> In any case LinuxCNC would remain, and depend on that package. The API used
> by LinuxCNC would change from 'current' to 'messaging' over time. Once that
> is complete, the dividing line between the two packages would also be the
> realtime boundary; there would be no need anymore for the LinuxCNC package
> proper to be in any way dependent on a particular realtime OS or RTAPI except
> for the messsaging API. That means LinuxCNC per se would be in principle free
> to use any UI, and a much wider range of underlying OSes.
>
> I see quite a few potential users for such a HAL/RTAPI package; of course it
> isnt impossible right now, as you say, but the fact that it is integrated
> with linuxcnc brings not only baggage with it. I would think few people
> outside the Linuxcnc community are actually aware of separate HAL/RTAPI use
> is possible, and would consider using it standalone.
>
> Maybe Peter can chip in here with an idea for another use case we recently
> discussed offline.
>
> The HAL/RTAPI package would inherit most of the build complexity as now
> LinuxCNC is pretty much standard userland code; reworking an HAL/RTAPI only
> build process is a little bit easier than the whole of LinuxCNC.
>
> I also see some benefit on the relicensing them (without having properly
> researched that yet, though) - I would think that HAL/RTAPI - given it has
> much fewer authors - could be more easily morphed into a less restrictive
> license enabling the use of several key packages needed for the messaging
> API. Eventually the whole of LinuxCNC must be relicensed IMO, but at least we
> have a starting point.
>
> So this effort would roughly contain HAL, RTAPI, HAL-capable UI tools like
> gladevcp, comp, plus the future messaging-based API.
>
> As a tentative name I propose 'MachineKit' or 'Realtime MachineKit', so the
> baby has a name which doesnt break the tongue and conveys a bit of intent and
> functionality.
>
> - Michael
>
I agree that this is direction we should go.
The MachineKit or ControlKit is a great idea to give to the world.
I am sure people we use, expand, and port this.
Then we can absorb all that extra development manpower.
By breaking it up makes it _so_ much more manageable for stuff like porting to
new CPUs.
It would surely be used by people of different disciplines that have completely
different needs.
That sounds like ripe opportunity for development of components that we are not
likely to do, yet
could be used by us. fuzzy logic, vision, different motion controllers etc.
While working with Gscreen / PNCconf I do find the GUI to HAL GUI to linuxcnc
a bit of a pain.
Each GUI does things (eg jogging controls) differently so switching GUIs is not
as easy as it could be.
I don't want HAL in my GUI. I think I need HALUI to talk to my GUI so I can mix
and match physical
input and screen input. Right now I either have to duplicate HALUI fuctions so
I have control of them.
Or live with someone using HALUI and kinda screwing up the display. eg the
jograte between HALUI
and Gscreen can be two different rates, with no easy way to sort it out without
using a lot of HAL logic
which just seems wrong and easy for a user to screw up .
Would your messaging scheme be just for HAL or would it replace NML ?
and licensing is holding back the messaging isn't it ( I mean aside from time)
As far as whether it gets put in v2.5, master or linuxcnc3, I think a lot of
that comes down to how much
freedom you need to do what you want. I started Gscreen in V2.5 till it was
clear I needed to go to
master to change the things that needed to be changed to make it work
satisfactory.
But if talking fixing licensing then your probably talking V3.0
So are you thinking:
1) new realtime options (almost done)
2) pull out HAL and friends as it's own package promote it to the free world :)
3) decide on the direction for the CNC controller
which sounds like re licence, more modularisation, and more separating of
user and realtime code (motion)
Chris M
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