Re: [Emc-developers] Off topic question - Need help with remote cell phone data connection via site to site VPN

[Tom Easterday]

You didn't say what kind of throughput you need nor what your budget is but one 
option is something like a Cisco RV320 on each end with 4G modems attached.  
You can see a review of the router here:  

http://www.smallnetbuilder.com/lanwan/lanwan-reviews/32317-cisco-rv320-dual-gigabit-wan-vpn-router-reviewed?limitstart=0

There is also a you tube video on configuring the modem: 
http://youtu.be/RXerRGEZFEI

I recommended the RV180 for a friend's business that needed sts vpn (over 
public internet, not over cellular) and it worked well for him and he said it 
was easy for them to set up and use.

There are of course other more diy setups using cell phones with tethering and 
using OpenVPN or such on your own processors.  But you have to be careful as 
carriers may try to limit or block always on use of tethering and data plans 
may not fit your requirements.  Or you get some cellular wifi hotspots and use 
them with OpenVPN.
See:
http://www.smallnetbuilder.com/other/security/security-howto/30353-how-to-set-up-a-site-to-site-vpn-with-openvpn

> On Oct 16, 2015, at 3:08 PM, Dave Cole  wrote:
> 
> Key points - need help with a data cell phone connection to remote 
> equipment via a VPN.
> 
> Guys,
> 
> I'm working with some remotely located equipment and I need to establish 
> a comm link to it.
> 
> We have decided to go with a cell phone data connection.   We want to be 
> able to remotely access this equipment via a "site to site" VPN.
> This is different than a client/server VPN connection that people 
> oftentimes use to connect back to corporate headquarters for email, file 
> sharing etc.
> 
> The remote equipment is ethernet based but it is not a generic PC, it's 
> a PLC.   So I need the remote cell phone modem/router to do all of the 
> work of encrypting the data, establishing the VPN tunnel, etc.  It needs 
> to be a VPN Router with a 4G modem built in that supports a "site to 
> site connection" and not just be a Router with VPN passthrough.
> 
> Sprint sells a Netgear 6100D 4G router that is suppose to do this. I 
> bought it and then Sprint told me that they will not support remote 
> access on this device!
> 
> Does anyone have any experience in doing this?   I've been talking to 
> "experts" at Sprint and they want me to use a Sprint approved 4G 
> cell/router that only supports VPN pass through after I have told them 
> over and over that I need to do a site to site VPN with their 4G router 
> acting as a VPN endpoint.
> 
> Sadly, they don't understand the requirements.
> 
> Ironically, TP Link sells a "wired" VPN router for about $60 that does 
> what I need, so I could "stack" routers to do what I need, but I really 
> don't want to have two routers in the remote control box.
> 
> There are some really brilliant people on this list so I am hoping that 
> someone can give me some advice/direction etc.
> 
> Thank You!
> 
> Dave
> 
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Re: [Emc-developers] Shielded connectors (XLR audio plugs)

[Tom Easterday]

> On Oct 13, 2015, at 2:20 PM, andy pugh  wrote:
> However I since found Neutrik Speakon connectors, and they now do
> metal sockets and plugs:
> http://www.maplin.co.uk/p/neutrik-nlt4mp-4-pole-male-chassis-speakon-connector-n50gb
> http://www.maplin.co.uk/p/speakon-4-pole-cable-plug-stx-series-metal-body-a59qt
> 
> (I don't know how well shielded they are).

We used Neutrik xlr, ethernet and powercon connectors on the plasma machine we 
built.  All external cabling goes through those into the control box.  They are 
really nicely made and comparatively inexpensive.  We haven’t had a single 
problem in the 5 years they have been on the machine, which sees a ton of use 
in a somewhat dirty environment.  They positively lock and have rubber grommets 
that seal nicely.  I would highly recommend them.

-Tom


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Re: [Emc-developers] putting some mods to gs2_vfd.c into mainline

[Tom Easterday]

Sorry, there was a mix of tabs and spaces in indentation in the file so we 
cleaned it all up- didn't think about larger implications .  Also sorry about 
various oddly named patches, don't use git often enough to keep straight. 
-Tom

> On Oct 10, 2015, at 5:24 PM, Sebastian Kuzminsky  wrote:
> 
>> On 10/09/2015 08:23 AM, Tom Easterday wrote:
>> Ok, I think we have cleaned up the indentation.  Let me know if anything is 
>> amiss…
>> 
>>> On Oct 5, 2015, at 11:06 PM, Sebastian Kuzminsky  wrote:
>>> 
>>> My only nitpick is that the indentation in the new "while (done==0) {"
>>> main loop is inconsistent, and that makes it a bit hard to follow.  Our
>>> coding style guide (src/CodingStyle) says to use what's known as the One
>>> True Brace Style.
> 
> I only meant the indentation in the new main loop, not in the whole
> file!  Sorry if I wasn't clear about that and you did extra work!
> 
> It's hardly ever a good idea to change whitespace in code that you're
> not otherwise touching, because it makes the diff bigger and harder to
> understand, and it complicates future merges.
> 
> 
> Anyway, so here's what I've done:
> 
> I noticed that the new patch you sent applies cleanly on top of the
> original 2015-05-15 patch you sent called
> "0003-Added-an-initialize-option-to-gs2_vfd.c-so-it-can-be.patch", not
> on top of the 2015-10-03 patch called
> "Added-an-initialize-option-to-gs2_vfd.patch", so I used the first patch
> as the starting place.
> 
> I applied the first patch to the current tip of 2.7, then applied the
> new patch you sent on 2015-10-09 named
> "Added-initialize-option-to-gs2_vfd.c.patch", on top of that.  I used
> 'git gui' to stage only the lines of that second patch that fix up the
> indentation & comments in the first patch.  I committed those lines,
> then used "git checkout gs2_vfd.c" to discard the superfluous whitespace
> changes.
> 
> The result looks really good to me, and runs my GS2 just like before
> with no config changes.  I pushed the result to the
> '2.7-tom-easterday-gs2' branch on git.linuxcnc.org.
> 
> This looks like a "go" to me.  Any last comments from anyone before I
> squash these two commits together and push to 2.7?
> 
> 
> -- 
> Sebastian Kuzminsky
> 
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Re: [Emc-developers] putting some mods to gs2_vfd.c into mainline

[Tom Easterday]

Well, I’m at the shop and my VFD is configured as it has been for weeks.  So, 
other than the one time, which certainly could have been an anomaly due to 
having been actively messing with it for testing,  I haven’t had it reset 
parameters…

-Tom

> On Oct 10, 2015, at 10:26 AM, Tom Easterday  wrote:
> 
> Ok ,hang on…   There was one instance when I was testing the initialization 
> mod where I found the acceleration/ deceleration parameters where reset.  I 
> had been turning the vfd on/off and playing with various parameters so I just 
> kind of ignored it but was a little surprised.  Yesterday I was doing part 
> and thought that the spindle was taking longer to change speeds (in CSS) than 
> it should and was going to check that again and forgot before I left. I have 
> fairly aggressive accel/decel.   When I get back to the shop (today or 
> tomorrow perhaps) I will be checking to see if my accel/decel is correct.  
> Now you have me wondering.  I also set several other parameters, I have a 
> custom Volt/Hertz curve set to be able to run my motor down to 50rpm without 
> having the vfd current limit and shut off.  I do know that that is working.  
> 
> Do other parameters get reset?  And when it happens do all parameters get 
> reset or just some?  Like p0.00-p0.04 the motor parameters? Seems like that 
> would cause a serious issue if those got reset.
> 
> -Tom
> 
> 
>> On Oct 10, 2015, at 7:28 AM, John Thornton  wrote:
>> 
>> It happens quite often for me, I only set the stop type to ramp and the 
>> accl and decel times to 0.5 seconds. I can tell they have been reset 
>> when the spindle takes 10 seconds to spool up. If yours never get reset 
>> then I suspect a bad GS2. Sometimes after shutting down the LCNC 
>> computer and sometimes out of the blue. I've reset them so often I have 
>> memorized them. Another call to AD is in order.
>> 
>> JT
>> 
>> On 10/9/2015 5:56 PM, Tom Easterday wrote:
>>> Funny you asked because I was about to send a message asking what this was 
>>> about.  I haven’t EVER seen my parameters get reset to factory settings, I 
>>> don’t think, anyway….  When does this happen?  How often?  What parameters 
>>> get reset (all)?  If they all got reset I would definitely notice this as a 
>>> problem….
>>> 
>>> -Tom
>>> 
>>> 
>>> 
>>>> On Oct 9, 2015, at 5:49 PM, John Thornton  wrote:
>>>> 
>>>> Tom,
>>>> 
>>>> Do you have any idea why a GS2 parameters get reset to factory settings
>>>> with the gs2 component. AD says that modbus is writing over the settings.
>>>> 
>>>> JT
>>>> 
>>>> On 10/9/2015 9:23 AM, Tom Easterday wrote:
>>>>> Ok, I think we have cleaned up the indentation.  Let me know if anything 
>>>>> is amiss…
>>>>> Thanks,
>>>>> -Tom
>>>>> 
>>>>> 
>>>>> 
>>>>>> On Oct 5, 2015, at 11:06 PM, Sebastian Kuzminsky  
>>>>>> wrote:
>>>>>> 
>>>>>> I looked at what I think is the latest version of your patch: 2.7,
>>>>>> patched with
>>>>>> 0003-Added-an-initialize-option-to-gs2_vfd.c-so-it-can-be.patch, patched
>>>>>> with Added-an-initialize-option-to-gs2_vfd.patch.
>>>>>> 
>>>>>> The logic looks good to me.  I like that you clear isInitialized when
>>>>>> disabling the GS2, so that it will be re-initialized when .enabled comes
>>>>>> back on.
>>>>>> 
>>>>>> My only nitpick is that the indentation in the new "while (done==0) {"
>>>>>> main loop is inconsistent, and that makes it a bit hard to follow.  Our
>>>>>> coding style guide (src/CodingStyle) says to use what's known as the One
>>>>>> True Brace Style.
>>>>>> 
>>>>>> That issue aside, I tested your modified driver on my GS2, and it works
>>>>>> just like before, which is great.  I really appreciate you maintaining
>>>>>> backwards compatibility, that makes life much easier for our users and
>>>>>> makes the patch set reasonable for the 2.7 stable branch.
>>>>>> 
>>>>>> I fiddled with .enable and it seemed to do the right thing, though my
>>>>>> VFD does not lose power when i enter E-stop so i couldnt test that part.
>>>>>> 
>>>>>> This has my welcome to go into 2.7 (though I

Re: [Emc-developers] putting some mods to gs2_vfd.c into mainline

[Tom Easterday]

Ok ,hang on…   There was one instance when I was testing the initialization mod 
where I found the acceleration/ deceleration parameters where reset.  I had 
been turning the vfd on/off and playing with various parameters so I just kind 
of ignored it but was a little surprised.  Yesterday I was doing part and 
thought that the spindle was taking longer to change speeds (in CSS) than it 
should and was going to check that again and forgot before I left. I have 
fairly aggressive accel/decel.   When I get back to the shop (today or tomorrow 
perhaps) I will be checking to see if my accel/decel is correct.  Now you have 
me wondering.  I also set several other parameters, I have a custom Volt/Hertz 
curve set to be able to run my motor down to 50rpm without having the vfd 
current limit and shut off.  I do know that that is working.  

Do other parameters get reset?  And when it happens do all parameters get reset 
or just some?  Like p0.00-p0.04 the motor parameters? Seems like that would 
cause a serious issue if those got reset.

-Tom


> On Oct 10, 2015, at 7:28 AM, John Thornton  wrote:
> 
> It happens quite often for me, I only set the stop type to ramp and the 
> accl and decel times to 0.5 seconds. I can tell they have been reset 
> when the spindle takes 10 seconds to spool up. If yours never get reset 
> then I suspect a bad GS2. Sometimes after shutting down the LCNC 
> computer and sometimes out of the blue. I've reset them so often I have 
> memorized them. Another call to AD is in order.
> 
> JT
> 
> On 10/9/2015 5:56 PM, Tom Easterday wrote:
>> Funny you asked because I was about to send a message asking what this was 
>> about.  I haven’t EVER seen my parameters get reset to factory settings, I 
>> don’t think, anyway….  When does this happen?  How often?  What parameters 
>> get reset (all)?  If they all got reset I would definitely notice this as a 
>> problem….
>> 
>> -Tom
>> 
>> 
>> 
>>> On Oct 9, 2015, at 5:49 PM, John Thornton  wrote:
>>> 
>>> Tom,
>>> 
>>> Do you have any idea why a GS2 parameters get reset to factory settings
>>> with the gs2 component. AD says that modbus is writing over the settings.
>>> 
>>> JT
>>> 
>>> On 10/9/2015 9:23 AM, Tom Easterday wrote:
>>>> Ok, I think we have cleaned up the indentation.  Let me know if anything 
>>>> is amiss…
>>>> Thanks,
>>>> -Tom
>>>> 
>>>> 
>>>> 
>>>>> On Oct 5, 2015, at 11:06 PM, Sebastian Kuzminsky  wrote:
>>>>> 
>>>>> I looked at what I think is the latest version of your patch: 2.7,
>>>>> patched with
>>>>> 0003-Added-an-initialize-option-to-gs2_vfd.c-so-it-can-be.patch, patched
>>>>> with Added-an-initialize-option-to-gs2_vfd.patch.
>>>>> 
>>>>> The logic looks good to me.  I like that you clear isInitialized when
>>>>> disabling the GS2, so that it will be re-initialized when .enabled comes
>>>>> back on.
>>>>> 
>>>>> My only nitpick is that the indentation in the new "while (done==0) {"
>>>>> main loop is inconsistent, and that makes it a bit hard to follow.  Our
>>>>> coding style guide (src/CodingStyle) says to use what's known as the One
>>>>> True Brace Style.
>>>>> 
>>>>> That issue aside, I tested your modified driver on my GS2, and it works
>>>>> just like before, which is great.  I really appreciate you maintaining
>>>>> backwards compatibility, that makes life much easier for our users and
>>>>> makes the patch set reasonable for the 2.7 stable branch.
>>>>> 
>>>>> I fiddled with .enable and it seemed to do the right thing, though my
>>>>> VFD does not lose power when i enter E-stop so i couldnt test that part.
>>>>> 
>>>>> This has my welcome to go into 2.7 (though I'd like the indentation
>>>>> cleaned up, as mentioned above).
>>>>> 
>>>>> 
>>>>> -- 
>>>>> Sebastian Kuzminsky
>>>>> 
>>>>> --
>>>>> ___
>>>>> Emc-developers mailing list
>>>>> Emc-developers@lists.sourceforge.net
>>>>> https://lists.sourceforge.net/lists/listinfo/emc-developers
&g

Re: [Emc-developers] putting some mods to gs2_vfd.c into mainline

[Tom Easterday]

Funny you asked because I was about to send a message asking what this was 
about.  I haven’t EVER seen my parameters get reset to factory settings, I 
don’t think, anyway….  When does this happen?  How often?  What parameters get 
reset (all)?  If they all got reset I would definitely notice this as a 
problem….

