/
#include "rtapi.h"
#include "rtapi_app.h"
#include "hal.h"
#define HOMEMOD_DEBUG
#undef HOMEMOD_DEBUG
// provision for testing use of module parameters:
static char *home_parms;
RTAPI_MP_STRING(home_parms,"Example home parms");
static int homemod_id;
int rtapi_app_main(void)
{
#ifdef HOMEMOD_DEBUG
if (home_parms) {
rtapi_print("%s:%s: home_parms=%s\n",__FILE__,__FUNCTION__,home_parms);
}
#endif
char* emsg;
homemod_id = hal_init("homemod"); // dlopen(".../homemod.so")
if (homemod_id < 0) {emsg="hal_init()"; goto error;}
hal_ready(homemod_id);
return 0;
error:
rtapi_print_msg(RTAPI_MSG_ERR,"\nhomemod FAIL:<%s>\n",emsg);
hal_exit(homemod_id);
return -1;
}
void rtapi_app_exit(void)
{
hal_exit(homemod_id);
return;
}

46
src/emc/tp/tpmod.c Normal file
View file

@ -0,0 +1,46 @@
/*
**Notes:
** 1) This rtapi_app_main() creates a minimal component (tpmod)
** allowing use with:
** 'halcmd loadrt tpmod' (loads module: tpmod.so)
** 2) tp.c, tc.c,...,etc provide all functions required by
** subsequent load of motmod
*/
#include "rtapi.h"
#include "rtapi_app.h"
#include "hal.h"
#define TPMOD_DEBUG
#undef TPMOD_DEBUG
// provision for testing use of module parameters:
static char *tp_parms;
RTAPI_MP_STRING(tp_parms,"Example tp parms");
static int tpmod_id;
int rtapi_app_main(void)
{
#ifdef TPMOD_DEBUG
if (tp_parms) {
rtapi_print("%s:%s: tp_parms=%s\n",__FILE__,__FUNCTION__,tp_parms);
}
#endif
char* emsg;
tpmod_id = hal_init("tpmod"); // dlopen(".../tpmod.so")
if (tpmod_id < 0) {emsg="hal_init()"; goto error;}
hal_ready(tpmod_id);
return 0;
error:
rtapi_print_msg(RTAPI_MSG_ERR,"\ntpmod FAIL:<%s>\n",emsg);
hal_exit(tpmod_id);
return -1;
}
void rtapi_app_exit(void)
{
hal_exit(tpmod_id);
return;
}

