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grandixximograndixximo
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switchkins: install the implementation as source for out-of-tree modules
A realtime module cannot link a library, so an out-of-tree kinematics module has to compile the switchkins implementation itself. Asking it for the path to a source tree, as the template did, leaves anybody on a deb install with nothing to point at. Install switchkins.c and kins_util.c into share/linuxcnc, the way mesa_modbus.c.tmpl already is, and put that directory on the realtime include path. The template then reads #include <switchkins.c> #include <kins_util.c> and builds as it stands.
1 parent 1c8dcc5 commit d32027c

7 files changed

Lines changed: 40 additions & 33 deletions

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‎.gitignore‎

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@@ -21,6 +21,8 @@ share/desktop-directories/linuxcnc-cnc.directory
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share/desktop-directories/linuxcnc-ref.directory
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share/desktop-directories/linuxcnc-doc.directory
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share/linuxcnc/mesa_modbus.c.tmpl
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share/linuxcnc/switchkins.c
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share/linuxcnc/kins_util.c
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src/modules.order
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/configs/*/emc.nml
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!/configs/common/emc.nml

‎debian/linuxcnc-uspace-dev.install‎

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@@ -5,3 +5,5 @@ usr/lib/liblinuxcnc.a
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usr/lib/*.so
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usr/share/linuxcnc/Makefile.modinc
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usr/share/linuxcnc/mesa_modbus.c.tmpl
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usr/share/linuxcnc/switchkins.c
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usr/share/linuxcnc/kins_util.c

‎docs/src/motion/switchkins.adoc‎

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@@ -438,18 +438,21 @@ it gets the kinematics switching, the 'kinstype.is-N' pins, the
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without reimplementing any of them.
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The template is src/hal/components/switchkinscomp.comp. Copy and
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rename it (both the file and the component name), point its TOPDIR
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at a LinuxCNC source tree, and replace the example kinstype with the
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real kinematics:
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rename it (both the file and the component name) and replace the
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example kinstype with the real kinematics. The implementation itself
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is included:
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[source,c]
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----
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#define TOPDIR /home/myname/linuxcnc-dev
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// ...
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#include USE_TOPDIR(src/emc/kinematics/switchkins.c)
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#include USE_TOPDIR(src/emc/kinematics/kins_util.c)
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#include <switchkins.c>
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#include <kins_util.c>
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----
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A realtime module cannot link a library, so the implementation arrives
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as source: switchkins.c and kins_util.c are installed beside the
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headers, in share/linuxcnc, and halcompile already looks there. With
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a deb install they come from the linuxcnc-dev package.
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The module registers each of its kinstypes and calls switchkinsInit()
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from EXTRA_SETUP(), which halcompile runs after hal_init() and before
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hal_ready(). See <<sec:switchkins-code-notes,Code Notes>> for both

‎src/Makefile‎

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@@ -774,6 +774,7 @@ ifeq ($(BUILD_GUI),yes)
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endif
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$(FILE) ../src/hal/drivers/mesa-hostmot2/modbus/*.tmpl $(DESTDIR)$(prefix)/share/linuxcnc/
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$(FILE) ../src/emc/kinematics/switchkins.c ../src/emc/kinematics/kins_util.c $(DESTDIR)$(prefix)/share/linuxcnc/
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install-kernel-indep: install-python
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install-python: install-dirs