-Tom



> On Oct 9, 2015, at 5:49 PM, John Thornton  wrote:
> 
> Tom,
> 
> Do you have any idea why a GS2 parameters get reset to factory settings 
> with the gs2 component. AD says that modbus is writing over the settings.
> 
> JT
> 
> On 10/9/2015 9:23 AM, Tom Easterday wrote:
>> Ok, I think we have cleaned up the indentation.  Let me know if anything is 
>> amiss…
>> Thanks,
>> -Tom
>> 
>> 
>> 
>>> On Oct 5, 2015, at 11:06 PM, Sebastian Kuzminsky  wrote:
>>> 
>>> I looked at what I think is the latest version of your patch: 2.7,
>>> patched with
>>> 0003-Added-an-initialize-option-to-gs2_vfd.c-so-it-can-be.patch, patched
>>> with Added-an-initialize-option-to-gs2_vfd.patch.
>>> 
>>> The logic looks good to me.  I like that you clear isInitialized when
>>> disabling the GS2, so that it will be re-initialized when .enabled comes
>>> back on.
>>> 
>>> My only nitpick is that the indentation in the new "while (done==0) {"
>>> main loop is inconsistent, and that makes it a bit hard to follow.  Our
>>> coding style guide (src/CodingStyle) says to use what's known as the One
>>> True Brace Style.
>>> 
>>> That issue aside, I tested your modified driver on my GS2, and it works
>>> just like before, which is great.  I really appreciate you maintaining
>>> backwards compatibility, that makes life much easier for our users and
>>> makes the patch set reasonable for the 2.7 stable branch.
>>> 
>>> I fiddled with .enable and it seemed to do the right thing, though my
>>> VFD does not lose power when i enter E-stop so i couldnt test that part.
>>> 
>>> This has my welcome to go into 2.7 (though I'd like the indentation
>>> cleaned up, as mentioned above).
>>> 
>>> 
>>> -- 
>>> Sebastian Kuzminsky
>>> 
>>> --
>>> ___
>>> Emc-developers mailing list
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>> 
>> 
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Re: [Emc-developers] putting some mods to gs2_vfd.c into mainline

[Tom Easterday]

Ok, I think we have cleaned up the indentation.  Let me know if anything is 
amiss…
Thanks,
-Tom


Added-initialize-option-to-gs2_vfd.c.patch
Description: Binary data


> On Oct 5, 2015, at 11:06 PM, Sebastian Kuzminsky  wrote:
> 
> I looked at what I think is the latest version of your patch: 2.7,
> patched with
> 0003-Added-an-initialize-option-to-gs2_vfd.c-so-it-can-be.patch, patched
> with Added-an-initialize-option-to-gs2_vfd.patch.
> 
> The logic looks good to me.  I like that you clear isInitialized when
> disabling the GS2, so that it will be re-initialized when .enabled comes
> back on.
> 
> My only nitpick is that the indentation in the new "while (done==0) {"
> main loop is inconsistent, and that makes it a bit hard to follow.  Our
> coding style guide (src/CodingStyle) says to use what's known as the One
> True Brace Style.
> 
> That issue aside, I tested your modified driver on my GS2, and it works
> just like before, which is great.  I really appreciate you maintaining
> backwards compatibility, that makes life much easier for our users and
> makes the patch set reasonable for the 2.7 stable branch.
> 
> I fiddled with .enable and it seemed to do the right thing, though my
> VFD does not lose power when i enter E-stop so i couldnt test that part.
> 
> This has my welcome to go into 2.7 (though I'd like the indentation
> cleaned up, as mentioned above).
> 
> 
> -- 
> Sebastian Kuzminsky
> 
> --
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Re: [Emc-developers] behavior and/or bug in look ahead 2.7.0~pre7

[Tom Easterday]

> On Sep 30, 2015, at 11:41 PM, Sebastian Kuzminsky  wrote:
> 
> That's super strange and wrong!
> 
> I just tried this in 2.7 with the sim/axis/lathe config and I do not see
> any unexpected behavior.
> 
> I made a local file of the G-code you sent, commented out the "... code
> deleted ..." lines, added M2, and ran it.  I stopped the program with
> Escape when it paused at the M1 on N85, and tried "G53 G0" in MDI to go
> to different places, and it went to the correct location for T5.  The
> DRO and the tool info at the bottom all look sane.  I see nothing wrong,
> and no wrong behavior.
> 
> Please give more details on what you did, including the entries for T1
> and T5 in your tool table.
> 
> After you stop the program to go off and do the separate operation, you
> then move around by jogging and MDI-ing, but you don't change coordinate
> systems or offsets or tools or imperial/metric units or anything like
> that, right?
> 
> And it's during these safe G0-G3 operations that the machine acts like
> you have the tool offsets of T1 instead of T5?
> 


Seb,

I played with it some more today.  It doesn’t need to get to the M1 pause in 
order to have a strange offset loaded.  Once the program begins, if I stop it 
at any point (including at the M1) it appears as though the offset for the next 
tool (T1) is in effect.  Pasted at the bottom of this message is the entirety 
of the program.  

Here is a screen shot of Axis before running the program:  
http://bgp.nu/~tom/pub/axis-before-foo.png
I’ve sent the tool to X0 and the DRO shows it at zero (well, close enough).  
You can see the active g-codes (this is my default state on startup of Axis or 
hitting the “Reset Known State” button in the Glade side panel)

Here is a screen shot of Axis after running and stopping the program (after 5 
seconds or so of running): http://bgp.nu/~tom/pub/axis-after-foo.png
You can see the program is stopped on line 20 (N24).  I have issued a single g0 
x0 (last line showing in MDI window).  Notice that the tool is at -0.2559 
(Diameter) rather than at 0..  Tool 5 is still loaded and the tool table 
offset (of -1.4025) is in effect (can see from TLO X: -1.4025).

Here is a screen shot of the tool table showing the offsets for the tools: 
http://bgp.nu/~tom/pub/tool-tbl-foo.png
The difference between X offsets of tool 5 (-1.40246) and tool 1 (-1.53054) = 
-0.12808 and because I thought it happened at the M1 pause, I surmised that it 
was the tool offset from the next tool change that was in effect.  Now that I 
know it happens before the M1 pause, I was perhaps a bit hasty on that theory 
:-)  But if not, then why is there a discrepancy between where the tool should 
be and where it is?



%
(1010)
(THREADED COLLAR FOR CHUCK)
N10 G7
N11 G18
N12 G90
N13 G20

(PROFILE1)
N14 G53 G0 X0
N15 G53 G0 Z0
N16 M6 T0005 G43 H0005
N17 G54
N18 G96 D3000 S100 M03
N19 G94
N20 G90 G0 X1.55 Z0.0562
N21 G0 X0.8439
N22 G1 X0.8031 F20.
N23 X0.69 Z-0.0004 F10.
N24 Z-0.815 F1.
N25 G18 G3 X0.74 Z-0.8406 R0.0256
N26 G1 Z-0.9306
N27 G3 X0.7322 Z-0.9442 R0.0256
N28 G1 X0.6975 Z-0.972
N29 Z-1.9906
N30 X0.7492
N31 X0.8623 Z-1.9341 F20.
N32 G0 Z0.0562
N33 X0.7431
N34 G1 X0.63 Z-0.0004 F10.
N35 Z-0.815 F1.
N36 X0.6888
N37 G3 X0.71 Z-0.8173 R0.0256
N38 G1 X0.8231 Z-0.7607 F20.
N39 G0 Z0.0562
N40 X0.6831
N41 G1 X0.57 Z-0.0004 F10.
N42 Z-0.815 F1.
N43 X0.65
N44 X0.7631 Z-0.7584 F20.
N45 G0 Z0.0562
N46 X0.6231
N47 G1 X0.51 Z-0.0004 F10.
N48 Z-0.815 F1.
N49 X0.59
N50 X0.7031 Z-0.7584 F20.
N51 G0 Z0.0562
N52 X0.5638
N53 G1 X0.4507 Z-0.0004 F10.
N54 Z-0.815 F1.
N55 X0.53
N56 X0.6431 Z-0.7584 F20.
N57 G0 Z0.0562
N58 X0.5045
N59 G1 X0.3914 Z-0.0004 F10.
N60 Z-0.815 F1.
N61 X0.4707
N62 X0.5838 Z-0.7584 F20.
N63 X0.8106
N64 G0 Z-0.9154
N65 G1 X0.6975 Z-0.972 F10.
N66 X0.645 Z-1.014 F1.
N67 Z-1.9906
N68 X0.6975
N69 X0.8106 Z-1.9341 F20.
N70 G0 Z0.0409
N71 X0.4945
N72 G1 X0.3814 Z-0.0156 F10.
N73 Z-0.82 F1.
N74 X0.6888
N75 G3 X0.73 Z-0.8406 R0.0206
N76 G1 Z-0.9306
N77 G3 X0.7237 Z-0.9416 R0.0206
N78 G1 X0.635 Z-1.0126
N79 Z-1.9906
N80 X0.7481 Z-1.9341 F20.
N81 X0.795
N82 G0 X1.55
N83 M05
N84 M09
N85 M01

(PROFILE2)
N86 M01
N87 G53 G0 X0
N88 G53 G0 Z0
N89 M6 T0001 G43 H0001
N90 G96 D3000 S100 M03
N91 G94
N92 G0 X1.55 Z-1.0159
N93 G0 X0.872
N94 G1 X0.7781 F20.
N95 X0.665 Z-0.9594 F10.
N96 Z-0.935 F1.
N97 X0.6887
N98 G18 G2 X0.7493 Z-0.9182 R0.0356
N99 G1 X0.8624 Z-0.9748 F20.
N100 G0 Z-1.0159
N101 X0.7582
N102 G1 X0.7581 F20.
N103 X0.645 Z-0.9594 F10.
N104 Z-0.925 F1.
N105 X0.6887
N106 G2 X0.74 Z-0.8994 R0.0256
N107 G1 Z-0.8094
N108 X0.8531 Z-0.8659 F20.
N109 G0 Z-1.0159
N110 X0.7382
N111 G1 X0.7381 F20.
N112 X0.625 Z-0.9594 F10.
N113 Z-0.915 F1.
N114 X0.6887
N115 G2 X0.72 Z-0.8994 R0.0156
N116 G1 Z-0.8094
N117 X0.8331 Z-0.8659 F20.
N118 X0.88
N119 G0 X1.55
N120 M05
N121 M09
N122 M01

N123 M30
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[Emc-developers] behavior and/or bug in look ahead 2.7.0~pre7

[Tom Easterday]

I ran into this strange situation and after some debugging understand what is 
happening but wonder if this is considered a bug or expected behavior…?

I have the series of commands below running in Axis.  Notice the M01 just 
before (PROFILE2).  I am using the pause/resume option to stop the program at 
this point and go off and do a completely separate operation.  

When I stop the program after that pause and issue a G0 X0 with the current 
tool loaded (Tool 5 in this case) the tool moves to -0.256” (below the center 
point of the spindle) rather than to zero.   If I issue the mdi command (debug, 
#5401) I get -1.40246 which is indeed the X offset value in the tool table for 
tool #5.   #5401-5409 are tool offsets for X,Y, etc.

HOWEVER, what is happening (I believe) is that due to look ahead (?) the G43 
H0001 on the line with the next tool change has already been executed.  Even 
though there is no indication of that other than the fact that my tool goes to 
the wrong location!!  

This seems like a bug in that NO command should actually be executed ahead of 
the M01.  Especially - but not exclusively - when it is active!

I could remap M6 to include the G43 H command in order that it would be 
obvious (because my turret would select the next tool) that the new G43 value 
is in effect - and maybe I should regardless - but...


….preamble above deleted…..
(PROFILE1)
N14 G53 G0 X0
N15 G53 G0 Z0
N16 M6 T0005 G43 H0005
N17 G54
…..bunch of code deleted….
N80 X0.7481 Z-1.9341 F20.
N81 X0.795
N82 G0 X1.55
N83 M05
N84 M09
N85 M01

(PROFILE2)
N86 M01
N87 G53 G0 X0
N88 G53 G0 Z0
N89 M6 T0001 G43 H0001
N90 G96 D3000 S100 M04
N91 G94
N92 G0 X1.55 Z-1.0159
……bunch of stuff after deleted….
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Re: [Emc-developers] Prerelease: 2.7.0~pre7

[Tom Easterday]

I updated 2.7.0~pre6 to 2.7.0~pre7 via update manager in Wheezy and now I get 
this when trying to launch (rip).  Is there something else I need to do?

=
LINUXCNC - 2.7.0~pre7
Machine configuration directory is
'/home/tom/linuxcnc/configs/EMCOturn120p-glade'
Machine configuration file is 'EMCOturn120pGlade.ini'
Starting LinuxCNC...
Error: could not load module /home/tom/linuxcnc-dev/rtlib/rtapi.ko: No
such file or directory
Realtime system did not load
Shutting down and cleaning up LinuxCNC...
Running HAL shutdown script
/home/tom/linuxcnc-dev/bin/linuxcnc_module_helper: Invalid usage with
args: remove hal_lib

Usage: /home/tom/linuxcnc-dev/bin/linuxcnc_module_helper insert
/path/to/module.ext [param1=value1 ...]

where module is one of:
rtai_math
rtai_sem
rtai_shm
rtai_fifos
rtai_up
rtai_lxrt
rtai_hal
rtai_sched
rtai_smi
rtai
rt_mem_mgr
adeos

the path starts with one of:
/lib/modules
/usr/realtime-3.4-9-rtai-686-pae

and the extension is one of:
.ko

or the module is in the directory /home/tom/linuxcnc-dev/rtlib

OR

/home/tom/linuxcnc-dev/bin/linuxcnc_module_helper remove module

where module is one of the modules listed above.

/home/tom/linuxcnc-dev/bin/linuxcnc_module_helper: Invalid usage with
args: remove rtapi

Usage: /home/tom/linuxcnc-dev/bin/linuxcnc_module_helper insert
/path/to/module.ext [param1=value1 ...]

where module is one of:
rtai_math
rtai_sem
rtai_shm
rtai_fifos
rtai_up
rtai_lxrt
rtai_hal
rtai_sched
rtai_smi
rtai
rt_mem_mgr
adeos

the path starts with one of:
/lib/modules
/usr/realtime-3.4-9-rtai-686-pae

and the extension is one of:
.ko

or the module is in the directory /home/tom/linuxcnc-dev/rtlib

OR

/home/tom/linuxcnc-dev/bin/linuxcnc_module_helper remove module

where module is one of the modules listed above.

LinuxCNC terminated with an error.  You can find more information in the log:
   /home/tom/linuxcnc_debug.txt
and
   /home/tom/linuxcnc_print.txt
as well as in the output of the shell command 'dmesg' and in the terminal
tom@EMCO-120P:~/linuxcnc-dev$

=
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Re: [Emc-developers] G76 (G17 vs G18) bug in 2.7.0~pre6??

[Tom Easterday]

> On Jul 3, 2015, at 8:58 PM, Gene Heskett  wrote:
> 
> Then I'd guess it needs to do the G17 for some reason, UNK to me.


In the Linuxcnc G Code manual it says that for G76:

It is an error if:
The active plane is not the ZX plane
So I can’t imagine why it would want to switch to G17, since that would be an 
error!

-Tom

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Re: [Emc-developers] G76 (G17 vs G18) bug in 2.7.0~pre6??