201
src/hal/components/homecomp.comp Normal file
View file

@ -0,0 +1,201 @@
component homecomp"homing module template";
description """
Example of a homing module buildable with halcompile.
Demonstrates required code for #includes, function definitions, etc.
An actual homing scheme is \\fBnot\\fR implemented but all necessary
functions are included as skeleton code. (All joints are
effectively homed at all times and cannot be unhomed).
See the source code file: src/emc/motion/homing.c for the baseline
implementation that includes all functions for the default \\fBhomemod\\fR
module.
To avoid updates that overwrite homecomp.comp, best practice is
to rename the file and its component name (example:
\\fBuser_homecomp.comp, user_homecomp\\fR).
The (renamed) component can be built and installed with
halcompile and then substituted for the default homing module
(\\fBhomemod\\fR) using:\n
$ linuxcnc \\fB-m user_homecomp\\fR someconfig.ini\n
or by inifile setting: \\fB[EMCMOT]HOMEMOD=user_homecomp\\fR
\\fBNote:\\fRIf using a deb install:\n
1) halcompile is provided by the package linuxcnc-dev\n
2) This source file for BRANCHNAME (master,2.9,etc) is downloadable from github:\n
https://github.com/LinuxCNC/linuxcnc/blob/BRANCHNAME/src/hal/components/homecomp.comp
""";
pin out bit is_module=1; //one pin is required to use halcompile)
license "GPL";
option homemod;
option extra_setup;
;;
#include "motion.h"
#include "homing.h"
static char *home_parms;
RTAPI_MP_STRING(home_parms,"Example home parms");
// rtapi_app_main() supplied by halcompile
// EXTRA_SETUP is executed before rtapi_app_main()
EXTRA_SETUP() {
if (!home_parms) {home_parms = "no_home_parms";}
rtapi_print("@@@%s:%s: home_parms=%s\n",__FILE__,__FUNCTION__,home_parms);
return 0;
}
// retrieved from motmod.so:
static emcmot_config_t *emcmotConfig;
static emcmot_joint_t *joints;
//========================================================
// motmod function ptrs for functions called BY homecomp:
static void(*SetRotaryUnlock)(int,int);
static int (*GetRotaryIsUnlocked)(int);
//========================================================
// functions ptrs received from motmod:
void homeMotFunctions(void(*pSetRotaryUnlock)(int,int)
,int (*pGetRotaryIsUnlocked)(int)
)
{
SetRotaryUnlock = *pSetRotaryUnlock;
GetRotaryIsUnlocked = *pGetRotaryIsUnlocked;
}
// emcmot pointers received from motmod
void homeMotData(emcmot_config_t * pconfig
,emcmot_joint_t * pjoints
)
{
emcmotConfig = pconfig;
joints = pjoints;
}
//========================================================
// data for per-joint homing-specific hal pins:
typedef struct {
hal_bit_t *home_sw; // home switch input
hal_bit_t *homing; // joint is homing
hal_bit_t *homed; // joint was homed
hal_bit_t *index_enable; // motmod sets: request reset on index
// encoder clears: index arrived
hal_s32_t *home_state; // homing state machine state
} one_joint_home_data_t;
typedef struct {
one_joint_home_data_t jhd[EMCMOT_MAX_JOINTS];
} all_joints_home_data_t;
static all_joints_home_data_t *joint_home_data = 0;
static int makepins(int id,int njoints)
{
// home_pins needed to work with configs expecting them:
int jno,retval;
one_joint_home_data_t *addr;
joint_home_data = hal_malloc(sizeof(all_joints_home_data_t));
if (joint_home_data == 0) {
rtapi_print_msg(RTAPI_MSG_ERR, "HOMING: all_joints_home_data_t malloc failed\n");
return -1;
}
retval = 0;
for (jno = 0; jno < njoints; jno++) {
addr = &(joint_home_data->jhd[jno]);
retval += hal_pin_bit_newf(HAL_IN, &(addr->home_sw), id,
"joint.%d.home-sw-in", jno);
retval += hal_pin_bit_newf(HAL_OUT, &(addr->homing), id,
"joint.%d.homing", jno);
retval += hal_pin_bit_newf(HAL_OUT, &(addr->homed), id,
"joint.%d.homed", jno);
retval += hal_pin_s32_newf(HAL_OUT, &(addr->home_state), id,
"joint.%d.home-state", jno);
retval += hal_pin_bit_newf(HAL_IO, &(addr->index_enable), id,
"joint.%d.index-enable", jno);
}
return retval;
}
//========================================================
// All functions required for homing api
// For homecomp.comp: most are skeleton
bool do_homing(void) {return 1;}
void do_homing_sequence(void) {return;}
bool get_allhomed() {return 1;}
bool get_homed(int jno) {return 1;}
bool get_home_is_idle(int jno) {return 1;}
bool get_home_is_synchronized(int jno) {return 0;}
bool get_home_is_volatile(int jno) {return 0;}
bool get_home_needs_unlock_first(int jno) {return 0;}
int get_home_sequence(int jno) {return 0;}
home_sequence_state_t get_home_sequence_state() {return HOME_SEQUENCE_IDLE;}
bool get_homing(int jno) {return 0;}
bool get_homing_at_index_search_wait(int jno) {return 0;}
bool get_homing_is_active() {return 0;}
int homing_init(int id,int njoints) {return makepins(id,njoints);}
bool get_index_enable(int jno) {return 0;}
void read_homing_in_pins(int njoints) {return;}
void set_home_abort(int jno) {return;}
void set_home_idle(int jno) {return;}
void set_home_sequence_state(home_sequence_state_t s_state) {return;}
void set_home_start(int jno) {return;}
void set_joint_at_home(int jno, bool value) {return;}
void set_joint_homed(int jno,bool value) {return;}
void set_joint_homing(int jno,bool value) {return;}
void set_joint_homing_params(int jno,
double offset,
double home,
double home_final_vel,
double home_search_vel,
double home_latch_vel,
int home_flags,
int home_sequence,
bool volatile_home
) {return;}
void update_joint_homing_params (int jno,
double offset,
double home,
int home_sequence
) {return;}
void write_homing_out_pins(int njoints) {return;}
//========================================================
// all home functions for homing api
EXPORT_SYMBOL(homeMotFunctions);
EXPORT_SYMBOL(homeMotData);
EXPORT_SYMBOL(do_homing);
EXPORT_SYMBOL(do_homing_sequence);
EXPORT_SYMBOL(get_allhomed);
EXPORT_SYMBOL(get_homed);
EXPORT_SYMBOL(get_home_is_idle);
EXPORT_SYMBOL(get_home_is_synchronized);
EXPORT_SYMBOL(get_home_is_volatile);
EXPORT_SYMBOL(get_home_needs_unlock_first);
EXPORT_SYMBOL(get_home_sequence);
EXPORT_SYMBOL(get_home_sequence_state);
EXPORT_SYMBOL(get_homing);
EXPORT_SYMBOL(get_homing_at_index_search_wait);
EXPORT_SYMBOL(get_homing_is_active);
EXPORT_SYMBOL(get_index_enable);
EXPORT_SYMBOL(homing_init);
EXPORT_SYMBOL(read_homing_in_pins);
EXPORT_SYMBOL(set_home_abort);
EXPORT_SYMBOL(set_home_idle);
EXPORT_SYMBOL(set_home_sequence_state);
EXPORT_SYMBOL(set_home_start);
EXPORT_SYMBOL(set_joint_at_home);
EXPORT_SYMBOL(set_joint_homed);
EXPORT_SYMBOL(set_joint_homing);
EXPORT_SYMBOL(set_joint_homing_params);
EXPORT_SYMBOL(update_joint_homing_params);
EXPORT_SYMBOL(write_homing_out_pins);