‎src/Makefile.modinc.in‎

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@@ -76,12 +76,12 @@ EXTRA_CFLAGS += -fno-builtin-sin -fno-builtin-cos -fno-builtin-sincos
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EMC2_HOME=@EMC2_HOME@
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RUN_IN_PLACE=@RUN_IN_PLACE@
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ifeq ($(RUN_IN_PLACE),yes)
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EXTRA_CFLAGS := $(RTFLAGS) -D__MODULE__ -I$(EMC2_HOME)/include
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EXTRA_CFLAGS := $(RTFLAGS) -D__MODULE__ -I$(EMC2_HOME)/include -I$(EMC2_HOME)/share/linuxcnc
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RTLIBDIR := @EMC2_HOME@/rtlib
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LIBDIR := @EMC2_HOME@/lib
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else
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prefix := @prefix@
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EXTRA_CFLAGS := $(RTFLAGS) -D__MODULE__ -I@includedir@/linuxcnc
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EXTRA_CFLAGS := $(RTFLAGS) -D__MODULE__ -I@includedir@/linuxcnc -I${prefix}/share/linuxcnc
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RTLIBDIR := @EMC2_RTLIB_DIR@
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LIBDIR := @libdir@
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endif

‎src/emc/kinematics/Submakefile‎

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@@ -40,3 +40,16 @@ EMCKINEMATICSINCS = \
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$(patsubst ./emc/kinematics/%,../include/%,$(EMCKINEMATICSINCS)): ../include/%.h: ./emc/kinematics/%.h
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cp $^ $@
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# The switchkins implementation is shipped as source, since a realtime module
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# cannot link a library, so a module built out of tree includes it the way the
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# in-tree ones link it.
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EMCKINEMATICSSRCS = \
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../share/linuxcnc/switchkins.c \
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../share/linuxcnc/kins_util.c
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$(EMCKINEMATICSSRCS): ../share/linuxcnc/%.c: ./emc/kinematics/%.c
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$(ECHO) Copying switchkins source $(notdir $@)
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$(Q)cp -f $< $@
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TARGETS += $(EMCKINEMATICSSRCS)

‎src/hal/components/switchkinscomp.comp‎

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@@ -12,10 +12,10 @@ the same 'kinstype.is-N' pins, the same 'coordinates=' identity
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mapping, and the same G-code and HAL controls, without reimplementing
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any of it.
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The example switchkinscomp.comp is not usable until modified for the
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user environment. To create a runnable switchkinscomp module, the
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file must be edited to supply a valid '#define TOPDIR' pointing at a
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LinuxCNC source tree.
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The example builds as it stands, its type 1 being an X offset to
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replace with the kinematics wanted. The switchkins implementation is
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installed as source alongside the headers, so nothing needs a path to
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a LinuxCNC source tree.
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To avoid updates that overwrite switchkinscomp.comp, best practice is
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to rename the file and its component name (example:
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*Note:* If using a deb install:
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1. halcompile is provided by the deb package linuxcnc-dev
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1. halcompile and the switchkins source are provided by the deb
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package linuxcnc-dev
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2. This source file for BRANCHNAME (master, 2.9, etc) is downloadable from github:
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https://github.com/LinuxCNC/linuxcnc/blob/BRANCHNAME/src/hal/components/switchkinscomp.comp
@@ -49,30 +50,15 @@ option extra_setup;
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;;
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//=====================================================================
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/* To use the switchkins implementation from a local git src tree:
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** set TOPDIR to the git tree top directory
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** (Edit 'myname' as required)
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*/
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//#define TOPDIR /home/myname/linuxcnc-dev
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#ifdef TOPDIR // {
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#define STR(s) #s
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#define XSTR(s) STR(s)
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#define USE_TOPDIR(b) XSTR(TOPDIR/b)
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// switchkins.c provides kinematicsForward(), kinematicsInverse(),
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// kinematicsSwitch() and the rest of the kinematics interface, and
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// dispatches each call to the currently selected switchkins-type.
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// kins_util.c provides the identity kinematics and the coordinates
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// letters-to-joints mapping they use.
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#include USE_TOPDIR(src/emc/kinematics/switchkins.c)
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#include USE_TOPDIR(src/emc/kinematics/kins_util.c)
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// letters-to-joints mapping they use. Both are installed with the
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// headers, so halcompile finds them with no path of your own.
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#else
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#error No TOPDIR defined, skeleton component provides no kinematics functions.
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#endif // }
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#include <switchkins.c>
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#include <kins_util.c>
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//=====================================================================
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// module parameter naming the joint order for the identity type

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