[Tom Easterday]

Thanks Gene.  I do have an index pulse on the encoder, I can see it in hal 
scope (on hm2_5i25.0.encoder.00.input-index) when i run the spindle.
In my hal config I have:
net spindle-index-enable hm2_5i25.0.encoder.00.index-enable 
motion.spindle-index-enable
net spindle-index hm2_5i25.0.encoder.00.input-index

Again, it is weird that G17 pops up and it stops, isn’t it?  I should also add 
that it runs fine in the lathe.ini sim.  Not sure what is going on…
-Tom

> On Jul 3, 2015, at 8:21 PM, Gene Heskett  wrote:
> 
> On Friday 03 July 2015 20:15:51 Tom Easterday wrote:
>> I am trying to do threading on a lathe using the NGCGUI g76.ngc
>> routine.  Other operations, facing, turning are working in NGCGUI. 
>> When I get to the G76 line in the code (was stepping through it in
>> Axis) it just stops and sits there.  The only reason I can see for it
>> stopping is that my plane changes to G17 (from G18 which is set in the
>> g76.ngc routine) for no apparent reason.  The spindle turns, but there
>> is no further movement.  I believe I have correct values for every G76
>> parameter and everything else is fine.  I have no explanation for why
>> the plane changes to G17 - there is no such command in the .ngc file. 
>> I see in the release notes for the various 2.7.X releases that in
>> 2.7.0~pre5 this was done: fix velocity & acceleration values on
>> non-G17 arcs
>> I wonder if this could have messed something up, or if there is some
>> other bug in 2.7.0~pre6.  Any ideas?
>> 
>> -Tom
> 
> Verify, with a scope, that you have a valid index pulse Tom.  If its 
> missing, it will sit there forever as that is its start this stroke 
> signal.
>> 
>> 
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[Emc-developers] G76 (G17 vs G18) bug in 2.7.0~pre6??

[Tom Easterday]

I am trying to do threading on a lathe using the NGCGUI g76.ngc routine.  Other 
operations, facing, turning are working in NGCGUI.  When I get to the G76 line 
in the code (was stepping through it in Axis) it just stops and sits there.  
The only reason I can see for it stopping is that my plane changes to G17 (from 
G18 which is set in the g76.ngc routine) for no apparent reason.  The spindle 
turns, but there is no further movement.  I believe I have correct values for 
every G76 parameter and everything else is fine.  I have no explanation for why 
the plane changes to G17 - there is no such command in the .ngc file.  I see in 
the release notes for the various 2.7.X releases that in 2.7.0~pre5 this was 
done:  
fix velocity & acceleration values on non-G17 arcs
I wonder if this could have messed something up, or if there is some other bug 
in 2.7.0~pre6.  Any ideas?

-Tom


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[Emc-developers] displaying correct triangle orientation in back tool configuration

[Tom Easterday]

Does anyone know if this issue was resolved?  
http://emc-developers.narkive.com/OwGHijSh/error-in-backplot-with-backtool-set-up-in-lathes
 


I am having this problem now that I finally have gotten all the planets 
(nearly) aligned to display my slant bed lathe correctly.  Everything is 
working EXCEPT the tool is not displayed in Axis, I only have a “+” displayed.  
Not a show stopper, but would be nice to have working correctly.  I have seen 
several discussions like this but haven’t found that it was ever resolved…
Thanks,
-Tom

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Re: [Emc-developers] lathe tool display bug in Axis preview (2.7.0~pre6)

[Tom Easterday]

And we have a winner!  Thanks Kirk, that fixed it.
-Tom

> On Jun 26, 2015, at 4:42 PM, Kirk Wallace  wrote:
> 
> On 06/26/2015 12:23 PM, Tom Easterday wrote:
>> So I ran the lathe sim today and the tool rotates as it should in the 
>> display.  So what in my config is causing that not to work?  Here are my 
>> .ini  and tool.tbl:  http://pastebin.ca/3037686 
>> <http://pastebin.ca/3037686>, and http://pastebin.ca/3037689 
>> <http://pastebin.ca/3037689>
>> -Tom
> 
> Try putting a D (tip diameter) value larger than 0 in your tool table 
> and see what happens.
> 
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> http://www.wallacecompany.com/machine_shop/
> http://www.wallacecompany.com/E45/
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Re: [Emc-developers] lathe tool display bug in Axis preview (2.7.0~pre6)

[Tom Easterday]

So I ran the lathe sim today and the tool rotates as it should in the display.  
So what in my config is causing that not to work?  Here are my .ini  and 
tool.tbl:  http://pastebin.ca/3037686 <http://pastebin.ca/3037686>, and 
http://pastebin.ca/3037689 <http://pastebin.ca/3037689>
-Tom

> On Jun 26, 2015, at 6:48 AM, John Thornton  wrote:
> 
> Did you try it in Axis Lathe Sim? Are you tricking Axis by changing the 
> view to back tools or something like that?
> 
> JT
> 
> On 6/25/2015 4:05 PM, Tom Easterday wrote:
>> I have lathe tools entered in a tool table including ORIENTATION and 
>> FRONTANGLE and BACKANGLE settings but the Axis preview does not show these 
>> tools in their correct orientation.  It is only displaying a single triangle 
>> that points up.  Is there a configuration parameter that turns this feature 
>> on/off or is this a bug in 2.7.0~pre6?
>> -Tom
>> 
>> 
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Re: [Emc-developers] lathe tool display bug in Axis preview (2.7.0~pre6)

[Tom Easterday]

Thanks Gene,
Perhaps you are referring to this?  
http://wiki.linuxcnc.org/cgi-bin/wiki.pl?BackToolLathe 

-Tom

> On Jun 26, 2015, at 8:59 AM, Gene Heskett  wrote:
> Tom, my memory could be playing tricks, and a whole bunch 
> of "maintenance" has been done on the wiki in the last couple of years, 
> but ISTR there was a page or 2 devoted to that in the wiki that I 
> stumbled across way back when.
> 
> No clue if it still exists.  But it might be worth a slow troll thru it.  
> I thought at the time it was odd, then realised that it really was a 
> better way to build a lathe once you get your head wrapped around it.

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Re: [Emc-developers] lathe tool display bug in Axis preview (2.7.0~pre6)

[Tom Easterday]

I haven’t tried the simulator, will try that today.  I don’t know how to trick 
Axis to do back tools.  This is a slant bed lathe and the tools are above the 
spindle, but there is nothing in my .ini. to account for that.
-Tom

> On Jun 26, 2015, at 6:48 AM, John Thornton  wrote:
> 
> Did you try it in Axis Lathe Sim? Are you tricking Axis by changing the 
> view to back tools or something like that?
> 
> JT
> 
> On 6/25/2015 4:05 PM, Tom Easterday wrote:
>> I have lathe tools entered in a tool table including ORIENTATION and 
>> FRONTANGLE and BACKANGLE settings but the Axis preview does not show these 
>> tools in their correct orientation.  It is only displaying a single triangle 
>> that points up.  Is there a configuration parameter that turns this feature 
>> on/off or is this a bug in 2.7.0~pre6?
>> -Tom
>> 
>> 
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[Emc-developers] lathe tool display bug in Axis preview (2.7.0~pre6)

[Tom Easterday]

I have lathe tools entered in a tool table including ORIENTATION and FRONTANGLE 
and BACKANGLE settings but the Axis preview does not show these tools in their 
correct orientation.  It is only displaying a single triangle that points up.  
Is there a configuration parameter that turns this feature on/off or is this a 
bug in 2.7.0~pre6?
-Tom


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Re: [Emc-developers] bug (or really militant feature!) in 2.7.0~pre6 classic ladder - rung delete crash

[Tom Easterday]

It’s always good to know one isn't crazy :)  At least in this instant 
anyway...Thanks JT.
-Tom

> On Jun 14, 2015, at 6:35 AM, John Thornton  wrote:
> 
> I just verified that after deleting a run that is not empty in 2.7 and 
> selecting yes the PC crashes.
> 
> JT
> 
> On 6/12/2015 2:46 PM, Tom Easterday wrote:
>> I am muddling through using classicladder in 2.7.0~pre6.  If I try to delete 
>> a non-empty rung of a ladder (in the CL editor)my entire system just hangs, 
>> I assume that isn’t a feature :-)  No log messages, nothing.  I click the 
>> “yes” button to ack the delete and dead.  After rebooting, I went through 
>> and deleted the components in that rung and was then able to delete the rung 
>> without issue.  Just make sure it wasn’t a fluke I tried deleting another 
>> rung (that had only one symbol in it) and the it consistently kills my 
>> machine.  Is this a known issue?
>> -Tom
>> 
>> 
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Re: [Emc-developers] bug (or really militant feature!) in 2.7.0~pre6 classic ladder - rung delete crash

[Tom Easterday]

> On Jun 13, 2015, at 2:03 PM, Chris Morley  wrote:
> Not that I am aware of.
> Can you tell us more about the way to make it happen.

I am using the attached .clp file, which just has two simple rungs.  Add a 
third rung, add a N.O. input (or whatever) and save.  Then try to delete that 
third rung.



emcolathe.clp
Description: Binary data


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[Emc-developers] bug (or really militant feature!) in 2.7.0~pre6 classic ladder - rung delete crash

[Tom Easterday]

I am muddling through using classicladder in 2.7.0~pre6.  If I try to delete a 
non-empty rung of a ladder (in the CL editor)my entire system just hangs, I 
assume that isn’t a feature :-)  No log messages, nothing.  I click the “yes” 
button to ack the delete and dead.  After rebooting, I went through and deleted 
the components in that rung and was then able to delete the rung without issue. 
 Just make sure it wasn’t a fluke I tried deleting another rung (that had only 
one symbol in it) and the it consistently kills my machine.  Is this a known 
issue?
-Tom


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Re: [Emc-developers] custom user components into Linuxcnc distro

[Tom Easterday]

I suspect it is different due to the arduino based custom hardware it talks to. 
 But I am unfamiliar with carousel.comp.  The component is attached.  I will be 
posting the schematics/board layout, arduino sketch, etc soon to the users list 
for anyone who might want it.
-Tom


toolerator3000.comp
Description: Binary data


> On Jun 10, 2015, at 12:29 AM, Andy Pugh  wrote:
> 
> 
> 
>> On 10 Jun 2015, at 03:48, Sebastian Kuzminsky  wrote:
>> 
>> But if there's a good argument that it makes life better for our users
>> if we include it, i'm all ears.
> 
> I wonder how different on behaviour this comp is from carousel,comp and 
> whether they could converge?
> 
> (Not that carousel.comp is included yet either)
> 
> 
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[Emc-developers] custom user components into Linuxcnc distro

[Tom Easterday]

Is it (un)usual to put a random user component into the source distribution for 
general release?  I have a component that talks to a custom arduino-based 
circuit board to control an EMCO lathe turret.  I’m fairly certain we will be 
making the hardware and various software components open source and am 
wondering if we should put the component into the general release?  That would 
certainly make my own life easier even for my own machine as I wouldn’t have to 
worry about making sure it’s there and works if/when the software is updated or 
the machine controller pc changes.  This assumes that anyone else gives a poo 
about it, which might not even be the case, but just wondering how this is 
normally handled.  
Thanks,
-Tom


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Re: [Emc-developers] putting some mods to gs2_vfd.c into mainline

[Tom Easterday]

Hi Seb, responses inline below.

On May 24, 2015, at 3:28 PM, Sebastian Kuzminsky  wrote:

> The patch file you attached claims to be the third patch in a series of
> 3, but numbers 1 and 2 were not attached.  Was that intentional?
> 
> It applies cleanly to origin/2.7 and builds, so maybe everything's ok
> and i shouldn't freak out.

When I used the git command (git format-patch HEAD~~) to create the patch it 
created three patches.  Mine was the third so that is what I sent.  The other 
two were from other changes in the branch I checked out apparently…?  I just 
did it again for this updated patch and I got 2 patches, mine being the second 
(attached below).

> There's a typo (missing white space) in the --help output for —disable.

Fixed.

> Inconsistent indentation in the new fields in the haldata_t struct.

Fixed.

> There's a spurious indentation change in the main loop ("the meat of the
> program").  Not a big deal, but it does make the patch a bit harder to
> follow.

Fixed.

> Why do you prefix all your comments with "---"?  My eyes keep trying to
> parse that as command-line arguments.

I used that to be able to easily search and identify my changes.  I meant to 
remove them.  They are now gone.

> If the comp is enabled and transitions to the disabled state, it does
> one last write to turn off the spindle.  Presumably in this use-case an
> estop causes the VFD to lose input power and causes the gs2 comp to move
> to the disabled state, but the VFD has enough power in its caps to
> accept this last command before it dies?

Generally, the VFDs internal caps can keep it running for many seconds after it 
loses power (~10-15s), so issuing a zero spindle speed command is an extra 
safety measure.  If the command fails because the VFD is off, then no harm is 
done.  Also, we can't assume the hardware will power down the VFD... in some 
machines it may not be wired to do so, or the relay could fail, or etc. etc 
 Better safe than sorry.

> In the main loop, when the comp tries to initialize the VFD after
> becoming enabled, it responds to communication failures by running
> "continue" before setting isInitialized to True, so shouldn't that
> handle the communications retry that you added to gs2_set_accel_time()?

As I recall, the extra retry in gs2_set_accel_time() is there purely to avoid 
the error message that is printed in gs2_set_accel_time() if the first attempt 
fails.  It is correct that the "continue" in the main loop will come back and 
try again even without the auto-retry in gs2_set_accel_time(), but not before 
an error message is printed, and the error message was annoying me :-)

> Thanks for working to make the gs2 driver better.  This will be a good
> addition once these minor nitpicks are addressed.

Thanks,
-Tom



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Re: [Emc-developers] putting some mods to gs2_vfd.c into mainline

[Tom Easterday]

Didn’t hear back on this so I am assuming it is the correct format and that the 
change was unanimously accepted with no fanfare :-)
Actually, no wait, this me Championing my patch.  Yeah, that’s it!

-Tom

> On May 15, 2015, at 1:17 PM, Tom Easterday  wrote:
> 
> 
>> On May 14, 2015, at 3:25 PM, Sebastian Kuzminsky  wrote:
>> The preferred ways to submit patches are described in the Contributing 
>> to LinuxCNC document, feel free to ask questions if you run into any 
>> problems.
>> 
>> http://linuxcnc.org/docs/2.7/html/code/Contributing-to-LinuxCNC.html#_overview_of_the_process
> 
> 
> Is this the correct format?
> -Tom
> 
> 
> <0003-Added-an-initialize-option-to-gs2_vfd.c-so-it-can-be.patch>--
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Re: [Emc-developers] putting some mods to gs2_vfd.c into mainline

[Tom Easterday]

> On May 14, 2015, at 3:25 PM, Sebastian Kuzminsky  wrote:
> The preferred ways to submit patches are described in the Contributing 
> to LinuxCNC document, feel free to ask questions if you run into any 
> problems.
> 
> http://linuxcnc.org/docs/2.7/html/code/Contributing-to-LinuxCNC.html#_overview_of_the_process


Is this the correct format?
-Tom




0003-Added-an-initialize-option-to-gs2_vfd.c-so-it-can-be.patch
Description: Binary data
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Re: [Emc-developers] putting some mods to gs2_vfd.c into mainline

[Tom Easterday]

Heh heh, I see a religious argument ensuing.  Either you believe that powering 
the machine down is the only guarantee of safety, or you believe that your 
electronics are unquestionably reliable and you are a statistician.  If the vfd 
has power and rather than power it down you command it to brake, and it (or say 
the control computer) is malfunctioning, perhaps it will speed up, or reverse 
or some other bad thing.  On the other hand, the probability that the emergency 
at hand is related to bad computer or vfd is small and therefore it might be a 
safer (quicker) stop to command it so.  I am not sure either argument wins.  
Ideally you want to de-power everything and (separately) mechanically brake 
motors, no?  