94
src/hal/components/tpcomp.comp Normal file
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@ -0,0 +1,94 @@
component tpcomp"Trajectory Planning (tp) module skeleton";
// NOTE: component name must agree with filename
description """
Example of a trajectory planning (tp) module buildable with
halcompile.
The tpcomp.comp file (src/hal/components/tpcomp.comp)
illustrates a method to use halcompile to build a
trajectory planning module based on the files used for the
default trajectory planner (\\fBtpmod\\fR).
The example tpcomp.comp is not usable until modified
for the user environment. To create a runnable tpcomp
module, the tpcomp.comp file must be edited to supply 1) a
valid '#define TOPDIR' and 2) references to valid source
code file names for all files used.
To avoid updates that overwrite tpcomp.comp, best practice is
to rename the file and its component name (example:
\\fBuser_tpcomp.comp\\fR creates module: \\fBuser_tpcomp\\fR).
The (renamed) component can be built and installed with
halcompile and then substituted for the default tp module
(\\fBtpmod\\fR) using:\n
$ linuxcnc \\fB-t user_tpcomp\\fR someconfig.ini\n
or by inifile setting: \\fB[TRAJ]TPMOD=user_tpcomp\\fR
\\fBNote:\\fRIf using a deb install:\n
1) halcompile is provided by the deb package linuxcnc-dev\n
2) This source file for BRANCHNAME (master,2.9,etc) is downloadable from github:\n
https://github.com/LinuxCNC/linuxcnc/blob/BRANCHNAME/src/hal/components/tpcomp.comp
""";
pin out bit is_module=1; //one pin is required to use halcompile)
license "GPL";
option tpmod;
option extra_setup;
;;
//=====================================================================
/* To use trajectory planner (tp) files from a local git src tree:
** set TOPDIR to the git src tree top directory
** (Edit 'myname' as required)
*/
//#define TOPDIR /home/myname/linuxcnc-dev
#ifdef TOPDIR // {
/* To use a modified file from the src tree substitute as reqd.
** Example (comment out standard file, add new one):
** // #include USE_TOPDIR(src/emc/tp/tp.c)
** #include "somepath/mymodified_tp.c
*/
#define STR(s) #s
#define XSTR(s) STR(s)
#define USE_TOPDIR(b) XSTR(TOPDIR/b)
#include USE_TOPDIR(src/emc/tp/tp.c)
#include USE_TOPDIR(src/emc/tp/tc.c)
#include USE_TOPDIR(src/emc/tp/tcq.c)
#include USE_TOPDIR(src/emc/tp/spherical_arc.c)
#include USE_TOPDIR(src/emc/tp/blendmath.c)
#include USE_TOPDIR(src/emc/nml_intf/emcpose.c)
#include USE_TOPDIR(src/libnml/posemath/_posemath.c)
#include USE_TOPDIR(src/libnml/posemath/sincos.c)
#endif // }
//=====================================================================
// Example module parameters (RTAPI_MP_STRING,RTAPI_MP_INT,...)
// that can be passed to custom tp files
static char *tp_parms;
RTAPI_MP_STRING(tp_parms,"Example tp parms");
// rtapi_app_main() supplied by halcompile
// EXTRA_SETUP is executed before rtapi_app_main()
EXTRA_SETUP() {
#ifndef TOPDIR
#warning No TOPDIR defined, module provides no tp functions
rtapi_print("\n%s Using default tp functions\n",__FILE__);
#else
rtapi_print("\n%s TOPDIR=%s\n",__FILE__,XSTR(TOPDIR));
#endif
if (!tp_parms) {tp_parms="no_tp_parms";}
rtapi_print("@@@%s:%s: tp_parms=%s\n",__FILE__,__FUNCTION__,tp_parms);
return 0;
}
#undef USE_TOPDIR
#undef XSTR
#undef STR
#undef TOPDIR

