Ongoing work related to motmod:
06feb22: I've completed work on branch dgarr/loadmodules
and plan to squash all commits and merge to master in
the next few days:
1) Trajectory planning and homing functions implemented
as loadable modules
2) Current (master branch) tp and homing functions are
loaded by default (so no in-tree nor user config
changes are required)
3) Out-of-tree builds examples buildable with halcompile
provided (src/hal/components/):
homecomp.comp (complete but minimal functions)
tpcomp.comp (demostrates using links to default src files)
4) Optional inifile settings to load user-built modules:
[TRAJ]TPMOD=user_tpcomp
[EMCMOT]HOMEMOD=user_homecomp
5) linuxcnc script support (overides any ini settings):
linuxcnc -t user_tpcomp -m user_homecomp ...
6) runtests passes (rtpreempt,rtai)
7) out-of-tree halcompile builds work (rtpreempt,rtai)
More details in the commit messages:
https://github.com/LinuxCNC/linuxcnc/commits/dgarr/loadmodules
Note: some of the preparatory commits include some refactoring
and may duplicate some of Arvids's work:
https://github.com/LinuxCNC/linuxcnc/commit/b95e90acb motion.[ch] always use
struct_in_shmem
Note: motmod is typically loaded using an ini setting
[EMCMOT]EMCMOT=motmod (where motmod is the distro-supplied
module). Alternate or implementions-for-test of EMCMOT
modules could (probably) be built with halcompile using
the method illustrated in the branch's src/hal/components/tpcomp.comp
--
Dewey Garrett
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