I know there are papers written on this subject and I believe controlled estop 
is considered to be better in some cases. In my case I had originally planned 
to do it controlled, but couldn’t figure out a circuit that would still allow 
me to use a charge pump to trip the contactors in case the computer goes south. 
 Hence I needed to delay the initialization of the modbus component….

-Tom




> On May 14, 2015, at 11:34 PM, Dave Caroline  
> wrote:
> 
> To bring a vfd to stationary fastest the vfd has to have control to
> use the deceleration curve/braking resistors if fitted and used.
> Therefore keeping the vfd powered is safer in the initial stop, only
> then should it be powered down.
> 
> Dave Caroline
> 
> On 14/05/2015, John Kasunich  wrote:
>> 
>> 
>> On Thu, May 14, 2015, at 03:25 PM, Sebastian Kuzminsky wrote:
>>> 
>>> It seems fairly common for people to build machines where the spindle
>>> VFD power goes on and off along with the servo amp power (F1 in Axis),
>>> which (as you point out) means something like this feature is required.
>>> 
>>> I think this is the wrong way to handle VFD power, i prefer to have the
>>> VFD turn on when you turn on the control computer, and stay on until you
>>> power the control computer down.
>>> 
>>> But it's easy to support both preferences, using code like you describe,
>>> so it's fine.
>>> 
>> 
>> IMO estop should ensure (in a fail-safe way) that the spindle won't turn.
>> Unless you are going to put a contactor on the VFD output (usually
>> discouraged by VFD makers), killing the VFD power is the only way.
>> 
>> As you say, it is good to support both.
>> 
>> 
>> --
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>>  jmkasun...@fastmail.fm
>> 
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[Emc-developers] putting some mods to gs2_vfd.c into mainline

[Tom Easterday]

I am not a developer (and I don’t play one on TV).  But I do know a little bit, 
enough to be dangerous. I had some help modifying the gs2_vfd.c component in 
2.7~pre6 in order to add a new option that allows one to disable and enable the 
component.  We also added a bandaid (retry) to fix the fact that the first 
communication to our vfd always fails.

The new option is -X which sets the value of the “enable” pin to 0.  This way 
you can initialize the component when you want.  I wanted to have this 
component intialize when I push the “on button” in Axis because power only 
comes up to my vfd after starting the charge pump.  We made it backward 
compatible so no one will notice the change if they don’t care to use it.  I 
would like to put this into the mainline of 2.7.X so I don’t have to update it 
every time I upgrade my system.  



gs2_vfd.c
Description: Binary data


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Re: [Emc-developers] New wheezy install, pae kernel now

[Tom Easterday]

FWIW, I have a new Wheezy (3.4.9-rtai-686-pae #1 SMP PREEMPT Debian 
3.4.55-4linuxcnc i686 GNU/Linux) install running, now for 2 days 40 min, and it 
is using no swap.  Up until a few minutes ago it was running a web browser, 1 
terminal (with top), and 2 instances of glxgears.  For the last several minutes 
I have been doing general browsing and poking around using half a dozen 
terminal instances and a few file system manger windows.  In all that time, it 
claims to have used no swap at all and 638068 MB ram.  This is the ATOM based 
system I posted about a couple days ago, and has only 2GB of ram.
-Tom

> On Jan 7, 2015, at 7:57 AM, Gene Heskett  wrote:
> 
> Greetings all;
> 
> I'd been running the 3 axis sim here for a day or so, using it for code 
> development of a routine to carve the ebody screw cover buttons out of a 
> sheet of ebony.  That I have working well I believe.  Next is an old 
> straight flute, single flute dull carbide mill converted into a 
> roundover, but I am cold (in the low teens & a good breeze, so wind chill 
> is well below zero) & snow bound (8") ATM, so I've not been out of the 
> house but will probably see about that later today.
> 
> This morning while touring the machines health with htop after 3 days of 
> up time, I found it was about 50 megs into swap on an 8Gb of dram 
> machine.  Prior to the wheezy install, I had given up on the default 
> kernel from the previous 1.04.4 LTS install because without the PAE, it 
> only saw about 3Gb of my memory and would be a gigabyte into swap and 
> running like a snail in 3 days of uptime. That was of course a PITA, so 
> several months ago I built a 3.16.0 kernel with PAE.  It had its bugs, 
> but using swap when it wasn't needed was not one of them.  I could run a 
> couple months worth of uptime and swap was never touched.
> 
> Now this custom kernel from the lcnc wheezy install IS using swap again, 
> while htop says its only useing a gigabyte of main ram. In 3 days of 
> uptime? I find that strange as I have not yet configured some of the 
> helper scripts I use, so the process count is just north of 100, while a 
> reboot to the previous disk that I've been using for years, shows about 
> 450 processes loaded. Most are far less than .1% of cpu time.
> 
> Why the swappiness of this kernel?
> 
> Linux coyote 3.4-9-rtai-686-pae #1 SMP PREEMPT Debian 3.4.55-4linuxcnc 
> i686 GNU/Linux
> 
> Thanks guys.
> 
> Cheers, Gene Heskett
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Re: [Emc-developers] installing xenomai

[Tom Easterday]

Thanks.  This link: 
https://wiki.ubuntu.com/HardwareSupportComponentsVideoCardsPoulsbo  talks about 
the GMA500_GFX driver working in kernel 3.3.4.  Is there any way to get Xenomai 
on this kernel (or newer) where it might work?
-Tom

On Jul 31, 2013, at 7:06 PM, Kent A. Reed  wrote:

> On 7/30/2013 5:38 PM, Michael Haberler wrote:
>> Am 30.07.2013 um 21:34 schrieb Tom Easterday :
>> 
>>> I did the install and rebooted (no RealTek ethernet) but it comes up with a 
>>> login prompt, no GUI.  I put the output of dmesg here: 
>>> http://pastebin.com/GzQHt4L5
>>> 
>>> Is there something here that tells me why it isn't launching the GUI?
>> yes: [6.311211] gma500 :00:02.0: Enabling MSI failed!
>> 
>> see 
>> http://www.xenomai.org/index.php/Configuring_x86_kernels#Message_Signaled_Interrupts_.28MSI_and_MSI-X.29
>> 
>> this obviously fails recognition of the graphics adapter
>> 
>> -m
>> 
> 
> See also such pages as
> 
> https://wiki.ubuntu.com/HardwareSupportComponentsVideoCardsPoulsbo
> 
> http://www.phoronix.com/scan.php?page=news_item&px=MTMyODA
> 
> 
> With luck going to a different RTOS will at least get you to a GUI but 
> beware this Intel/PowerVR GM500 graphics is causing fits throughout the 
> Linux world.
> 
> Regards,
> Kent
> 
> 
> 
> 
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Re: [Emc-developers] installing xenomai

[Tom Easterday]

Is this a dead end then with this motherboard or is there a way around the lack 
of MSI in the kernel?  I don't see anything encouraging in the link you sent or 
other searches.
Tom

On Jul 30, 2013, at 5:38 PM, Michael Haberler  wrote:
> yes: [6.311211] gma500 :00:02.0: Enabling MSI failed!
> 
> see 
> http://www.xenomai.org/index.php/Configuring_x86_kernels#Message_Signaled_Interrupts_.28MSI_and_MSI-X.29
> 
> this obviously fails recognition of the graphics adapter
> 
> -m


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Re: [Emc-developers] installing xenomai

[Tom Easterday]

The Xenomai regression test results are here:  http://pastebin.com/zt0Nqu4v
Not really sure what these numbers should look like...
-Tom

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Re: [Emc-developers] installing xenomai

[Tom Easterday]

On Jul 30, 2013, at 3:33 PM, Michael Haberler  wrote:
> looks like John's keyring was not installed, do this:
> 
> # Install the package containing the signing keys; answer 'y' to install 
> despite missing keys
> 
> $ sudo apt-get install zultron-keyring

That is the next thing in the list (after I ignored the missing keyring) so 
everything proceeded fine after that. 
-Tom


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Re: [Emc-developers] installing xenomai

[Tom Easterday]

I did the install and rebooted (no RealTek ethernet) but it comes up with a 
login prompt, no GUI.  I put the output of dmesg here: 
http://pastebin.com/GzQHt4L5

Is there something here that tells me why it isn't launching the GUI?
-Tom


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Re: [Emc-developers] installing xenomai

[Tom Easterday]

Well, it just stops with that message.  I can (and will) ignore it and keep 
going...
Thanks,
-Tom

On Jul 30, 2013, at 3:04 PM, Eric Keller  wrote:

> doesn't it give you the chance to ignore that message?
> 
> On Tue, Jul 30, 2013 at 2:58 PM, Tom Easterday  wrote:
>> I want to install xenomai and linuxcnc on 12.04 and get the error below when 
>> doing apt-get update after adding the packages to /etc/apt/sources.list (at 
>> this link: http://wiki.linuxcnc.org/cgi-bin/wiki.pl?XenomaiKernelPackages).  
>>  What am i missing?
>> 
>> W: GPG error: http://deb.machinekit.net precise Release: The following
>> signatures couldn't be verified because the public key is not available:
>> NO_PUBKEY 12A8D0023B07D469
>> 
>> Thanks,
>> -Tom
>> 
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[Emc-developers] installing xenomai

[Tom Easterday]

I want to install xenomai and linuxcnc on 12.04 and get the error below when 
doing apt-get update after adding the packages to /etc/apt/sources.list (at 
this link: http://wiki.linuxcnc.org/cgi-bin/wiki.pl?XenomaiKernelPackages).   
What am i missing?

W: GPG error: http://deb.machinekit.net precise Release: The following
signatures couldn't be verified because the public key is not available:
NO_PUBKEY 12A8D0023B07D469

Thanks,
-Tom

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Re: [Emc-developers] status update: unified build/new RTOS support

[Tom Easterday]

On Jul 12, 2013, at 10:46 AM, Michael Haberler  wrote:
> Am 12.07.2013 um 16:33 schrieb Tom Easterday :
> 
>> If one wants to build a system with 12.04/Xenomai/Linuxcnc to use today are 
>> the instructions on the wiki still the best option or is there something 
>> better/more current to use?
> 
> I looked through the wiki and found lots, including outdated information; 
> which link specifically you were referring to so I can update it if needed?

I was about to do this:  http://wiki.linuxcnc.org/cgi-bin/wiki.pl?NewRTInstall  
which points to this: 
http://wiki.linuxcnc.org/cgi-bin/wiki.pl?XenomaiKernelPackages

> As a base for builds right now, the rtos-master-v0 branch is ok and I'll make 
> sure it doesnt break -

I don't see rtos-master-v0 mentioned in the link(s) above...

> just note there will be major change coming shortly

I'm ok with that!  Glad to see this is moving forward into the mainline.

-Tom

> 
> RFP: I suggest we switch all build/install documentation of any kind to 
> in-repository documentation (manual) proper, the Wiki method is just asking 
> for trouble with outdated information
> 
> 
> - Michael
> 
>> -Tom
>> 
>> 
>> On Jul 12, 2013, at 9:59 AM, Michael Haberler  wrote:
>>> 
>>> I understand that folks are waiting for 'the RTOS gang' to produce 
>>> something tangible, and in Wichita we asked for some leeway for wrapping up 
>>> the work. (I said two weeks, meaning 'after I'm home' and that still might 
>>> hold for a rawhide cut)
>>> 
> 
> 
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Re: [Emc-developers] status update: unified build/new RTOS support

[Tom Easterday]

If one wants to build a system with 12.04/Xenomai/Linuxcnc to use today are the 
instructions on the wiki still the best option or is there something 
better/more current to use?
-Tom


On Jul 12, 2013, at 9:59 AM, Michael Haberler  wrote:
> 
> I understand that folks are waiting for 'the RTOS gang' to produce something 
> tangible, and in Wichita we asked for some leeway for wrapping up the work. 
> (I said two weeks, meaning 'after I'm home' and that still might hold for a 
> rawhide cut)
> 
> This is where we are:
> 
> Both John and me work intensively on the merge candidate branch, which will 
> be based on Johns github repo branch.*) 
> 
> At the same time Charles has been working on his BeagleBone-related themes 
> (authoritative place to look: http://bb-lcnc.blogspot.co.at/), and there is 
> also some rather interesting work in the pipe by Ian: support for an BB FPGA 
> cape. 
> 
> Thankfully, the RTOS and BB work directions are largely disjoint and can 
> proceed in parallel without much coordination.
> 
> The current focus of Johns and my work is:
> 
> - until recent, mostly the build system, which John has worked on, and where 
> he has done incredible amounts of work
> - currently non-RIP installs are still work in progress
> - it has turned out that some aspects of configure-time constants need to be 
> mutated into 'depending on flavor selected at runtime'
> - I have found John's build system work exceptionally stable despite all the 
> changes under the hood (by default, in one go a build for every applicable 
> thread system installed on the build machine will be created, not just a 
> single one as with the rtos-integration-preview* branches) **)
> - John already has taken some steps towards creating a build which will will 
> be amenable to Debian and other distro's integration ***)
> - I looked into realtime fault handling -  which was not production quality - 
> towards making this more intelligent than just logging the fact it happened; 
> thanks to separation of policy and mechanism in RTAPI there is now a way to 
> customize RT fault reaction through a HAL component, meaning reaction to RT 
> faults is now an issue of dealing with stock HAL and RTAPI API's, not with 
> RTAPI internals - you dont like it: well then change it, comp is your friend. 
> For instance, creating an estop signal if RT faults happen. )
> - I have made a sweeping change this week in the way startup sequencing of 
> the realtime environment works; I justify this change with 'it's going to be 
> all the same for all flavors and much easier to understand and debug'; and it 
> is primarily about reducing the number of moving parts (note the 'change' is 
> minimally new code, but lots of deleted code which is by definition bugfree 
> and easy to support ;)
> 
> We still believe 'a merge candidate' is viable well within July.
> 
> As for documentation, the next topic is to write a 'Unified Build/Multiple 
> RTOS Principles of Operations' manual fragment, which outlines the basic 
> setup and flows, and the machinery to build for, and support a number of 
> different RTOS platforms by runtime choice. This should be helpful to folks 
> helping with a code review.
> 
> I routinely build on the BeagleBone and have no surprises to report, meaning 
> this will be available as a build option as soon as we declare victory. Since 
> the last remnants of inline assembly code are gone, the 
> '--with-platform=' option really only stays to determine the set of 
> drivers to build.
> 
> Re the rtos-master-v0 branch in my repo: this represents the sum of work 
> pre-unified build as I have announced my mail to the devlist of May 28 
> 'releases & branching'. I have on purpose not announced this branch for 
> public consumption, but some of that has happened nevertheless (my fault, I 
> need a hard-to-stalk secondary repo ;). There is a high chance this branch 
> (which is a forward merge of existing work) will be thrown away and redone 
> based on the ub* branch. You heard  it clear and loud: do not rely on this 
> branch in any way, and do not expect it to be an ancestor of a merge 
> candidate.
> 
> We currently have no automated way to build BB (and other) kernels. I have 
> gotten in touch with Robert Nelson (debian/bb) and Koen Koi (angstrom/bb) to 
> get something in place and willingness to cooperate is there; I would love to 
> be able to hand over this effort to another caretaker (all these builds 
> happen on my server manually right now, and that server still will be 
> available, but I'd be grateful for somebody else taking over)
> 
> for 'the gang' ;)
> 
> - Michael
> 
> --
> *) to give an indication what 'intensively' translates into: these are my 
> additions alone to John's ub branch since monday this week - 35 or so 
> commits: 
> http://git.mah.priv.at/gitweb?p=emc2-dev.git;a=shortlog;h=refs/heads/ub-reorder-startup-cleaned
>  
> 
> **) this will require build support downstream to have build machines with 
> 

Re: [Emc-developers] axis.N.home-state

[Tom Easterday]

On May 25, 2013, at 12:40 AM, Jon Elson  wrote:
> But, the first side to find the index marker will stop there, the second 
> side will
> have to travel to the index mark, thereby racking the gantry.  that is 
> unacceptable.
> So, the two encoders MUST have the index marks aligned.  Depending on how
> the machine is built, it may not be that hard.  It may be possible to 
> lift the
> pinion off the rack to get close.  if the motor drives a gearbox or 
> timing belt
> drive, the couplings or pulleys can be readjusted on the shafts.  if the 
> encoder
> has servo mount, it can be rotated to adjust the timing.