9
src/hal/utils/halcompile.g
View file

@ -907,7 +907,11 @@ def document(filename, outfilename):
print(rest, file=f)
else:
print(".HP", file=f)
if options.get("singleton") or options.get("count_function"):
if options.get("homemod"):
print("Custom Homing module loaded with \\fB[EMCMOT]HOMEMOD=%s\\fR"%comp_name, file=f)
elif options.get("tpmod"):
print("Custom Trajectory Planning module loaded with \\fB[TRAJ]TPMOD=%s\\fR"%comp_name, file=f)
elif options.get("singleton") or options.get("count_function"):
if has_personality:
print(".B loadrt %s personality=\\fIP\\fB" % comp_name, end='', file=f)
else:
@ -1042,6 +1046,9 @@ def process(filename, mode, outfilename):
f = open(outfilename, "w")
if options.get("homemod"): options["singleton"] = 1
if options.get("tpmod"): options["singleton"] = 1
if options.get("userinit") and not options.get("userspace"):
print("Warning: comp '%s' sets 'userinit' without 'userspace', ignoring" % filename, file=sys.stderr)

2
src/libnml/posemath/sincos.c
View file

@ -17,8 +17,6 @@
21-Jan-2004 P.C. Moved across from the original EMC source tree.
*/
#include "config.h"
#include "rtapi_math.h"
#include "sincos.h"