We have a painted mark on our pinion tooth and rack tooth on both sides that 
get the encoders close, but not exact.  It is probably within a 0.1 or less.  
If, for some reason, the pinions have slipped, we lower the motors (they are on 
turnbuckles and springs) and move the pinion gear until the painted marks line 
up.   By the way, this has happened only twice in one year.  Once when we moved 
the whole machine across town and once when someone had lowered the motors 
because they didn't know what they were doing.  In practice you will rarely 
have to realign the encoder indexes.

Anyway, we then carefully measured the squareness of the gantry to the X axis 
and set an offset to one side only.  That offset is very small (equal or less 
than the 0.1" mentioned above).  So the whole system homes to hard stop, moves 
back to indexes on both sides and then one side moves the tiny amount 
(configured in the hal file) to the offset.  Homing complete.

Tom
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Re: [Emc-developers] Lucid Lynx Support Ends Today

[Tom Easterday]

Thanks for the info.
-Tom

On May 9, 2013, at 3:09 PM, Sebastian Kuzminsky  wrote:

> On May 9, 2013, at 12:23 , Tom Easterday wrote:
> 
>> Speaking of this, what is the current status of moving to 12.04?  Will this 
>> be discussed (done?) at the fest?
> 
> 
> Adding proper support for 12.04 is the primary thing i hope to work on at the 
> hackfest (I'm only speaking for myself here, i don't know what anyone else is 
> wanting to work on).
> 
> There are three options for running LinuxCNC on 12.04:
> 
> 1. Xenomai and/or rt-preempt kernel, using the new-rtos branches that Michael 
> Haberler, John Morris, and Charles Steinkuehler have been working on.
> 
> 2. RTAI 3.9 on a modern Linux kernel, using the current LinuxCNC code
> 
> 3. Use the old Lucid (10.04) RTAI kernel on 12.04, using the current LInuxCNC 
> code
> 
> Option 1 is my favorite.  It seems to be working in limited testing, and it's 
> nearly ready to go.  We're waiting on some cleanup of the history so that the 
> code can be reviewed and merged into our mainline.
> 
> I also like option 2 a lot, but RTAI (even the recent 3.9.1 release) does not 
> yet officially support any modern (> 3.0) linux kernels.  There's work going 
> on in their experimental "magma" repository that adds this, but it still has 
> some bugs.  I've been working with the RTAI developers (Paolo and Shabby), 
> but it's slow going.  I think option 1 is a better long-term solution for 
> LinuxCNC's realtime needs.
> 
> Option 3 works 
> (http://thread.gmane.org/gmane.linux.distributions.emc.user/34836), but I 
> don't like it.  It does get us the updated userspace and official upstream 
> support of 12.04, but it does not get us any of the improved hardware support 
> of modern linux kernels.
> 
> 
> -- 
> Sebastian Kuzminsky
> 
> 
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Re: [Emc-developers] Lucid Lynx Support Ends Today

[Tom Easterday]

Speaking of this, what is the current status of moving to 12.04?  Will this be 
discussed (done?) at the fest?
-Tom


On May 9, 2013, at 10:27 AM, Matt Shaver  wrote:

> https://lists.ubuntu.com/archives/ubuntu-announce/2013-March/000169.html
> 
> Nothing spectacular will happen today, but I thought the occasion
> deserved mention. Since 10.04 Server has two more years left for
> official support, I wonder if there is a way to make the update
> mechanism think we are all running the Server edition? This might get
> us updates for basic network-y things (bind, DNS, etc) and security-ish
> type things.
> 
> Thanks,
> Matt
> 
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Re: [Emc-developers] xenomai on an Intel Atom motherboard- latency-test results

[Tom Easterday]

On Mar 3, 2013, at 1:40 PM, Kent A. Reed  wrote:
> It seems to me things are stabilizing to the point where the Xenomai 
> builds need no longer be considered experimental. IMHO, we should 
> consider posting Xenomai metrics to the Wiki for easier comparison.

This reminds me  Is there a roadmap document anywhere that shows what we 
can expect for upcoming/future releases?  
For example, questions I have are... Will 2.6.0 be on 10.04 or 12.04 or both? 
Will new rt kernel options be incorporated?

Tom


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Re: [Emc-developers] halcmd delay with Linuxcnc Master branch on 12.04/Xenomai vs 10.04/rtai

[Tom Easterday]

On Feb 25, 2013, at 4:21 PM, Michael Haberler  wrote:
> Am 25.02.2013 um 21:33 schrieb Tom Easterday:
>> 
>>> That said: what exactly is the tuning effort about? There are various ways 
>>> to access pins, and I think pretty much all of them would be orders of 
>>> magnitude faster than 'halcmd show pin x' ?
>> 
>> The tuning effort is that we are writing a GUI that talks to Linuxcnc over 
>> wifi and would like it to be as responsive as possible.   Currently we are 
>> using a simple web server 
>> (http://wiki.linuxcnc.org/cgi-bin/wiki.pl?Rockhopper_Web_Server).  What 
>> other way(s) would you suggest for getting/setting pins?
> 
> I'd think a webserver based on forking shell commmands and 'as responsive as 
> possible' is incompatible.

I forgot to mention the "as quick as possible for proof of concept with 
improvements to follow later " requirement.

> Yes, I follow the golden words of my thesis adviser, Prof. Vassiliy 
> Copyrovich Cleptomanov, the eminent Stalin-era reverse engineer, who said: 
> 
>   "First question to ask: has this problem already been solved elsewhere, and 
> if so, how?"


I may have to Copyrovich Cleptomanov that name.  I like it :-)

-Tom


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Re: [Emc-developers] halcmd delay with Linuxcnc Master branch on 12.04/Xenomai vs 10.04/rtai

[Tom Easterday]

...And to answer my own question [using my new-found power of strace ;-)]  they 
are basically the same in terms of speed, getp is not substantially faster.  
So, Michael must have something else in mind...
-Tom

On Feb 25, 2013, at 3:47 PM, Tom Easterday  wrote:
> On Feb 25, 2013, at 3:43 PM, andy pugh  wrote:
>> On 25 February 2013 20:33, Tom Easterday  wrote:
>>> What other way(s) would you suggest for getting/setting pins?
>> 
>> halcmd getp / halcmd setp?
> 
> And why would "halcmd getp FOO" be faster than "halcmd show pin FOO"?
> -Tom

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Re: [Emc-developers] halcmd delay with Linuxcnc Master branch on 12.04/Xenomai vs 10.04/rtai

[Tom Easterday]

On Feb 25, 2013, at 3:43 PM, andy pugh  wrote:
> On 25 February 2013 20:33, Tom Easterday  wrote:
>> What other way(s) would you suggest for getting/setting pins?
> 
> halcmd getp / halcmd setp?

And why would "halcmd getp FOO" be faster than "halcmd show pin FOO"?
-Tom


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Re: [Emc-developers] halcmd delay with Linuxcnc Master branch on 12.04/Xenomai vs 10.04/rtai

[Tom Easterday]

On Feb 25, 2013, at 1:46 PM, Michael Haberler  wrote:
> looking at the system call timestamps should give a clue where time is spent 
> since it's for sure not the application code per se, which is trivial in this 
> case

I ran again with -r and the results are here:

http://bgp.nu/~tom/pub/1204.systime.txt  12.04/Xenomai on Atom 2700  
http://bgp.nu/~tom/pub/1004.systime.txt  10.04/rtai on Atom 2500

What stands out as different in these are set_thread_area differences:

10.04:
0.000338 set_thread_area({entry_number:-1 -> 6, base_addr:0xb77689a0, 
limit:1048575, seg_32bit:1, contents:0, read_exec_only:0, limit_in_pages:1, 
seg_not_present:0, useable:1}) = 0

12.04
0.008819 set_thread_area({entry_number:-1 -> 6, base_addr:0xb73ae700, 
limit:1048575, seg_32bit:1, contents:0, read_exec_only:0, limit_in_pages:1, 
seg_not_present:0, useable:1}) = 0

And in 12.04 after the last "close(3") there are a whole bunch of things that 
don't appear in the 10.04 version (including nanosleep?):
 0.73 close(3)  = 0
 0.65 futex(0xb74261f0, FUTEX_WAKE_PRIVATE, 2147483647) = 0
 0.66 futex(0xb7426134, FUTEX_WAKE_PRIVATE, 2147483647) = 0
 0.73 futex(0xb74262d8, FUTEX_WAKE_PRIVATE, 2147483647) = 0
 0.001331 rt_sigaction(SIGXCPU, {0xb74214d0, [], SA_SIGINFO}, NULL, 8) = 0
 0.000292 rt_sigaction(SIGINT, {0x804a440, [INT], SA_RESTART}, {SIG_DFL, 
[], 0}, 8) = 0
 0.000161 rt_sigaction(SIGTERM, {0x804a440, [TERM], SA_RESTART}, {SIG_DFL, 
[], 0}, 8) = 0
 0.000143 rt_sigaction(SIGPIPE, {SIG_IGN, [PIPE], SA_RESTART}, {SIG_DFL, 
[], 0}, 8) = 0
 0.000193 shmget(0x48484c34, 8, 0666) = 4882437
 0.001290 shmctl(4882437, IPC_64|IPC_STAT, 0xbffa4878) = 0
 0.000182 shmat(4882437, 0, 0)  = 0xb7725000
 0.000128 shmget(0x48414c32, 262000, 0666) = 5046292
 0.69 shmctl(5046292, IPC_64|IPC_STAT, 0xbffa48a8) = 0
 0.66 shmat(5046292, 0, 0)  = 0xb736d000
 0.000416 fstat64(1, {st_mode=S_IFCHR|0620, st_rdev=makedev(136, 2), ...}) 
= 0
 0.001391 mmap2(NULL, 4096, PROT_READ|PROT_WRITE, 
MAP_PRIVATE|MAP_ANONYMOUS, -1, 0) = 0xb7724000
 0.000107 write(1, "wcomp float IN 5.001 wcomp.3.max"..., 33) = 33
 0.000330 write(1, "\n", 1) = 1
 0.004085 shmdt(0xb736d000) = 0
 0.000140 shmctl(5046292, IPC_64|IPC_STAT, 0xbffa48fc) = 0
 0.68 munlockall()  = 0
 0.000108 munlockall()  = 0
 0.000101 nanosleep({0, 1}, NULL) = 0
 0.100206 nanosleep({0, 1}, NULL) = 0
 0.100234 exit_group(0) = ?

> Summary: to make figures comparable, you need comparable build options.

Here both are set to run in place...

> That said: what exactly is the tuning effort about? There are various ways to 
> access pins, and I think pretty much all of them would be orders of magnitude 
> faster than 'halcmd show pin x' ?

The tuning effort is that we are writing a GUI that talks to Linuxcnc over wifi 
and would like it to be as responsive as possible.   Currently we are using a 
simple web server 
(http://wiki.linuxcnc.org/cgi-bin/wiki.pl?Rockhopper_Web_Server).  What other 
way(s) would you suggest for getting/setting pins?

Thanks for the help, Michael.
-Tom
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Re: [Emc-developers] halcmd delay with Linuxcnc Master branch on 12.04/Xenomai vs 10.04/rtai

[Tom Easterday]

On Feb 25, 2013, at 12:21 PM, Michael Haberler  wrote:
> try strace ...


Output from "strace -o filename halcmd -s show pin wcomp.3.max" is here:
http://bgp.nu/~tom/pub/1204.trace.txt  12.04/Xenomai on Atom 2700  
http://bgp.nu/~tom/pub/1004.trace.txt  10.04/rtai on Atom 2500

Not sure what I should be looking for in here but I see some "No such file or 
directory" errors in the 12.04 version:

-Tom
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[Emc-developers] halcmd delay with Linuxcnc Master branch on 12.04/Xenomai vs 10.04/rtai

[Tom Easterday]

We are seeing up to a quarter second delay before halcmd returns with Linuxcnc 
Master branch on 12.04/Xenomai.

The crude shell script below simply prints times before/after halcmd (if time 
wraps you get an invalid number, run again).  On our 10.04 system it takes 
between 10-30 ms to run halcmd to show all pins (or any specific pin), and on 
our 12.04 systems with Xenomai the same operation takes 200-250ms.  Not sure 
why, but this delay seems too long

#!/bin/sh
date +%N
halcmd -s show pin > /dev/null 
date +%N

Running fresh 12.04 installation and installed Xenomai from here:  
http://wiki.linuxcnc.org/cgi-bin/wiki.pl?NewRTInstall  using the 
rtos-integration-preview3-merged-into-master branch on an Intel ATOM 2500, 
2700, 2800 series motherboards 
vs running same hardware installed with 2.5.1 Release LiveCD and then updated 
to the Lucid Master branch using instructions here:   
http://buildbot.linuxcnc.org  We are running with sim->axis-> axis 
configuration.

-Tom
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Re: [Emc-developers] 12.04, xenomai, rtai buffering/blocking question

[Tom Easterday]

Let me re-ask the question, for which I gave too much prior information. 
Apologies for that.  Are there pre-built packages for RTAI on Ubuntu 12.04 
Precise?
-Tom



On Feb 20, 2013, at 3:52 PM, Michael Haberler  wrote:

> Tom,
> 
> Am 20.02.2013 um 20:29 schrieb Tom Easterday:
> 
>> I have a problem that looks like either process scheduling, or buffering, 
>> some sort of blocking on a linuxcnc host running 12.04/Xenomai and 2.6.0pre. 
>>  It does not display this problem on 10.04/RTAI and 2.6.0pre (same base 
>> hardware, an intel atom board).   The symptom is that when continuously 
>> jogging, a DRO showing position on a remote device changes smoothly when 
>> talking to 10.04/rtai.  On 12.04/xenomai we get a distinct pattern of three 
>> updates and a pause, three updates and a pause.  The pause is some number of 
>> milliseconds long (1/4 second maybe) and distinctly visible.  The remote 
>> connection is through our web server (Rockhopper) over tcp (websocket) on 
>> wired ethernet.
>> 
>> We first thought it was packet buffering or network latency and played with 
>> TCP parameters and system buffers but that had no effect.  We put timing 
>> statements in the web server code at the point were we write the data out 
>> and it appears that the whole web server process is being blocked or 
>> something.  We tried re-nicing the web server but it didn't help.  If we run 
>> Axis locally while doing this it doesn't display this pause, it moves along 
>> smoothly as one would expect.
>> 
>> For debugging I thought I might try 12.04 and rtai to see if it was just 
>> with the xenomai kernel or if rtai on 12 does it as well.  Are there rtai 
>> packages available for 12.04 yet?  I was going through the email list 
>> archive on the new RT stuff but don't see any pointer to packages on rtai 
>> specifically...
>> 
>> Any thoughts on what we might look at to narrow it down further?
> 
>> From the above I can tell:
> 
> - you are running some of your own code because you cite some 'web server' 
> which is not part of a released or working branch. Where is the code, the 
> configuration you are using, and the exact sequence of commands leading up to 
> it?
> - you say you are running '2.6.0pre', whatever that is, that tag isnt a 
> unique identifier. Please state repository, branch name, commit, and which 
> changes you did. 
> - you do not say anything about hardware, exact lan setup including any 
> intermediate hardware, the board, kernel version - how are we supposed to 
> guess?
> 
> With that level of information, my thought is that you will get zero help in 
> narrowing down things further, simply because it is impossible.
> 
> --
> 
> that said, what I suggest you do is: triage the problem into a) network 
> driver and hardware b) tcp kernel stack and throughput c) application. 
> 
> a) Find throughput tests which measure at the packet loss level with the 
> least kernel intervention, that is - raw throughput tests at the ethernet or 
> UDP level. Find out if there are significant differences between operating 
> systems on the same hardware. Change hubs/switches or whatever have in 
> between. Try a crossover cable.
> 
> b) do the same including the TCP stack which measures end-to-end throughput 
> at the TCP level. Observe the TCP retransmission numbers in netstat which 
> should give a clue.
> 
> c) as for application level issues, install wireshark and pcap, and trace the 
> flow between the programs which show the the issue - we dont know which they 
> are since you do not tell. The packet capture will include timestamps and TCP 
> retransmissions which hint at network problems. If you see any 
> retransmissions, try alternate hardware and drivers - this zoo has many 
> animals. Try with everyting on one machine to exclude network issues.
> 
> And: read this: http://www.chiark.greenend.org.uk/~sgtatham/bugs.html
> 
> --
> 
> One reason why I suggest you produce a more thorough report, and not some 
> ephemeral problem narrative: I spent several hours recently in a off-list 
> debugging session on a 'reported Xenomai problem'. The problem was finally 
> resolved by me demanding to 'yank that ethernet hub *now* and throw it in the 
> wastebin' in no uncertain words. No more Xenomai issues since. Btw that was a 
> device 'which always used to work so far'. So much for perceived causality.
> 
> 
> - Micahel
> 
> 
> 
> 
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[Emc-developers] 12.04, xenomai, rtai buffering/blocking question

[Tom Easterday]

I have a problem that looks like either process scheduling, or buffering, some 
sort of blocking on a linuxcnc host running 12.04/Xenomai and 2.6.0pre.  It 
does not display this problem on 10.04/RTAI and 2.6.0pre (same base hardware, 
an intel atom board).   The symptom is that when continuously jogging, a DRO 
showing position on a remote device changes smoothly when talking to 
10.04/rtai.  On 12.04/xenomai we get a distinct pattern of three updates and a 
pause, three updates and a pause.  The pause is some number of milliseconds 
long (1/4 second maybe) and distinctly visible.  The remote connection is 
through our web server (Rockhopper) over tcp (websocket) on wired ethernet.

We first thought it was packet buffering or network latency and played with TCP 
parameters and system buffers but that had no effect.  We put timing statements 
in the web server code at the point were we write the data out and it appears 
that the whole web server process is being blocked or something.  We tried 
re-nicing the web server but it didn't help.  If we run Axis locally while 
doing this it doesn't display this pause, it moves along smoothly as one would 
expect.

For debugging I thought I might try 12.04 and rtai to see if it was just with 
the xenomai kernel or if rtai on 12 does it as well.  Are there rtai packages 
available for 12.04 yet?  I was going through the email list archive on the new 
RT stuff but don't see any pointer to packages on rtai specifically...

Any thoughts on what we might look at to narrow it down further?

-Tom


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Re: [Emc-developers] [Xenomai] Announcing beta x86 Xenomai kernel packages: squeeze, precise, lucid

[Tom Easterday]

On Feb 14, 2013, at 11:46 AM, Michael Haberler  wrote:

> Am 14.02.2013 um 17:36 schrieb Tom Easterday:
> 
>> On Feb 14, 2013, at 11:30 AM, Michael Haberler  wrote:
>>> Tom,
>>> 
>>> Am 14.02.2013 um 16:16 schrieb Tom Easterday:
>>> 
>>>>> fetch and install the required packages
>>>>> 
>>>>> The instructions for installing the Xenomai kernel are at 
>>>>> XenomaiKernelPackages .
>>>>> 
>>>> 
>>>> I must say I preferred what was there yesterday.  For one, the 
>>>> instructions were MUCH more clear.  And 2 they worked, unlike these.  I 
>>>> tried to install this a system today.   Networking is broken and I have a 
>>>> bizarre pattern of dots across the top of the machine.  It also takes a 
>>>> VERY long time to shutdown (1 minute or so) for some reason.  It spews 
>>>> several pages of FFF's across the screen at boot, not sure what that 
>>>> one is about but not a biggie
>>> 
>>> I have verified the instructions beforehand by installing this kernel for 
>>> lucid, precise and squeeze before John sent the announcement.
>>> 
>>> The suggestion that downloading this kernel package somehow wipes your grub 
>>> configuration is a bit hard to follow; in any case you should have a 
>>> default kernel which you can select via grub.
>> 
>> I didn't say it wipes my grub configuration, I am just saying that the grub 
>> selection menu no longer comes up during boot.  I don't know how to get it 
>> back.  This was a fresh install on a new (different) disk so nothing was 
>> there before.
>> 
>>> The log shows one attempt where the downloader obviously forgot the step 
>>> 'CODENAME=$(lsb_release -cs); echo $CODENAME' as per instructions. Please 
>>> let me know the IP address (range) you connected from to verify if this 
>>> could have been the cause.
>> 
>> I definitely did CODENAME=$(lsb_release -cs); echo $CODENAME and it returned 
>> "precise".
>> 
>> My address should be 107.5.93.X.
> 
> I had no connects from this range:
> 
> mah2:/var/log/apache2# grep 107.5.93  *
> mah2:/var/log/apache2# 
> 
> Could it be you pulled from John's repo 
> (http://distro.zultron.com/zultron/cadcam/debian) ?
> 


I went here: http://wiki.linuxcnc.org/cgi-bin/wiki.pl?NewRTInstall
then here: http://wiki.linuxcnc.org/cgi-bin/wiki.pl?XenomaiKernelPackages
and did this.  However, I was unable to edit /etc/apt/sources.list (using sudo) 
and had to change permissions on the file.
2. Installing

To enable the package repo and install the packages, these must be run as 
superuser:


 # Set CODENAME as appropriate for your environment
 # should be one of 'precise', 'lucid', 'squeeze'; set manually if you get 
something different
 CODENAME=$(lsb_release -cs); echo $CODENAME
 # Add the repository to /etc/apt/sources.list
 echo "deb http://deb.machinekit.net/$CODENAME $CODENAME main" >> 
/etc/apt/sources.list
 echo "deb-src http://deb.machinekit.net/$CODENAME $CODENAME main" >> 
/etc/apt/sources.list
 # update the package list
 apt-get update
 # Install the package containing the signing keys; answer 'y' to install 
despite missing keys
 apt-get install zultron-keyring
 # Install the xenomai run-time tools and headers (for building LCNC)
 apt-get install xenomai-runtime libxenomai-dev
 # Install the xenomai-patched kernel
 apt-get install linux-image-3.5.7-xenomai-2.6.2.1

> pressing the left shift key during boot works for me
> 
> search for 'shift' in the first google hit for 'grub menu display' 
> https://help.ubuntu.com/community/Grub2

Shift doesn't work, but I will investigate.
-Tom

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Re: [Emc-developers] [Xenomai] Announcing beta x86 Xenomai kernel packages: squeeze, precise, lucid

[Tom Easterday]

On Feb 14, 2013, at 11:30 AM, Michael Haberler  wrote:
> Tom,
> 
> Am 14.02.2013 um 16:16 schrieb Tom Easterday:
> 
>>> fetch and install the required packages
>>> 
>>> The instructions for installing the Xenomai kernel are at 
>>> XenomaiKernelPackages .
>>> 
>> 
>> I must say I preferred what was there yesterday.  For one, the instructions 
>> were MUCH more clear.  And 2 they worked, unlike these.  I tried to install 
>> this a system today.   Networking is broken and I have a bizarre pattern of 
>> dots across the top of the machine.  It also takes a VERY long time to 
>> shutdown (1 minute or so) for some reason.  It spews several pages of 
>> FFF's across the screen at boot, not sure what that one is about but not 
>> a biggie
> 
> I have verified the instructions beforehand by installing this kernel for 
> lucid, precise and squeeze before John sent the announcement.
> 
> The suggestion that downloading this kernel package somehow wipes your grub 
> configuration is a bit hard to follow; in any case you should have a default 
> kernel which you can select via grub.

I didn't say it wipes my grub configuration, I am just saying that the grub 
selection menu no longer comes up during boot.  I don't know how to get it 
back.  This was a fresh install on a new (different) disk so nothing was there 
before.

> The log shows one attempt where the downloader obviously forgot the step 
> 'CODENAME=$(lsb_release -cs); echo $CODENAME' as per instructions. Please let 
> me know the IP address (range) you connected from to verify if this could 
> have been the cause.

I definitely did CODENAME=$(lsb_release -cs); echo $CODENAME and it returned 
"precise".

My address should be 107.5.93.X.

> 
>> The networking issue could be related to this:  RealTek r8168 NIC chipset 
>> problems
> 
> Please boot into the non-Xenomai kernel (I do not know what you are running 
> as you did not tell), and install the r1868 kmod as described on the wiki 
> page. Then boot into the Xenomai kernel. Since I have the very same problem 
> with an r8168, I can tell that this procedure works.

Is there an easy way to either force the grub menu to come up at boot, or tell 
it to use a different kernel on next boot?

Tom


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Re: [Emc-developers] [Xenomai] Announcing beta x86 Xenomai kernel packages: squeeze, precise, lucid

[Tom Easterday]

> fetch and install the required packages
> 
> The instructions for installing the Xenomai kernel are at 
> XenomaiKernelPackages .
> 

I must say I preferred what was there yesterday.  For one, the instructions 
were MUCH more clear.  And 2 they worked, unlike these.  I tried to install 
this a system today.   Networking is broken and I have a bizarre pattern of 
dots across the top of the machine.  It also takes a VERY long time to shutdown 
(1 minute or so) for some reason.  It spews several pages of FFF's across 
the screen at boot, not sure what that one is about but not a biggie

The networking issue could be related to this:  RealTek r8168 NIC chipset 
problems

But I didn't know I had one of these (still don't) and rebooted.  So now I am 
in a catch-22, no networking to fix my network problem.  For some reason the 
grub boot menu doesn't come up when I boot so I can't select another kernel to 
boot so I have to explore how to do that to try to get it back to a sane state 
to see if I have this card and can fix it or if I have another issue.

I have no idea what is going on with video - didn't have this problem with the 
build yesterday.

Onward,
-Tom
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Re: [Emc-developers] Xenomai latency spikes: feedback from Xenomai mailing list : the reference

[Tom Easterday]

I spent the day playing with this on the Intel Atom D2700MUD.  I rebuilt the 
system using the rtos-integration-preview3-merged-into-master
branch.  I rebuilt it for another reason (stupid graphics fubar) and figured I 
would try this branch for the heck of it.

Neither no-halt nor idle=poll had any effect (good or bad) on the system as far 
as I could tell in the short testing intervals I did today (5 minutes or so 
generally).   I played with Hyperthreading, which definitely needs to stay off 
on my system, and isolcpus which helps latency some (I think) but really makes 
the machine slow for doing anything else other than Linuxcnc - but that's the 
point isn't it?   In general I am seeing between 15,000-22,000 but I will let 
the machine run over night or a weekend soon for more concrete numbers.

If I run update-grub, whether I have made a change to grub or not, the number 
shoots up to over 170,000.  Obviously this isn't something one would do while 
using Linuxcnc, like Kent's messing in the /proc area, and shows you should 
keep your mitts out of where they don't belong.  :-)

Tom

On Feb 13, 2013, at 2:29 PM, sam sokolik  wrote:

> For this system (amd) the only thing that seems to make a difference is 
> the idle=poll (no-halt seems to have no effect)
> 
> I go from 200+us latency to 7us top.
> 
> sam
> 
> On 2/13/2013 11:29 AM, Michael Haberler wrote:
>> for reference - from 
>> http://www.kernel.org/doc/Documentation/kernel-parameters.txt
>> 
>>  nohlt   [BUGS=ARM,SH] Tells the kernel that the sleep(SH) or
>>  wfi(ARM) instruction doesn't work correctly and not to
>>  use it. This is also useful when using JTAG debugger.
>> 
>>  no-hlt  [BUGS=X86-32] Tells the kernel that the hlt
>>  instruction doesn't work correctly and not to
>>  use it.
>> 
>>   idle=   [X86]
>> Format: idle=poll, idle=mwait, idle=halt, 
>> idle=nomwait
>> Poll forces a polling idle loop that can slightly
>> improve the performance of waking up a idle CPU, but
>> will use a lot of power and make the system run hot.
>> Not recommended.
>> idle=mwait: On systems which support MONITOR/MWAIT 
>> but
>> the kernel chose to not use it because it doesn't 
>> save
>> as much power as a normal idle loop, use the
>> MONITOR/MWAIT idle loop anyways. Performance should 
>> be
>> the same as idle=poll.
>> idle=halt: Halt is forced to be used for CPU idle.
>> In such case C2/C3 won't be used again.
>> idle=nomwait: Disable mwait for CPU C-states
>> 
>> it seems from the above for x86 the combination would be
>> 
>>   no-hlt idle=poll
>> 
>> as for an ARM, it would be
>> 
>>   nohlt idle=poll
>> 
>> 
>> It would be value to explore the arguments to idle= a bit more on 'laggy' 
>> x86 platforms, in particular the combinations:
>> 
>>   no-hlt idle=mwait
>>   no-hlt idle=nomwait
>> 
>> assuming the combination 'no-hlt idle=halt' is contradictory
>> 
>> on ARM's, only 'nohlt' makes sense assuming the documentation is correct
>> 
>> 
>> ---
>> 
>> It seems to be about power saving modes
>> 
>> an overview of CPU C* states is here: 
>> http://www.hardwaresecrets.com/article/611
>> 
>> 
>> - Michael
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Re: [Emc-developers] Xenomai/linuxcnc build fail

[Tom Easterday]

Thanks Kent, I'll give it a try...And thanks for your turgid prose, I have used 
it a few time on past systems :-)
-Tom


On Feb 12, 2013, at 12:23 PM, Kent A. Reed  wrote:
> Hi, Tom.
> 
> I wrote that bit of turgid prose about the boot parameter so I feel 
> honor-bound to reply:-)
> 
> A simplified sequence of events is that once the BIOS + first stage 
> GRUB2 booting finishes, GRUB2 selects and boots a Linux kernel. The 
> instructions to GRUB2 for doing this is contained in 
> /boot/grub/grub.cfg. My wiki page merely addresses how to deal with the 
> GRUB2 way of doing things compared to classic GRUB.
> 
> The isolcpus parameter is one of many optional boot parameters which can 
> be passed to the kernel for it to process as it initializes (see 
> https://www.kernel.org/doc/Documentation/kernel-parameters.txt).
> 
> Whether or not one chooses to follow my approach to setting this 
> parameter, the isolcpus parameter is merely passed to the kernel, 
> whatever the kernel may be. To the best of my knowledge (but, hey, I've 
> been known to be wrong once or twice before) both the kernel+RTAI and 
> the kernel+Xenomai deal with this parameter in the same way.
> 
> Regards,
> Kent


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Re: [Emc-developers] Xenomai/linuxcnc build fail

[Tom Easterday]

On Feb 12, 2013, at 8:35 AM, Tom Easterday  wrote:
> I assume it is still recommended that one turn off hyperthreading and/or add 
> isolcpus to the kernel?


My latency numbers (Intel Atom D2700MUD) are horrible (Base thread 119,168 ns) 
without any modification.  I disabled Hyperthreading in bios and now base is 
19,418 ns after running for an hour or so whilst using the machine.  I still 
wonder if isolcpus works with Xenomai or if there is a different/better way to 
do that?

I assume this won't work since it is based on rtai kernel: 
http://wiki.linuxcnc.org/cgi-bin/wiki.pl?The_Isolcpus_Boot_Parameter_And_GRUB2

-Tom


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Re: [Emc-developers] Xenomai/linuxcnc build fail

[Tom Easterday]

On Feb 12, 2013, at 1:10 AM, Michael Haberler  wrote:
> 'xenomai and linuxcnc' translates into which git branch?

rtos-integration-preview3

> The debian packaging still needs work. For now, installing the dependencies 
> must happen manually; maybe this helps: 
> http://static.mah.priv.at/public/xenomai-debs/install-packages-for-build-on-12.04-pristine.sh

Thanks, I think I had gotten them all.

> sharing the error message would help:
> 
> cd to /home/tom/linuxcnc-rtos/tests/abs.0
> cat stderr
> 
> My guess is you will find 'Xenomai: binding failed: Operation not permitted' 
> there
> 
> in case it is,  see towards the end of: 
> http://wiki.linuxcnc.org/cgi-bin/wiki.pl?BeagleboneDevsetup

You guessed right, that was the error.  It was late and had I read down further 
in your instructions I would have seen the note for "adduser".  Perhaps you 
should move that up, just below runtests for sleep deprived people like me :-)

I assume it is still recommended that one turn off hyperthreading and/or add 
isolcpus to the kernel?

Thanks, Michael for the help and for all the work you have done on this!
-Tom


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[Emc-developers] Xenomai/linuxcnc build fail

[Tom Easterday]

Was following instructions on wiki page to build xenomai and linuxcnc on a
clean install of 12.04 on an Intel D2700MUD Mini-ITX and ran into these
issues (and fixes) and ultimate failure...
-Tom
(http://wiki.linuxcnc.org/cgi-bin/wiki.pl?NewRTInstall)
===

tom@tom-desktop:~/linuxcnc-rtos$ dpkg-checkbuilddeps
dpkg-checkbuilddeps: error: syntax error in debian/control at line 16:
block lacks the 'Package' field


Had to edit ./debian/control to remove line 16 (a blank line?)

===

While working through the list of dependencies that dpkg-checkbuilddeps
gave me I ran into this:

tom@tom-desktop:~/linuxcnc-rtos$ sudo apt-get install  libglu1-mesa-dev
libgl1-mesa-dev libgl1-mesa-swx11-dev
Reading package lists... Done
Building dependency tree
Reading state information... Done
Some packages could not be installed. This may mean that you have
requested an impossible situation or if you are using the unstable
distribution that some required packages have not yet been created
or been moved out of Incoming.
The following information may help to resolve the situation:

The following packages have unmet dependencies:
libgl1-mesa-dev : Conflicts: libgl-dev
libgl1-mesa-swx11-dev : Depends: libgl1-mesa-swx11 (= 8.0.4-0ubuntu0.3)
but it is not going to be installed
Conflicts: libgl-dev
E: Unable to correct problems, you have held broken packages.


Installing these in a different order worked for me:
libgl1-mesa-swx11-dev
libglu1-mesa-dev
libgl1-mesa-dev

==


Before fixing the above error (getting the *-mesa* libs) I got the message
below (missing gl.h).  Not an error, just what you might see if one of the
above failed to install...

checking python version... OK
checking match between tk and Tkinter versions... 8.5
checking location of Python header files... /usr/include/python2.7
checking /usr/include/python2.7/Python.h usability... yes
checking /usr/include/python2.7/Python.h presence... yes
checking for /usr/include/python2.7/Python.h... yes
checking for site-package location... /usr/lib/python2.7/dist-packages
checking GL/gl.h usability... no
checking GL/gl.h presence... no
checking for GL/gl.h... no
configure: error: Required OpenGL header missing.  Install it, or specify
--disable-python to skip the parts of emc2 that depend on Python

==

(a nit, just for completeness) you have:

To run all packaged unit test:
$ . ./scripts/rip-environment
$ runtests #this should complete without errors

Should be:
To run all packaged unit test:
$ cd ../
$ . ./scripts/rip-environment
$ runtests #this should complete without errors

==

I was doing so well, and then I ran the tests
The LinuxCNC Errors window popped up partway through the tests as well.   It's 
output (if important) is here:  http://bgp.nu/~tom/pub/xenomai-fail.txt

Runtest: 82 tests run, 33 successful, 49 failed + 0 expected
Failed:
/home/tom/linuxcnc-rtos/tests/abs.0
/home/tom/linuxcnc-rtos/tests/alias.0
/home/tom/linuxcnc-rtos/tests/and-or-not-mux.0
/home/tom/linuxcnc-rtos/tests/basic
/home/tom/linuxcnc-rtos/tests/counter-encoder.0
/home/tom/linuxcnc-rtos/tests/flipflop.0
/home/tom/linuxcnc-rtos/tests/halmodule.0
/home/tom/linuxcnc-rtos/tests/limit3.0
/home/tom/linuxcnc-rtos/tests/limit3.1
/home/tom/linuxcnc-rtos/tests/limit3.2
/home/tom/linuxcnc-rtos/tests/linuxcncrsh
/home/tom/linuxcnc-rtos/tests/loadrt.1
/home/tom/linuxcnc-rtos/tests/modparam.0
/home/tom/linuxcnc-rtos/tests/module-loading/encoder/1-names
/home/tom/linuxcnc-rtos/tests/module-loading/encoder/8-names
/home/tom/linuxcnc-rtos/tests/module-loading/encoder/num_chan=0
/home/tom/linuxcnc-rtos/tests/module-loading/encoder/num_chan=1
/home/tom/linuxcnc-rtos/tests/module-loading/encoder/num_chan=8
/home/tom/linuxcnc-rtos/tests/module-loading/encoder_ratio/1-names
/home/tom/linuxcnc-rtos/tests/module-loading/encoder_ratio/8-names
/home/tom/linuxcnc-rtos/tests/module-loading/encoder_ratio/num_chan=0
/home/tom/linuxcnc-rtos/tests/module-loading/encoder_ratio/num_chan=1
/home/tom/linuxcnc-rtos/tests/module-loading/encoder_ratio/num_chan=8
/home/tom/linuxcnc-rtos/tests/module-loading/pid/16-names
/home/tom/linuxcnc-rtos/tests/module-loading/pid/1-names
/home/tom/linuxcnc-rtos/tests/module-loading/pid/num_chan=0
/home/tom/linuxcnc-rtos/tests/module-loading/pid/num_chan=16
/home/tom/linuxcnc-rtos/tests/module-loading/pid/num_chan=1
/home/tom/linuxcnc-rtos/tests/module-loading/siggen/16-names
/home/tom/linuxcnc-rtos/tests/module-loading/siggen/1-names
/home/tom/linuxcnc-rtos/tests/module-loading/siggen/num_chan=0
/home/

Re: [Emc-developers] xenomai raspberrypi

[Tom Easterday]

Thanks.
-Tom

On Feb 8, 2013, at 7:13 PM, Michael Haberler  wrote:

> 
> Am 09.02.2013 um 00:36 schrieb Matt Shaver:
> 
>> On Thu, 7 Feb 2013 22:48:49 -0500
>> Tom Easterday  wrote:
>> 
>>> Michael,
>>> I recall seeing a message from you a while back saying you had given
>>> up on raspberry pi (I'm paraphrasing) but I can't seem to locate that
>>> in my mail at the moment. I was curious why it was you abandoned it?
>>> Was it an I/O issue or performance with real time?  Did you
>>> ultimately get the Xenomai build working on it? Thanks, -Tom
>> 
>> I think I've found the relevant quotes from way back on the list:
>> 
>> On Mon, 03 Dec 2012 05:44:44 -0600
>> Charles Steinkuehler  wrote:
>>> On 12/2/2012 10:22 PM, Michael Haberler wrote:
>>>> As for the Raspberry: that has very limited potential - the
>>>> platform is about half as fast as the Beaglebone, has fairly
>>>> minimal GPIO, and it is wed to the Broadcom chipset, which I would
>>>> rate as a company which still doesnt get it. A mean voice said
>>>> about the chipset used on the Pi 'half of it isnt documented, and
>>>> the other half doesnt work'. Thats not entirely true but there is
>>>> something to that comment.
>>> 
>>> Even worse, the Pi isn't an ARM chip with a bunch of stuff attached,
>>> it's a black-box video decoder/GPU that happens to have an ARM as a
>>> co-processor.  The GPU is in total control of the system (including
>>> booting from flash), everything about the GPU is undocumented, and the
>>> GPU can eat up as much bus/memory/system as it wants, holding off even
>>> a real-time Linux kernel for unknowable amounts of time.
>>> 
>>> I agree with you that Broadcom doesn't get it, and TI does.
> 
> sorry Tom, I missed that one.
> 
> No new revelations I could add.
> 
> thanks, Matt!
> 
> - Michael
> 
>> 
>> Thanks,
>> Matt


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[Emc-developers] xenomai raspberrypi

[Tom Easterday]

Michael,
I recall seeing a message from you a while back saying you had given up on 
raspberry pi (I'm paraphrasing) but I can't seem to locate that in my mail at 
the moment. I was curious why it was you abandoned it?  Was it an I/O issue or 
performance with real time?  Did you ultimately get the Xenomai build working 
on it?
Thanks,
-Tom


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Re: [Emc-developers] gscreen merged to master

[Tom Easterday]

Well, going through the procedure to get it from the buildbot and install again 
worked.  It didn't update anything (because it didn't need to).  Perhaps the 
install script failed for some reason the first time?  I lost the output from 
the terminal.  Anyway, it is working now, thanks for your help!
-Tom

On Feb 6, 2013, at 3:06 PM, Sebastian Kuzminsky  wrote:

> On 2/6/13 12:24 , Tom Easterday wrote:
>> 
>> Hmm, when I type dpkg -s linuxcnc | grep Version it tells me Version 1: 
>> 2.5.1.
>> If I don't type . ./rip-enviromment from within ~/linucnc-dev/scripts then 
>> "linuxcnc" launches 2.5.1.
>> If I do type . ./rip-enviromment from within ~/linucnc-dev/scripts then 
>> "linuxcnc" launches 2.6.0~pre
>> But in either case I do not see gscreen anywhere...
>> 
>> I did this to get 2.6.0~pre ->  put "deb http://buildbot.linuxcnc.org/ lucid 
>> master-rt" in /etc/apt/sources.list.d/linuxcnc-buildbot.list
>> This is a 10.04 install of Ubuntu.
> 
> Ok, so you have two versions of linuxcnc installed.
> 
> One is in your ~/linuxcnc-dev directory, checked out from git, that one 
> is version 2.6.something.
> 
> The other is the deb you installed from the buildbot, that one's 
> 2.5.something.
> 
> So what you tried to do to get the 2.6 deb from the buildbot didn't 
> work.  Did you run "apt-get update" and "apt-get -uV dist-upgrade" after 
> changing your sources.list?
> 
> You can still run 2.6 from your git dev directory.  Source the 
> rip-environment script and run "which linuxcnc" to verify that you're 
> running the executable from your linuxcnc-dev directory, not the one 
> from /usr/bin.  When you run linuxcnc and it pops up the config picker 
> window, notice that you have two kinds of configs available, indicated 
> by the two top-level nodes in the tree of configurations.  These are "My 
> Configurations" (which is the stuff in $HOME/linuxcnc) and "Sample 
> Configurations" (which is the stuff provided as part of linuxcnc, either 
> the deb or the git checkout).  Choose Sample Configurations and look in 
> sim/gscreen.  It should be there.
> 
> 
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Re: [Emc-developers] gscreen merged to master

[Tom Easterday]

On Feb 6, 2013, at 2:31 PM, Chris Morley  wrote:
> Sorry Tom I led you down the dark path with the .script/rip command
> I'm so used to run-in-place :)
> 
> I'm not sure what going on.

So you are saying I shouldn't use the rip script?  Why wouldn't run in place 
work?
-Tom
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Re: [Emc-developers] gscreen merged to master

[Tom Easterday]

On Feb 6, 2013, at 1:36 PM, Sebastian Kuzminsky  wrote:

> Tom is running debs from the buildbot, so he should not run the 
> rip-environment script.
> 
> Tom, make sure you've installed a 2.6~pre deb, not a 2.5 deb.  You can 
> check what you currently have installed by running this:
> 
> dpkg -s linuxcnc | grep Version
> 
> (Or "linuxcnc-sim", depending on if you're running the sim or realtime 
> version.)
> 
> Note that 2.5 and 2.6 debs live in different parts of the debian 
> archive, and so need different lines in the sources.list.  See the 
> instructions on "Using these packages" here:
> 
> http://buildbot.linuxcnc.org/

Hmm, when I type dpkg -s linuxcnc | grep Version it tells me Version 1: 2.5.1.
If I don't type . ./rip-enviromment from within ~/linucnc-dev/scripts then 
"linuxcnc" launches 2.5.1.  
If I do type . ./rip-enviromment from within ~/linucnc-dev/scripts then 
"linuxcnc" launches 2.6.0~pre
But in either case I do not see gscreen anywhere...

I did this to get 2.6.0~pre ->  put "deb http://buildbot.linuxcnc.org/ lucid 
master-rt" in /etc/apt/sources.list.d/linuxcnc-buildbot.list
This is a 10.04 install of Ubuntu.

Tom
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Re: [Emc-developers] gscreen merged to master

[Tom Easterday]

On Feb 6, 2013, at 1:08 PM, Chris Morley  wrote:
> Did you remember to . scripts/rip-environment in the terminal?
> 

Yes.

> If you load a config it should be linuxcnc 2.6 something.

Yes, it is 2.6.pre

> 
> There is also sample configs in sim/gscreen, sim/gscreen_custom
> Do you see them?

No, we don't see any reference to gscreen in the whole thing.  We got this from 
the buildbot, do we have to get it from somewhere else?
-Tom


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Re: [Emc-developers] gscreen merged to master

[Tom Easterday]

How can I run this, Chris?  I pulled the latest off the buildbot and changed 
our config according to your instructions on the wiki but gscreen doesn't seem 
to be in there anywhere (I can't find the executable).
-Tom

On Nov 9, 2012, at 1:54 AM, Chris Morley  wrote:

> 
> I have merged Gscreen into master.
> Gscreen is a GTK/gladeVCP/python based GUI.
> 
> There is an fairly complete overview on the wiki:
> http://wiki.linuxcnc.org/cgi-bin/wiki.pl?Gscreen
> 
> Gscreen is still in development / testing.
> In fact that's why I merged it - so more people can exercise it.
> I'm sure there are some bugs yet and a few things are not slick as I want.
> I have used it on a small mill and others have tested it.
> 
> Gscreen requires a fairly high res screen 1280x720 or higher I have tested 
> with.
> At the moment machines only machines with XYZA or less are supported.
> It has been made to work with a touchscreen though a mouse is fine too.
> To do Gcode editing or MDI requires a keyboard (even with a touchscreen) 
> 
> There are sample configs under sim/gscreen and sim/gscreen_custom.
> Gscreen supports embedded programs eg gladevcp and webcams.
> Gscreen supports postgui_hal.
> 
> It is pretty customizable.
> as well as embedding, the gladefile can be edited and since it uses glade_VCP
> frame work it can use similar python handler files. This part needs more work.
> Of course it supports GTK themes.
> There is a sample config that shows 9 axis buttons and a custom button that
> counts how many time you push it.
> You not going to be able to completely change the way it works but can change 
> quite a lot.
> 
> While Gscreen will not be for everyone I do think It at least stands as an 
> example of
> what can be done with the gladeVCP toolset and python programming.
> I am not a programer by trade so I apologize for the unpretty code - I will 
> continue
> to try and clean/simplify it.
> 
> If you are so inclined please try it out and give feedback either here or in 
> the forum.
> 
> In the process of making gscreen, quite a bit of work has been done to 
> gladeVCP
> widgets to make them more usable and a couple new ones, calculator and 
> tooledit_gtk
> were added.
> The documentation still needs to be made...
> 
> Chris M
> 
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Re: [Emc-developers] LinuxCNC WebGL interface

[Tom Easterday]

What do you mean by preview/progress display exactly?   Are you talking about 
showing machine status only (no control) within a web browser?  That is (very 
roughly) what we have in here 
(http://wiki.linuxcnc.org/cgi-bin/wiki.pl?Rockhopper_Web_Server).  We discussed 
having a simple status (only) display with back plot in javascript within a 
browser as well but haven't done that yet.   We are working on a new Java GUI 
that uses the same web server to python api in RockHopper. 
Tom


On Jan 13, 2013, at 1:02 PM, Michael Haberler  wrote:

> anybody considering/working on WebGL preview/progress display? 
> 
> from what I get from a cursory exercise of some WebGL examples current 
> browsers should be more than capable of meeting current and future linuxcnc 
> needs - headless operation of linuxcnc possible, no graphics card hiccups - 
> advantages wherever I look; I'd really encourage looking into this
> 
> - Michael
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Re: [Emc-developers] LinuxCNC web interface

[Tom Easterday]

On Jan 11, 2013, at 6:12 PM, andy pugh  wrote:
> On 10 January 2013 00:08, Peter Jensen  wrote:
> 
>> http://wiki.linuxcnc.org/cgi-bin/wiki.pl?Rockhopper_Web_Server
> 
> I only just got round to looking at this.
> It's fairly cool.
> 
> However, what surprised me was to find that you have just quietly and
> with no fanfare embedded a HAL graphing utility?

It is quite cool and extremely helpful to see HAL config represented in this 
way. The lack of fanfare is partly because if the HAL graph gets very 
complicated it becomes unreadable.  A more sophisticated algorithm is needed to 
keep the lines from piling up on each other.  We looked at a bunch of them, but 
only the tools that cost money (big money in some cases) were up to the task.  
We have a very complicated HAL config for the plasma machine 
(http://wiki.linuxcnc.org/cgi-bin/wiki.pl?GantryPlasmaMachine) and it turns out 
to be completely unreadable using the imbedded tool.  

That said, for many hal configs, or if you are just beginning to write one, 
this view is extremely useful.

-Tom


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Re: [Emc-developers] Introduce myself, and get some feedback on LinuxCNC development plans

[Tom Easterday]

Eric,
I'm not sure that a web server is much load on the server.  We certainly 
haven't seen it using much at all at this point.  Peter is going to having is 
spewing as much info as possible in it's next iteration in order to verify what 
it does under a strain but at the moment it is negligible.   It may be a bit 
more than Linuxcncrsh but profiling the two would be an interesting comparison 
since we haven't played with Linuxcncrsh.  Also we are not (necessarily) 
advocating a browser-based UI to Linuxcnc.   Peter was using that as an easy 
way to test proof of concept.  For initial config and for status though it 
would be a good way to go.  A web server doesn't have to ONLY talk to a 
browser.  Removing the video overhead and local UI will free up quite a bit of 
resources so even if the web server is more overhead it will have plenty of 
headroom.
Tom

On Nov 17, 2012, at 10:03 AM, Eric H. Johnson wrote:

> Peter,
> 
> I think there are good reasons for both approaches, which mainly come down
> to whether to drive the user interface from the server side or run on the
> client side. The approach I have taken is to limit as much as possible the
> server side to running the real time control, making the load on the server
> more deterministic and less resource hungry. This can become even more
> important if lcnc can be successfully ported to less powerful ARM type
> processors. They tend to be more limited not only in CPU speed but memory
> availability as well.
> 
> Thus I would really like to get the core lcnc functions (HAL, motion
> control, interpreter, etc.) running on a headless Linux server install and
> only connect GUIs remotely (my applications only, not a paradigm shift of
> all of lcnc of course). Which of course does not preclude your approach, it
> only adds to the resource requirements.
> 
> I also utilize the user interface as the liaison to the client side
> operating system, which up to this point has been exclusively Windows. The
> operator only sees the Windows side, an application which looks and feels
> like any other Windows application, thus the operator does not really care
> what is running on the control side. Doing this more generically does of
> course present some problems, but with the recent ubiquitous availability of
> Linux like devices (Android, iOS, etc.) that would not seem to be a problem
> going forward.
> 
> There may be some ways around this when pushed from the server side, but I
> like the user interface running as an app rather than through a browser. It
> frees up a little more real estate and it basically locks the operator into
> the app which occupies the entire screen. 
> 
> Your approach has many advantages as well, foremost is not needing to
> generate separate packages for each platform.
> 
> Regarding the back plot, my problem is not rendering the back plot itself, I
> already have code for that. The problems I have run into are glade specific,
> things are not rendering at run time the way they are drawn in the glade
> environment. Components are ending up attached to parents higher in the
> hierarchy than they are drawn. I have not figured out whether this is a
> glade problem or something I am doing wrong. Of course I am presuming the
> latter. So I am really just simplifying the layout until I can figure out
> what I am doing wrong in more complex layouts.
> 
> There are several levels of security. Securing the communications would seem
> to be a simple matter of using certificates and running over https. Securing
> the operator from what they should and should not be allowed is a different
> matter and the responsibility of the application. Linuxcncrsh only provides
> a limited form of the latter. It can limit the actions the operator can take
> and arbitrates so that only one user interface is in control at any one
> time. Securing the communications would be a matter of tunneling the desired
> port(s) over ssh.
> 
> Otherwise I am in complete agreement on your vision and have often made the
> analogy between lcnc and the operation of a network router.
> 
> Regards,
> Eric


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[Emc-developers] Problems with installing package for camunits-plugins-emc

[Tom Easterday]

Pavel (psha):  Thanks for updating the package name for the 
camunits-plugins-emc but there appears be a problem (still).  If I try to 
install camunits-plugins-emc it says it depends on linuxcnc-sim.  When I tried 
to install linuxcnc-sim, it instead installed linuxcnc-fake-sim and removed 
Linuxcnc (altogether)!  

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Re: [Emc-developers] gremlin.py documentation

[Tom Easterday]

On Feb 17, 2012, at 2:02 AM, Chris Morley wrote:
> GladeVCP  has a gremlin widget.
> 
> It will display as a lathe if the INI switch statement is present.
> you can zoom, rotate, pan and clear the plot using a mouse and mouse buttons.
> you pick the view in Glade but at the moment can only change the view at run 
> time
> using python programming. 

We use the view buttons in Axis quite a bit, it would be nice if that were 
possible.

> There are a bunch of options that can be picked in Glade such as show DRO, 
> show velocity, etc.
> It will update the display if a new program is loaded.
> it will not update it's display if a touch off is issued from another GUI.

Will it update the display if a touch off is issued from within Glade?  We 
currently have buttons that send the gcode commands (though mdi widget).

> to force a update you must use some some python programming.

Ok, will look into that.

> 
> Are you planning on building a stand alone GUI for linuxcnc?
> I am working on one called gscreen - see the forum for info and screen shots.
> maybe some ideas for you.


Well, that is what I was thinking about.  I would be happy taking one already 
done and using it and/or modifying it.  I'll take a look at yours.  How far 
along is it in terms of being ready for real use?

Thanks Chris,
Tom

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Re: [Emc-developers] gremlin.py documentation

[Tom Easterday]

Chris,
I was toying with the idea of having a glade UI.  Seems like most of the 
functionality is there minus the Preview window.  I just wanted to understand 
how gremlin works and how one might modify it. 
Tom

On Feb 16, 2012, at 2:28 AM, Chris Morley wrote:
> Tom what info are you looking for?  I will try to write some docs soon

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[Emc-developers] gremlin.py documentation

[Tom Easterday]

Who wrote gremlin.py?  There isn't any comments in the file and I am curious if 
there is any documentation on it at all...?
Tom


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[Emc-developers] very tiny nit in 2.5 docs

[Tom Easterday]

User Manual V2.5, 2012-02-13
pg 127/186
Q - naive came tolerance
should be 
Q - naive cam tolerance 

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Re: [Emc-developers] Odd behaviour

[Tom Easterday]

On Dec 1, 2011, at 9:02 PM, andy pugh wrote:

> A chap on the forum is having trouble with his gantry. It basically
> seems to f-error as soon as he goes into world mode. If it doesn't
> f-error then, it does so when he tries to jog at any speed other that
> very slowly.
> He can jog as fast as he wants in joint mode.
> 
> I have experimented with his config in a VM, and I see the same thing.
> Looking at the command and feedback in Halscope it appears that the
> stepgen just isn't making the steps.
> 
> The very odd part is that replacing gantrykins with trivkins allows
> jogging at full speed, with no other changes...
> 

Boy, I had this problem too.  But I had so many problems that I have now 
forgotten what fixed this one, I should have written them down.  Would have 
made for a nice troubleshooting FAQ.

What comes to mind (and I admit this may be off the mark)…

Here are a couple sections from my ini file.  Do you have (either/both) 
DEFAULT_LINEAR_VELOCITY set in the DISPLAY section, and/or DEFAULT_VELOCITY and 
DEFAULT_ACCELERATION set in the TRAJ section?

[DISPLAY]
DISPLAY = axis-custom
POSITION_OFFSET = RELATIVE
POSITION_FEEDBACK = ACTUAL
MAX_FEED_OVERRIDE = 2.00
MAX_SPINDLE_OVERRIDE = 1.00
MIN_SPINDLE_OVERRIDE = 0.50
INTRO_GRAPHIC = emc2.gif
INTRO_TIME = 0.01
PROGRAM_PREFIX = /home/a2ms/emc2/nc_files
PYVCP = custom_pyvcp.xml
INCREMENTS = .1 .05 .01 .005 .001 .0005 .0001
POSITION_OFFSET = RELATIVE
POSITION_FEEDBACK = ACTUAL
DEFAULT_LINEAR_VELOCITY = 1.0
MAX_LINEAR_VELOCITY = 72
MIN_LINEAR_VELOCITY = 0.01
EDITOR = gedit
GEOMETRY = xyz
DEFAULT_TO_WORLD_MODE = 1

[TRAJ]
AXES = 4
COORDINATES = X Y Z A
HOME = 0 0 0
LINEAR_UNITS = inch
ANGULAR_UNITS = degree
CYCLE_TIME = 0.010
#These affect jogging acceleration and not MDI acceleration (see EMC2 Doc Basic 
Configuration)
DEFAULT_VELOCITY = 1.00
DEFAULT_ACCELERATION = 85
#These affect MDI and joint acceleration and not jogging in World mode 
acceleration
#MAX_VELOCITY = 41.67
MAX_VELOCITY = 55
MAX_ACCELERATION = 150

-Tom


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Re: [Emc-developers] CUI encoders

[Tom Easterday]

I was having some issues with tuning servos with CUI encoder that are connected 
to Geckos and talked with Mariss.  He said the the mounting interface of the 
CUI encoder can slip and has too much play (backlash) in it.  He suggested 
putting a drop of super glue on the edge of the plastic piece that mounts to 
the motor shaft (to keep it from slipping), and to put a drop of silicone caulk 
in a single tooth of the encoder-to-shaft interface in order to take up the 
space (slop) and reduce backlash.  I haven't done this yet, but was thinking 
that if the ring on the motor shaft could slip a tiny bit, and with the 
backlash (that is clearly visible), could this be why you are seeing a lag?

-Tom

ps: this is on the developers list but seems relevant to all users...
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Re: [Emc-developers] hostmot2 stepping folowing error oddity

[Tom Easterday]

On Jun 19, 2010, at 5:48 PM, Chris Morley wrote:

> > Date: Mon, 12 Oct 2009 09:40:02 -0600
> > From: s...@highlab.com
> > To: emc-developers@lists.sourceforge.net
> > Subject: Re: [Emc-developers] hostmot2 stepping folowing error oddity
> > 
> > Chris Morley wrote:
> > > I'm having a little problem with a hostmot2 stepper setup.
> > > I get following errors that I can't track down a reason for.
> > > Interestingly while watching the following error on halmeter
> > > I can see that the error is way worse in the negative direction
> > > then the positve direction. This is confirmed by the fact the
> > > following error is almost always in the negative direction.
> > > Can't think of a reason for that.
> > > This is while jogging. Going slower makes it worse.
> > > If I do go moves in MDI there seems to be less of problem
> > > I can move around quite a bit- only occasionally an error.
> > > Suggestions
> 
> > I'll try to reproduce it too.
> > 
> > 
> 
> A little more info about this.
> a EMC user emailed me about this problem too. 
> Rick found if he removed the base thread that the following errors went away.
> Pncconf always loads a base and servo thread.
> if the parport is not used (which was Ricks case) then nothing is added to 
> the thread.
> so I tried this on a test config of mine and low and behold the following 
> error seems to be 
> fixed. I have not tested more then moving the axis back and forth.
> but with the base period in, the axis follow errors almost immediately - it 
> made hostmot2 
> stepping impossible for me to use.
> 

Very interesting.  I have been fighting with a following error that I get for 
no apparent reason.  I thought for a while that my ways were sticking or 
something.  For me it happens mostly on my X axis but sometimes on my Z as 
well.  It is sporadic and when it errors, I have to try turning on (clicking 
the on button in Axis) and moving the axis with my joystick controller.  It 
faults, lather, rinse, repeat.  It usually take 5-10 times of this before I 
happen to be able to move again and then everything is fine.  Sometimes it 
doesn't happen for days and other times it happens 4-5 times a day.  I don't 
yet have limit switches on my machine and I thought it was because I was 
stopping each axis too close to the end of the screw so I started backing off 
more and more but this didn't help.

So, are you saying that in my .hal file where I have:
loadrt [EMCMOT]EMCMOT base_period_nsec=[EMCMOT]BASE_PERIOD 
servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[TRAJ]AXES

I can just have:
loadrt servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[TRAJ]AXES

?  I am using Mesa cards, by the way...
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